Loss Function Optimization Method and Unsupervised Extraction Approach D-DBSCAN for Improving the Moving Target Perception of 3D Imaging Sonar

Imaging sonar is a crucial tool for underwater visual perception. Compared to 2D sonar images, 3D sonar images offer superior spatial positioning capabilities, although the data acquisition cost is higher and lacks open source references for data annotation, target detection, and semantic segmentation. This paper utilizes 3D imaging sonar to collect underwater data from three types of targets with 1534 effective frames, including a tire, mannequin, and table, in Liquan Lake, Shanxi Province, China. Based on these data, this study focuses on three innovative aspects as follows: rapid underwater data annotation, loss function optimization, and unsupervised moving target extraction in water. For rapid data annotation, a batch annotation method combining human expertise and multi-frame superposition is proposed. This method automatically generates single-frame target detection boxes based on multi-frame joint segmentation, offering advantages in speed, cost, and accuracy. For loss function optimization, a density-based loss function is introduced to address the issue of overfitting in dense regions due to the uneven distribution of point cloud data. By assigning different weights to data points in different density regions, the model pays more attention to accurate predictions in a sparse area, resulting in a 6.939 improvement in mIOU for semantic segmentation tasks, while lakebed mIOU achieved a high score of 99.28. For unsupervised moving target extraction, a multi-frame joint unsupervised moving target association extraction method called the Double DBSCAN, D-DBSCAN, is proposed. This method simulates human visual sensitivity to moving targets in water and uses a joint D-DBSCAN spatial clustering approach with single-frame and inter-frame superposition, achieving an improvement of 21.3 points in mAP. Finally, the paper summarizes the three proposed innovations and provides directions for further research.