Please wait a minute...
浙江大学学报(工学版)  2026, Vol. 60 Issue (4): 800-811    DOI: 10.3785/j.issn.1008-973X.2026.04.012
计算机技术     
基于特征细化与注意力增强重构的水下图像增强算法
万刚1,2(),王小波3,石纲3,叶德震1,2,朱思思1,2,司帆3,*()
1. 湖北省智慧水电技术创新中心,湖北 武汉 430000
2. 中国长江电力股份有限公司,湖北 宜昌 443000
3. 长江勘测规划设计研究有限责任公司,湖北 武汉 430010
Underwater image enhancement algorithm based on feature refinement and attention-augmented reconstruction
Gang WAN1,2(),Xiaobo WANG3,Gang SHI3,Dezhen YE1,2,Sisi ZHU1,2,Fan SI3,*()
1. Hubei Technology Innovation Center for Smart Hydropower, Wuhan 430000, China
2. China Yangtze Power Co. Ltd, Yichang 443000, China
3. Changjiang Survey, Planning, Design and Research Co. Ltd, Wuhan 430010, China
 全文: PDF(10250 KB)   HTML
摘要:

针对水下图像因光传播衰减、散射和水中溶解悬浮物等因素导致的图像质量退化问题,提出基于空间细化特征自注意力(SRFT)与通道特征注意力增强重构Transformer (CFART)模块的水下图像增强网络模型. SRFT模块对水下图像进行序列化处理和位置编码,采用4层空间自注意力提取全局退化差异,建立长程特征依赖关系. CFART模块采用异构卷积核投影特征,随后经通道融合输入至多头自注意力模块,并利用多层感知机与残差结构重构特征信息. 实验结果表明,本研究算法能有效改善水下图像中存在的颜色偏移、模糊以及低对比问题. 在客观评价指标方面,本算法的MSE (253.558)、PSNR (25.421)、Entropy (7.488)和UIQM (4.461)均优于同类方法;在SSIM(0.893)和UCIQE (0.592)上也表现出明显优势;主观视觉评价进一步证实本研究算法对退化的水下图像具有良好的色彩校正与细节恢复能力. 本研究算法可以优化水下图像质量,有助于提升海底调查与评估工作的精度与效率.

关键词: 水下图像增强图像质量退化自注意力机制空间细化特征增强重构Transformer模型    
Abstract:

Aiming at the degradation of underwater images due to light propagation attenuation, scattering, and dissolved suspended matter, a novel underwater image enhancement network integrating a spatial-wise refined feature Transformer (SRFT) module and a channel-wise feature attention enhanced reconstructed Transformer (CFART) module was proposed. Serialization processing and positional encoding on underwater image sequences were performed by the SRFT module and four-layered spatial self-attention mechanisms were applied to capture global degradation differences while establishing long-range feature dependencies. In the CFART module, features were projected via heterogeneous convolutional kernels and then fed into a multi-head self-attention module through channel fusion. And feature information was reconstructed using multilayer perceptron layers with residual connections. Experimental results showed that the proposed algorithm effectively improved issues such as color shift, blurriness, and low contrast issues in underwater images. In terms of objective evaluation metrics, the proposed algorithm outperformed similar methods with MSE of 253.558, PSNR of 25.421, Entropy of 7.488, and UIQM of 4.461. It also demonstrated significant advantages in SSIM and UCIQE tests with SSIM of 0.893 and UCIQE of 0.592. Subjective visual assessments further confirmed that the proposed algorithm provided excellent color correction and detail restoration capabilities for degraded underwater images. By optimizing the quality of underwater images, the proposed algorithm helps to enhance the precision and efficiency of seabed investigations and assessments.

Key words: underwater image enhancement    image quality degradation    self-attention mechanism    spatial-wise refined feature    enhanced reconstructed Transformer model
收稿日期: 2025-05-10 出版日期: 2026-03-19
CLC:  TP 391  
基金资助: 湖北省智慧水电技术创新中心2023年开放研究基金资助项目(SDCXZX-JJ-2023-09);湖北省教育厅科学研究计划重点项目(D20231304);西藏自治区科技计划重大专项(XZ202402ZD0001);深地国家科技重大专项(2024ZD1001003);国家重点研发计划资助项目(2022YFB4703400).
通讯作者: 司帆     E-mail: wan_gang@ctg.com.cn;2024710585@yangtzeu.edu.cn
作者简介: 万刚(1985—),男,高级工程师,从事水电站智能运维和检修技术研究. orcid.org/0009-0008-7575-9296. E-mail:wan_gang@ctg.com.cn
服务  
把本文推荐给朋友
加入引用管理器
E-mail Alert
作者相关文章  
万刚
王小波
石纲
叶德震
朱思思
司帆

引用本文:

万刚,王小波,石纲,叶德震,朱思思,司帆. 基于特征细化与注意力增强重构的水下图像增强算法[J]. 浙江大学学报(工学版), 2026, 60(4): 800-811.

