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ViT-based Semantic Segmentation of the Seafloor in Side-Scan Sonar Data

This repository contains a PyTorch implementation of the ViT-based architecture proposed in "A convolutional vision transformer for semantic segmentation of side-scan sonar data" published in Ocean Engineering, Volume 86, part 2, 15 October 2023, DOI: 10.1016/j.oceaneng.2023.115647 together with implementations of several other ViT-based encoder-decoder architectures for semantic segmentation of the seafloor in side-scan sonar images.

Getting Started

Prerequisites

The file requirements.txt contains the necessary Python packages for this project. To install, run:

pip install -r requirements.txt

All models were trained on an NVIDIA A100 Tensor Core GPU operating on Ubuntu 22.04.2 with Python 3.9.17 and PyTorch 2.0.0+cu120, and evaluated on an NVIDIA Jetson AGX Orin Developer Kit running Jetpack 5.1.1 with Python 3.8.10 and PyTorch 2.0.0+nv23.5.

Training

The file main.py contains the main training loop. It takes the following arguments:

--wandb_entity		WandB entity.
--wandb_project		WandB project name.
--wandb_api_key		WandB api key.
--data_dir		Path to training data.
--out_dir		Path to save logs, checkpoints and models.
--encoder		Type of encoder architecture.
--decoder		Type of decoder architecture.
[--config_file]	        Path to configuration file.
[--load_checkpoint]     Path to checkpoint to resume training from.
[--load_weights]        Path to pretrained weights.
[--seed]		Random seed.
[--num_workers]	        Number of data loading workers per GPU.
[--batch_size]	        Number of distinct images loaded per GPU.

The arguments in brackets are optional. Further details on WandB specific arguments can be found in Weights & Biases documentation. The default configurations of the implemented architectures can be found in the file configs/models.py. Modifications to the configurations of these architectures and to the default training hyperparameters can be optionally done via a yaml file; see config.yaml for an example. The file configs/base.py, on the other hand, contains all the base configuration parameters.

To train a model comprised of a sima_tiny encoder and an atrous decoder on a single node with 2 GPUs with user-specified configurations contained in config.yaml, run:

torchrun --nproc_per_node=1 --master_port=1234 main.py --wandb_entity <wandb-user-name> --wandb_project <wandb-project-name> --wandb_api_key <wandb-api-key> --data_dir /path/to/sss/dataset --out_dir /path/to/out/dir --config_file /path/to/config.yaml --batch_size 64 --encoder sima_tiny --decoder atrous

Evaluation

The file eval.py contains qualitative, quantitative and runtime performance evaluation metrics for semantic segmentation. It takes the following arguments:

--data_dir        Path to dataset.
--model_path      Path to trained model.
--encoder         Type of encoder architecture.
--decoder         Type of decoder architecture.
[--mode]          Evaluation mode.
[--config_file]   Path to configuration file.
[--cmap_file]     Path to color map file.
[--out_dir]       Path to save evaluation report.
[--device]        Device to compute runtime statistics for.
[--batch_size]    Number of distinct images per batch.

The arguments in brackets are optional. Mode can be set to either quantitative, qualitative or runtime. Device can be set to either cpu or cuda.

To evaluate runtime performance of a model comprised of a sima_tiny encoder and an atrous decoder with user-specified configurations contained in config.yaml, run:

python3 eval.py --encoder sima_tiny --decoder atrous --model_path /path/to/trained/model.pth --data_dir /path/to/sss/test/dataset --out_dir /path/to/out/dir --config_file /path/to/config.yaml --cmap_file /path/to/cmap.csv --batch_size 8 --device cpu --mode runtime

Pretrained Models

Coming soon . . .

Citation

If you find this repository useful, please consider giving us a star ⭐

@article{rajani2023s3Tseg,
    title = {A convolutional vision transformer for semantic segmentation of side-scan sonar data},
    author = {Hayat Rajani and Nuno Gracias and Rafael Garcia},
    journal = {Ocean Engineering},
    volume = {286},
    pages = {115647},
    year = {2023},
    issn = {0029-8018},
    doi = {https://doi.org/10.1016/j.oceaneng.2023.115647},
    url = {https://www.sciencedirect.com/science/article/pii/S0029801823020310},
}

Acknowledgement

Our implementation is built upon [EsViT] [Timm]

This work was supported by the DeeperSense project, funded by the European Union’s Horizon 2020 Research and Innovation programme under grant agreement no. 101016958.

Related Projects

[w-s3Tseg]