SonarPoint: Weak-Heterogeneity Awareness Object Detection Network for 3D Sonar Point Cloud

Underwater target detection is primarily achieved through two methods: optical imaging and underwater sonar. 3D sonar, as the most advanced underwater detection technology, is characterized by strong penetration and long scanning distance, making it more suitable for tasks such as deep-sea exploration, murky water detection, and long-distance target identification. However, acquiring underwater sonar images is challenging, and there is no open-source 3D sonar dataset. Traditional three-dimensional target detection methods typically require high-quality data and face significant challenges when dealing with weak heterogeneous sonar point clouds caused by high noise, low resolution, and occlusions. To address the aforementioned issues, we first propose a novel fuzzy decoupling module that differs from traditional foreground-background segmentation. This module simultaneously extracts valuable information about the target and its surrounding environment, mitigating the reduction in heterogeneity caused by noise and sonar side lobes. To achieve efficient fusion and capture global information after fuzzy decoupling, a multi-hop Mamba seamless adaptive decoupling point is introduced. It effectively enhances the connection between the two decoupled parts. To address missing and occlusion problems, a second-stage refinement based on Markov prediction is proposed. This low-cost approach, in contrast to using the original point cloud for contour and detail completion, enriches target boundary information. To validate our method, we have designed a practical 3D sonar imaging system and tested it through lake-based experiments. We have collected extensive raw data from Qiandao Lake and conducted annotation work. Through qualitative and quantitative experiments, our method outperforms the most advanced methods by 11.4%.