Gang WAN,Xiaobo WANG,Gang SHI,Dezhen YE,Sisi ZHU,Fan SI. Underwater image enhancement algorithm based on feature refinement and attention-augmented reconstruction. Journal of ZheJiang University (Engineering Science), 2026, 60(4): 800-811.

链接本文:

https://www.zjujournals.com/eng/CN/10.3785/j.issn.1008-973X.2026.04.012        https://www.zjujournals.com/eng/CN/Y2026/V60/I4/800

图 1  水下图像增强网络的总体结构图
图 2  空间细化特征自注意力模块
图 3  通道特征注意力增强重构模块
图 4  基于特征细化与注意力增强重构的水下图像增强网络整体流程
图 5  各算法对复杂水下图像增强的主观视觉对比结果
图 6  各算法对简单水下图像增强的主观视觉对比结果
图 7  不同类型水下图像的放大对比结果
图 8  各算法在UIEB数据集中的测试结果
算法MSE↓PSNR↑SSIM↑EntropyUIQM↑UCIQE↑
原始图像1609.68217.4910.8646.8874.1170.542
HE[7]2558.82814.9310.7517.1414.3080.604
CLAHE[8]1502.20117.0080.8437.2084.3370.565
DEFOG[6]2511.26715.6080.8696.9254.3250.553
Ucolor[25]352.19322.9110.8987.2344.3890.562
URST[26]394.47622.7050.9057.3214.1770.585
U-Shape[18]334.99224.2930.8817.2844.4180.571
WFFP[27]968.71318.2710.7356.7924.2010.601
Spectroformer[28]774.80619.3880.6406.3143.95960.552
本研究算法253.55825.4210.8937.4884.4610.592
表 1  各算法在LSUI数据集中的图像质量客观评价指标
算法MSE↓PSNR↑SSIM↑EntropyUIQM↑UCIQE↑
原始图像1751.35817.2530.7546.8943.9670.539
HE[7]1868.49116.6210.7377.1674.2940.664
CLAHE[8]1216.22618.1940.7137.3194.4240.567
DEFOG[6]2730.89615.2430.7096.8414.2310.553
Ucolor[25]868.58520.1510.7487.3684.2110.608
URST[26]864.72520.1780.7697.4154.3590.584
U-Shape[18]734.62620.8810.7097.2624.3970.578
WFFP[27]828.48518.9490.7917.7494.2130.609
Spectroformer[28]1546.45516.2350.6846.5523.7230.521
本研究算法438.48021.7110.7927.3014.4430.579
表 2  各算法在UIEB数据集中的图像质量客观评价指标
图 9  消融实验在不同场景下的主观视觉对比结果
算法MSE↓PSNR↑SSIM↑Entropy↑UIQM↑UCIQE↑
基准334.99224.2930.8817.2844.4180.571
基准+特征
细化模块
290.06424.7590.7797.2494.4610.569
基准+重构
增强模块
310.60424.4030.7657.2154.4050.564
本研究算法253.55825.4210.8937.4884.4710.592
表 3  消融实验的图像质量客观评价指标
1 YANG M, HU J, LI C, et al An in-depth survey of underwater image enhancement and restoration[J]. IEEE Access, 2019, 7: 123638- 123657
doi: 10.1109/ACCESS.2019.2932611
2 SAHU P, GUPTA N, SHARMA N A survey on underwater image enhancement techniques[J]. International Journal of Computer Applications, 2014, 87 (13): 19- 23
3 STANKIEWICZ P, TAN Y T, KOBILAROV M Adaptive sampling with an autonomous underwater vehicle in static marine environments[J]. Journal of Field Robotics, 2021, 38 (4): 572- 597
doi: 10.1002/rob.22005
4 阳凡林, 暴景阳, 胡兴树. 水下地形测量 [M]. 武汉: 武汉大学出版社, 2017.
5 陈卫忠, 李长俊, 曾灿军, 等 大型水下盾构隧道结构健康监测系统的构建与应用[J]. 岩石力学与工程学报, 2018, 37 (1): 1- 13
CHEN Weizhong, LI Changjun, ZENG Canjun, et al Establishment and application of structural health monitoring system for large shield tunnel[J]. Chinese Journal of Rock Mechanics and Engineering, 2018, 37 (1): 1- 13
doi: 10.13722/j.cnki.jrme.2017.0327
6 HE K, SUN J, TANG X. Single image haze removal using dark channel prior [C]// IEEE Conference on Computer Vision and Pattern Recognition. Miami. IEEE, 2009: 1956–1963.
7 周辉奎, 章立, 胡素娟 改进直方图匹配和自适应均衡的水下图像增强[J]. 红外技术, 2024, 46 (5): 532- 538
