Fig. 7
From: Polarization-based underwater geolocalization with deep learning
Geolocalization throughout the day in low and high visibility waters. The top row (a and b) and bottom row (c and d) show geolocalization accuracy throughout the day using the parametric model and the deep neural network model, respectively, in both high (left) and low (right) visibility waters. The parametric-based underwater geolocalization has moderate to low accuracy in low visibility waters due to model deficiencies in incorporating all physical phenomena that contribute to underwater polarization. In contrast, the deep neural network geolocalization performs uniformly well throughout the day in both high and low visibility waters. The individual maps display the mean (triangle and diamond) and first standard deviation (solid and dashed line) of the covariance of the particle filter estimate of geolocation at noon and at the end of the day, respectively. The box plots represent the median and upper/lower quartiles for the North–South (purple) and East–West (orange) geolocalization prediction errors