With the rapid development of global maritime trade, high-precision ship heading estimation has become crucial for maritime traffic safety and intelligent shipping. To address the challenge of heading estimation from horizontal-view optical images, this study proposes a novel framework integrating DeepLabV3+ image segmentation with contrastive-learning-optimized multi-scale similarity matching. First, a cascaded image preproce...

The marine environment is highly complex and variable, featuring obstacles such as islands, buoys, and vessels. Safe navigation of the surface agent (SA) fleet is crucial for ensuring the safety of the SA fleet, enhancing operational efficiency, and guaranteeing the smooth execution of the fleet’s mission. Regarding the problem of formation obstacle avoidance for SA fleets encountering complex obstacles during navigation, this...