ZHOU Huikui, ZHANG Li, HU Sujuan Underwater image enhancement based on improved histogram matching and adaptive equalization[J]. Infrared Technology, 2024, 46 (5): 532- 538
8 弭永发, 迟明善, 张强, 等 基于颜色校正与改进的CLAHE多尺度融合水下图像增强[J]. 无线电工程, 2024, 54 (6): 1470- 1480
MI Yongfa, CHI Mingshan, ZHANG Qiang, et al Underwater image enhancement based on color correction and improved CLAHE multi-scale fusion[J]. Radio Engineering, 2024, 54 (6): 1470- 1480
doi: 10.3969/j.issn.1003-3106.2024.06.016
9 吴清平 基于衰减补偿与反转CLAHE的水下图像增强算法[J]. 电脑编程技巧与维护, 2023, (12): 136- 139
WU Qingping Underwater image enhancement algorithm based on attenuation compensation and inversion CLAHE[J]. Computer Programming Skills and Maintenance, 2023, (12): 136- 139
doi: 10.3969/j.issn.1006-4052.2023.12.039
10 PAN J, DUAN Z, DUAN J, et al LUIE: learnable physical model-guided underwater image enhancement with bi-directional unsupervised domain adaptation[J]. Neurocomputing, 2024, 602: 128286
doi: 10.1016/j.neucom.2024.128286
11 ZHANG S, WANG T, DONG J, et al Underwater image enhancement via extended multi-scale Retinex[J]. Neurocomputing, 2017, 245: 1- 9
doi: 10.1016/j.neucom.2017.03.029
12 DREWS P L J, NASCIMENTO E R, BOTELHO S S C, et al Underwater depth estimation and image restoration based on single images[J]. IEEE Computer Graphics and Applications, 2016, 36 (2): 24- 35
doi: 10.1109/MCG.2016.26
13 LI J, SKINNER K A, EUSTICE R M, et al WaterGAN: unsupervised generative network to enable real-time color correction of monocular underwater images[J]. IEEE Robotics and Automation Letters, 2018, 3 (1): 387- 394
doi: 10.1109/lra.2017.2730363
14 ZHU J Y, PARK T, ISOLA P, et al. Unpaired image-to-image translation using cycle-consistent adversarial networks [C]// Proceedings of the IEEE International Conference on Computer Vision. Venice: IEEE, 2017: 2242–2251.
15 雍子叶, 郭继昌, 李重仪 融入注意力机制的弱监督水下图像增强算法[J]. 浙江大学学报: 工学版, 2021, 55 (3): 555- 562,570
YONG Ziye, GUO Jichang, LI Chongyi Weakly supervised underwater image enhancement algorithm incorporating attention mechanism[J]. Journal of Zhejiang University: Engineering Science, 2021, 55 (3): 555- 562,570
doi: 10.3785/j.issn.1008-973X.2021.03.016
16 张剑钊, 郭继昌, 汪昱东 基于融合逆透射率图的水下图像增强算法[J]. 浙江大学学报: 工学版, 2023, 57 (5): 921- 929
ZHANG Jianzhao, GUO Jichang, WANG Yudong Underwater image enhancement algorithm via fusing reverse medium transmission map[J]. Journal of Zhejiang University: Engineering Science, 2023, 57 (5): 921- 929
doi: 10.3785/j.issn.1008-973X.2023.05.008
17 丛晓峰, 桂杰, 章军 基于视觉Transformer的多损失融合水下图像增强网络[J]. 智能科学与技术学报, 2022, 4 (4): 522- 532
CONG Xiaofeng, GUI Jie, ZHANG Jun Underwater image enhancement network based on visual Transformer with multiple loss functions fusion[J]. Chinese Journal of Intelligent Science and Technology, 2022, 4 (4): 522- 532
18 PENG L, ZHU C, BIAN L. U-shape transformer forUnderwater image enhancement [C]// Computer Vision – ECCV 2022 Workshops. Cham: Springer, 2023: 290–307.
