Unmanned Surface Vehicles (USVs) are commonly equipped with multi-modality sensors. Fully utilized sensors could improve object detection of USVs. This could further contribute to better autonomous navigation. The purpose of this paper is to solve the problems of 3D object detection of USVs in complicated marine environment. We propose a 3D object detection Depth Neural Network based on multi-modality data of USVs. This model includes a modified Proposal Generation Network and Deep Fusion Detection Network. The Proposal Generation Network improves feature extraction. Meanwhile, the Deep Fusion Detection Network enhances the fusion performance and can achieve more accurate results of object detection. The model was tested on both the KITTI 3D object detection dataset (A project of Karlsruhe Institute of Technology and Toyota Technological Institute at Chicago) and a self-collected offshore dataset. The model shows excellent performance in a small memory condition. The results further prove that the method based on deep learning can give good accuracy in conditions of complicated surface in marine environment.

Capturing document images using digital cameras in uneven lighting conditions is challenging, leading to poorly captured images, which hinders the processing that follows, such as Optical Character Recognition (OCR). In this paper, we propose the use of exposure bracketing techniques to solve this problem. Instead of capturing one image, we used several images that were captured with different exposure settings and used the exposure bracketing technique to generate a high-quality image that incorporates useful information from each image. We found that this technique can enhance image quality and provides an effective way of improving OCR accuracy. Our contributions in this paper are two-fold: (1) a preprocessing chain that uses exposure bracketing techniques for document images is discussed, and an automatic registration method is proposed to find the geometric disparity between multiple document images, which lays the foundation for exposure bracketing; (2) several representative exposure bracketing algorithms are incorporated in the processing chain and their performances are evaluated and compared.