Underwater imaging is affected by spatially varying blur caused by water flow turbulence, light scattering, and camera motion, resulting in severe visual quality loss and diminished performance in downstream vision tasks. Although numerous underwater image enhancement methods have been proposed, the issue of addressing non-uniform blur under realistic underwater conditions remains largely underexplored. To bridge this gap, we propose PMSPNet, a Progressive Multi-Scale Perception Network, designed to handle underwater non-uniform blur. The network integrates a Hybrid Interaction Attention Module to enable precise modeling of feature ambiguity directions and regional disparities. In addition, a Progressive Motion-Aware Perception Branch is employed to capture spatial orientation variations in blurred regions, progressively refining the localization of blur-related features. A Progressive Feature Feedback Block is incorporated to enhance reconstruction quality by leveraging iterative feature feedback across scales. To facilitate robust evaluation, we construct the Non-uniform Underwater Blur Benchmark, which comprises diverse real-world blur patterns. Extensive experiments on multiple real-world underwater datasets demonstrate that PMSPNet consistently surpasses state-of-the-art methods, achieving on average 25.51 dB PSNR and an inference speed of 0.01 s, which provides high-quality visual perception and downstream application input from underwater sensors for underwater robots, marine ecological monitoring, and inspection tasks.

The increasing application of underwater robotic systems in deep-sea exploration, inspection, and resource extraction has created a strong demand for reliable visual perception under challenging conditions. However, image quality is severely degraded in low-light underwater environments due to the combined effects of light absorption and scattering, resulting in color imbalance, low contrast, and illumination instability. These factors limit the effectiveness of visual-based autonomous operations. We propose ATS-UGAN, a Dual-domain Adaptive Synergy Generative Adversarial Network for low-light underwater image enhancement to confront the above issues. The network integrates Multi-scale Hybrid Attention (MHA) that synergizes spatial and frequency domain representations to capture key image features adaptively. An Adaptive Parameterized Convolution (AP-Conv) module is introduced to handle non-uniform scattering by dynamically adjusting convolution kernels through a multi-branch design. In addition, a Dynamic Content-aware Markovian Discriminator (DCMD) is employed to perceive the dual-domain information synergistically, enhancing image texture realism and improving color correction. Extensive experiments on benchmark underwater datasets demonstrate that ATS-UGAN surpasses state-of-the-art approaches, achieving 28.7/0.92 PSNR/SSIM on EUVP and 28.2/0.91 on UFO-120. Additional reference and no-reference metrics further confirm the improved visual quality and realism of the enhanced images.

As the noise reduction performance of submarines continues to improve, it is difficult to detect and track submarines through acoustic detection techniques. Therefore, nonacoustic submarine detection techniques are becoming more and more important. The submarine movement will leave a wake vortex, and the information of the wake vortex can be used to invert the maneuvering state of the submarine. However, the wake vortex is constantly dissipated in the evolution process, and the strength of the wake vortex is constantly reduced, resulting in the gradual weakening of the characteristics of the wake vortex, which makes the inversion of submarine operating state difficult and less accurate. In order to solve the above problems, this paper proposes an improved wake vortex‐based inversion method for submarine maneuvering state. Firstly, a random finite set of submarine wake vortex observation features is established to obtain the feature with the highest correlation degree with submarine maneuvering state in the random finite set. Secondly, the multiscale fusion module and attention mechanism are used to re‐encode the weak features of the wake vortex image, and the salient features of the wake vortex image are extracted. Finally, the manipulation state of the wake vortex image is retrieved by the extracted salient features. The experimental results show that the average inversion accuracy of the proposed algorithm is improved by 1.27% in terms of manipulating state inversion of weak feature wake vortex images. The algorithm in this paper can realize the inversion of submarine maneuvering state in the case of weak submarine wake vortex image features and incomplete feature information. It provides the basis for the detection technology based on the submarine wake characteristics.