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Studies on virtual-to-realistic image style transfer have been conducted to minimize the difference between virtual simulators and real-world environments and improve the training of artificial intelligence (AI)-based autonomous driving models using virtual simulators. However, when applying an image style transfer network architecture that achieves good performance using land-based data for autonomous vehicles to marine data for autonomous vessels, structures such as horizon lines and autonomous vessel shapes often lose their structural consistency. Marine data exhibit substantial environmental complexity, which depends on the size, position, and direction of the vessels because there are no lanes such as those for cars, and the colors of the sky and ocean are similar. To overcome these limitations, we propose a virtual-to-realistic marine image style transfer method using horizon-targeted loss for marine data. Horizon-targeted loss helps distinguish the structure of the horizon within the input and output images by comparing the segmented shape. Additionally, the design of the proposed network architecture involves a one-to-many style mapping technique, which is based on the multimodal style transfer method to generate marine images of diverse styles using a single network. Experiments demonstrate that the proposed method preserves the structural shapes on the horizon more accurately than existing algorithms. Moreover, the object detection accuracy using various augmented training data was higher than that observed in the case of training using only virtual data. The proposed method allows us to generate realistic data to train AI models of vision-based autonomous vessels by actualizing and augmenting virtual images acquired from virtual autonomous vessel simulators.

Horizon Targeted Loss-Based Diverse Realistic Marine Image Generation Method Using a Multimodal Style Transfer Network for Training Autonomous Vessels