Fig. 2
(a) Data under different light and water conditions, light is categorized into High, Mid and Low, which is determined by the exposure lamp module installed on the body of the image-laser underwater detector; water conditions are categorized into High clarity and Low clarity, which is determined by the turbidity of the fine sand in the water and water-soluble organic dyes. (b) The image-laser underwater detector acquires data in the acquisition area there is a local overlapping regions, we define the small overlapping regions (overlap area less than 30%) and the large overlapping regions (overlap area more than 30%) according to the overlap rate of the two images, we select the small overlapping regions image with a large difference in the type of the target to be labeled.
