{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/online-self-supervised-thermal-water","title":"Online Self-Supervised Thermal Water Segmentation for Aerial Vehicles","arxiv_id":"2307.09027","date":"2023-07-18","proceeding":null,"authors":["Connor Lee","Jonathan Gustafsson Frennert","Lu Gan","Matthew Anderson","Soon-Jo Chung"],"abstract":"We present a new method to adapt an RGB-trained water segmentation network to target-domain aerial thermal imagery using online self-supervision by leveraging texture and motion cues as supervisory signals. This new thermal capability enables current autonomous aerial robots operating in near-shore environments to perform tasks such as visual navigation, bathymetry, and flow tracking at night. Our method overcomes the problem of scarce and difficult-to-obtain near-shore thermal data that prevents the application of conventional supervised and unsupervised methods. In this work, we curate the first aerial thermal near-shore dataset, show that our approach outperforms fully-supervised segmentation models trained on limited target-domain thermal data, and demonstrate real-time capabilities onboard an Nvidia Jetson embedded computing platform. Code and datasets used in this work will be available at: https://github.com/connorlee77/uav-thermal-water-segmentation.","url_abs":"https://arxiv.org/abs/2307.09027v1","url_pdf":"https://arxiv.org/pdf/2307.09027v1.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"abstracts"},"code_links":[{"paper_slug":"online-self-supervised-thermal-water","repo_url":"https://github.com/connorlee77/uav-thermal-water-segmentation","is_official":1,"mentioned_in_paper":1,"mentioned_in_github":0,"framework":"pytorch","reach":null}],"tasks":[{"task_slug":"segmentation","task_name":"Segmentation"},{"task_slug":"visual-navigation","task_name":"Visual Navigation"}],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"atlas_url":null,"mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}