saving innovation in maritime rescue operations, Pars can
notably carry three life buoys in a single flight [27].
C. Computer vision models
Rapid human and hazard detection along with situational
awareness in real time are critical components of SAR
missions. Developments in computer vision, mostly based
on Deep Learning (DL) models, are essential, but for the
best real-time performance, particularly on portable devices,
their weightiness needs to be addressed. The goal of
ongoing work is to improve these models for effective
emergency response [17].
This section looks at single-agent and multi-agent
machine perception techniques that can be used in situations
and missions similar to SAR. In this context, Deep Learning
(DL) is an essential component for efficiently victim
identification and scenario assessment. Since cameras are
widely employed as sensors in Search and Rescue (SAR)
robotics, the primary emphasis is on image-based
perception, more precisely on semantic segmentation and
object detection. Labelling every element, the agent sees is
the task of semantic segmentation, while object detection
labels only the items that the agent finds interesting [17].
1) Semantic segmentation
Neural networks have been applied to attain
considerable improvements in recent deep learning research,
particularly in the area of semantic segmentation. Semantic
segmentation requires assigning a class of objects or non-
objects to each region or pixel, and deep neural networks are
proven to be quite effective at this task. In order to
understand images, segmentation is essential. It is also
necessary for many image analysis tasks, including object
recognition, boundary localization, and image classification
[28].
The most often used feature extraction techniques are
VGG and ResNet, both of which have exceptional efficacy.
The incorporation of techniques such as nested region
sequences or multi-scale feature extraction guarantees
performance criteria while maintaining computing
economy. In semantic segmentation, recent research
focusing on VGG and ResNet methods has produced
impressive results [28].
The assessment of three widely adopted, state-of-the-art
deep learning semantic segmentation methods—U-Net [29],
PSP-Net [30], and DeepLabv2 [31]—in a maritime
environment offers valuable insights into their respective
performances [17].
2) Water segmentation
Water segmentation is the process of separating water
from other compounds, offering a basic but reliable safety
precaution. The USV is only designed to proceed in the
event that open water is found along the intended path. In all
other cases, such as when there are obstructions, the USV
should slow down, halt, or choose a different path to prevent
possible collisions. In addition, during search operations,
water segmentation facilitates the identification and
detection of adjacent items. Higher resolution visual input
can be used for a more accurate analysis of identified
objects, assuring real-time system functioning, by restricting
the area analysed by algorithms to segmented water zones
[37].
This study's methodology focuses on water segmentation
using visually-based data from widely available high-
resolution RGB cameras, rather than relying on expensive
and specialised sensors like thermal cameras or LIDARs.
Specifically, the KittiSeg [36] deep learning segmentation
algorithm is modified for the purpose of water
segmentation, which is the preferred method [37].
3) Object detection
Searching digital images and videos for instances of a
specific class of semantic objects is the focus of the object
detection field in computer vision and image processing. In
order to extract features, carry out classification, and aid in
localization in input photos or videos, state-of-the-art object
detectors usually use deep learning networks as their
foundation. A number of extensively studied object
identification domains include face, multicategory, edge,
salient, pose, text detection in scenes, and pedestrian
detection [32].
Two major categories can be used to classify current
domain-specific imagine object detectors. A two-stage
detector with great accuracy in object recognition and
localization is the first type, as illustrated by Faster R-CNN
[33]. The second is the one-stage detector, represented by
You Only Look Once (YOLO) [34] and Single Shot
MultiBox Detector (SSD) [35], renowned for achieving high
inference speed. Significant quantities of memory and
processing power are frequently required for object
detection tasks, especially in real-time applications. Cloud
computing and small-scale object identification techniques
have been studied for Unmanned Aerial Vehicle (UAV)
applications in order to overcome this [17].
IV.Conclusion
This study concludes by highlighting the revolutionary
influence of cutting-edge technologies on search and rescue
operations and maritime safety. Technological
advancements have been successful in tackling difficulties
related to marine catastrophes and irregular migration crises,
as evidenced by the robotic instruments used in the
ICARUS project and the multinational approach of the
DARIUS initiative. The precision of SAR procedures is
improved by the application of the Lagrange particle
tracking method and the IAMSAR guideline, which are
essential for making wise decisions in emergency situations.
The addition of autonomous robots that are outfitted with
specific sensors enhances SAR performance even further in
maritime settings. Furthermore, computer vision models are
essential for quick human and hazard recognition, which
helps to maintain situational awareness in real time. This is
especially true for semantic segmentation and object
detection. Technology plays an increasingly important part
in the phases of readiness, reaction, and recovery after a
disaster as it develops, pointing to a future in which SAR
activities will be more effective, flexible, and adaptable to
changing circumstances.
However, it's crucial to acknowledge that weather
conditions, such as strong winds or rain, pose significant
challenges and can impact the effective use of Unmanned
Aerial Vehicles (UAVs) in maritime Search and Rescue
(SAR) operations. These challenges need to be addressed
for UAVs to consistently perform optimally in varying
environmental conditions during SAR missions.