RaRWS: A Radar-assisted Real-time Water Segmentation Network to Meet the Autonomous Navigation of USV in Inland Waterways

Water segmentation is essential for autonomous navigation of Unmanned Surface Vehicles (USV) in inland waterways. However, most of the existing methods are suitable for maritime environments. Due to their poor real-time performance and a high false-positive rate of water surface reflection and water-sky interference in inland waterways, we propose a radarassisted real-time water segmentation network (RaRWS) to solve the above problems. We obtain pseudo-waterlines based on radar data by deleting points, fitting them multiple times, and generating a radar mask. While simplifying the encoder backbone network, we use the Attention Refinement Module (ARM) to fuse radar masks to improve detection and waterside accuracy. In addition, a Feature Fusion Module (FFM) is introduced to help the decoder fuse high- and low-level features and further fuse radar data. RaRWS is tested in both normal and bad weather. The results show that RaRWS can achieve higher performance compared with the current state-of-the-art methods (F 1 is above 99%), while gaining real-time performance (41.3fps).