19 ZHOU S, CHEN D, PAN J, et al. Adapt or perish: adaptive sparse transformer with attentive feature refinement for image restoration [C]// Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition. Seattle: IEEE, 2024: 2952–2963.
20 YANG J, LI C, DAI X, et al. Focal modulation networks [C]// Advances in Neural Information Processing Systems. [S. l.]: NeurIPS, 2022: 4203−4217.
21 CHEN J, KAO S H, HE H, et al. Run, don’t walk: chasing higher FLOPS for faster neural networks [C]// IEEE/CVF Conference on Computer Vision and Pattern Recognition. Vancouver: IEEE, 2023: 12021–12031.
22 ANDREW G, ZHU M Efficient convolutional neural networks for mobile vision applications[J]. Mobile Networks and Applications, 2017, 10 (2): 151
23 WANG Q, WU B, ZHU P, et al. ECA-net: efficient channel attention for deep convolutional neural networks [C]// IEEE/CVF Conference on Computer Vision and Pattern Recognition. Seattle: IEEE, 2020: 11531−11539.
24 LI C, GUO C, REN W, et al. An underwater image enhancement benchmark dataset and beyond [J]. IEEE Transactions on Image Processing, 2019.
25 LI C, ANWAR S, HOU J, et al Underwater image enhancement via medium transmission-guided multi-color space embedding[J]. IEEE Transactions on Image Processing, 2021, 30: 4985- 5000
doi: 10.1109/TIP.2021.3076367
26 REN T, XU H, JIANG G, et al Reinforced swin-convs transformer for simultaneous underwater sensing scene image enhancement and super-resolution[J]. IEEE Transactions on Geoscience and Remote Sensing, 2022, 60: 4209616
doi: 10.1109/tgrs.2022.3205061
27 ZHANG W, ZHOU L, ZHUANG P, et al Underwater image enhancement via weighted wavelet visual perception fusion[J]. IEEE Transactions on Circuits and Systems for Video Technology, 2024, 34 (4): 2469- 2483
doi: 10.1109/TCSVT.2023.3299314
28 KHAN M R, MISHRA P, MEHTA N, et al. Spectroformer: multi-domain query cascaded transformer network for underwater image enhancement [C]// IEEE/CVF Winter Conference on Applications of Computer Vision. Waikoloa: IEEE, 2024: 1443–1452.
29 YANG M, SOWMYA A An underwater color image quality evaluation metric[J]. IEEE Transactions on Image Processing, 2015, 24 (12): 6062- 6071
doi: 10.1109/TIP.2015.2491020
[1] 杨明辉,宋牧原,付大喜,郭炎伟,卢贤锥,张文聪,郑伟龙. 基于多头自注意力-Bi-LSTM模型的盾构掘进引发的土体沉降预测[J]. 浙江大学学报(工学版), 2026, 60(2): 415-424.
[2] 林宜山,左景,卢树华. 基于多头自注意力机制与MLP-Interactor的多模态情感分析[J]. 浙江大学学报(工学版), 2025, 59(8): 1653-1661.
[3] 邢志伟,朱书杰,李彪. 基于改进图卷积神经网络的航空行李特征感知[J]. 浙江大学学报(工学版), 2024, 58(5): 941-950.
[4] 付晓峰,陈威岐,孙曜,潘宇泽. 基于双向编码表示转换的双模态软件分类模型[J]. 浙江大学学报(工学版), 2024, 58(11): 2239-2246.
[5] 张剑钊,郭继昌,汪昱东. 基于融合逆透射率图的水下图像增强算法[J]. 浙江大学学报(工学版), 2023, 57(5): 921-929.
[6] 刘超,孔兵,杜国王,周丽华,陈红梅,包崇明. 高阶互信息最大化与伪标签指导的深度聚类[J]. 浙江大学学报(工学版), 2023, 57(2): 299-309.
[7] 杨天乐,李玲霞,张为. 基于自注意力机制的双分支密集人群计数算法[J]. 浙江大学学报(工学版), 2023, 57(10): 1955-1965.
[8] 鞠晓臣,赵欣欣,钱胜胜. 基于自注意力机制的桥梁螺栓检测算法[J]. 浙江大学学报(工学版), 2022, 56(5): 901-908.
[9] 温佩芝,陈君谋,肖雁南,温雅媛,黄文明. 基于生成式对抗网络和多级小波包卷积网络的水下图像增强算法[J]. 浙江大学学报(工学版), 2022, 56(2): 213-224.
[10] 刘英莉,吴瑞刚,么长慧,沈韬. 铝硅合金实体关系抽取数据集的构建方法[J]. 浙江大学学报(工学版), 2022, 56(2): 245-253.
[11] 于楠晶,范晓飚,邓天民,冒国韬. 基于多头自注意力的复杂背景船舶检测算法[J]. 浙江大学学报(工学版), 2022, 56(12): 2392-2402.