WARD: A Vision-Only Framework for Water-Surface Awareness and Risk Detection

Yiran Zhou, Zheng Wang, Tianai Yan, Sacchin Sundar, Katherine A. Skinner

The Robotics Department, University of Michigan, Ann Arbor, USA

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Three panels of open water. Left: a boat camera view with a green banner reading STATUS: SAFE and a distance readout. Middle: a segmentation map with green sky, a red band, and blue water. Right: a thermal view, orange above the horizon and dark purple below.
Example 1. The camera view is labeled safe. The middle panel separates sky, a surface band, and water. The right panel is a thermal view of the horizon.
Three panels of a harbor. Left: a boat camera view of a shoreline with buildings and a green banner reading STATUS: SAFE. Middle: a segmentation map with green sky, a red band, and blue water. Right: a thermal view, bright orange above and dark blue-purple below.
Example 2. The camera looks toward a built shoreline and is labeled safe. The middle and right panels again show the segmentation and thermal views.