{"id":"https://openalex.org/W7225816142","doi":"https://doi.org/10.1371/journal.pone.0360659","title":"AquaMamba: Selective state space modeling for underwater scene segmentation in marine robotics","display_name":"AquaMamba: Selective state space modeling for underwater scene segmentation in marine robotics","publication_year":2026,"publication_date":"2026-11-11","ids":{"openalex":"https://openalex.org/W7225816142","doi":"https://doi.org/10.1371/journal.pone.0360659"},"language":"en","primary_location":{"id":"doi:10.1371/journal.pone.0360659","doi":"https://doi.org/10.1371/journal.pone.0360659","is_oa":true,"landing_page_url":"https://doi.org/10.1371/journal.pone.0360659","pdf_url":null,"source":{"id":"https://openalex.org/S202381698","display_name":"PLoS ONE","issn_l":"1932-6203","issn":["1932-6203"],"is_oa":true,"is_in_doaj":true,"is_core":true,"listed_in":["anvur-class-a","anvur-scientific","cwts-core","doaj","dongbi-c","doyens","erih-plus","jufo-1","ki-jl-1","medline","norway-1","poland-100","russia-white-list-1","vabb-shw"],"host_organization":"https://openalex.org/P4310315706","host_organization_name":"Public Library of Science","host_organization_lineage":["https://openalex.org/P4310315706"],"host_organization_lineage_names":["Public Library of Science"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"PLOS One","raw_type":"journal-article"},"volume":null,"type":"article","is_traditional":true,"indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://doi.org/10.1371/journal.pone.0360659","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5004818493","display_name":"Shuxi Chen","orcid":"https://orcid.org/0009-0007-3370-8960","observed_orcids":["https://orcid.org/0009-0007-3370-8960"]},"institutions":[{"id":"https://openalex.org/I3133486578","display_name":"Mokwon University","ror":"https://ror.org/01whq8m38","country_code":"KR","type":"education","lineage":["https://openalex.org/I3133486578"]},{"id":"https://openalex.org/I4405260854","display_name":"Nantong Institute of Technology","ror":"https://ror.org/04ckem624","country_code":"CN","type":"education","lineage":["https://openalex.org/I4405260854"]}],"countries":["CN","KR"],"is_corresponding":false,"raw_author_name":"Shuxi Chen","raw_affiliation_strings":["Mokwon University","Nantong Institute of Technology"],"raw_orcid":"https://orcid.org/0009-0007-3370-8960","affiliations":[{"raw_affiliation_string":"Mokwon University","institution_ids":["https://openalex.org/I3133486578"]},{"raw_affiliation_string":"Nantong Institute of Technology","institution_ids":["https://openalex.org/I4405260854"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5137025777","display_name":"Jianlin Qiu","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I199305430","display_name":"Nantong University","ror":"https://ror.org/02afcvw97","country_code":"CN","type":"education","lineage":["https://openalex.org/I199305430"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jianlin Qiu","raw_affiliation_strings":["Nantong University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Nantong University","institution_ids":["https://openalex.org/I199305430"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5161480333","display_name":"Yiyang Sun","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I4405260854","display_name":"Nantong Institute of Technology","ror":"https://ror.org/04ckem624","country_code":"CN","type":"education","lineage":["https://openalex.org/I4405260854"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yiyang Sun","raw_affiliation_strings":["Nantong Institute of Technology"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Nantong Institute of Technology","institution_ids":["https://openalex.org/I4405260854"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5161486703","display_name":"Haifei Zhang","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I4405260854","display_name":"Nantong Institute of Technology","ror":"https://ror.org/04ckem624","country_code":"CN","type":"education","lineage":["https://openalex.org/I4405260854"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Haifei Zhang","raw_affiliation_strings":["Nantong Institute of Technology"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Nantong Institute of Technology","institution_ids":["https://openalex.org/I4405260854"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100353576","display_name":"Hao Chen","orcid":"https://orcid.org/0000-0002-6418-3761","observed_orcids":["https://orcid.org/0000-0002-6418-3761"]},"institutions":[{"id":"https://openalex.org/I86987016","display_name":"KTH Royal Institute of Technology","ror":"https://ror.org/026vcq606","country_code":"SE","type":"education","lineage":["https://openalex.org/I86987016"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Hao Chen","raw_affiliation_strings":["Royal Institute of Technology (KTH)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Royal Institute of Technology (KTH)","institution_ids":["https://openalex.org/I86987016"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":{"value":2382,"currency":"USD","value_usd":2382},"apc_paid":{"value":2382,"currency":"USD","value_usd":2382},"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.0,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"21","issue":"11","first_page":"e0360659","last_page":"e0360659"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10036","display_name":"Advanced Neural Network Applications","score":0.9312000274658203,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10036","display_name":"Advanced Neural Network Applications","score":0.9312000274658203,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11307","display_name":"Domain Adaptation and Few-Shot Learning","score":0.02879999950528145,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10689","display_name":"Remote-Sensing Image Classification","score":0.00860000029206276,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[],"concepts":[{"id":"https://openalex.org/C89600930","wikidata":"https://www.wikidata.org/wiki/Q1423946","display_name":"Segmentation","level":2,"score":0.7648000121116638},{"id":"https://openalex.org/C12725497","wikidata":"https://www.wikidata.org/wiki/Q810247","display_name":"Baseline (sea)","level":2,"score":0.705299973487854},{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.6827999949455261},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6744999885559082},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5774000287055969},{"id":"https://openalex.org/C2780513914","wikidata":"https://www.wikidata.org/wiki/Q18210350","display_name":"Bottleneck","level":2,"score":0.5681999921798706},{"id":"https://openalex.org/C124504099","wikidata":"https://www.wikidata.org/wiki/Q56933","display_name":"Image segmentation","level":3,"score":0.46869999170303345},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4562000036239624},{"id":"https://openalex.org/C81363708","wikidata":"https://www.wikidata.org/wiki/Q17084460","display_name":"Convolutional neural network","level":2,"score":0.42820000648498535},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.4074000120162964},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.3490000069141388},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.3431999981403351},{"id":"https://openalex.org/C65885262","wikidata":"https://www.wikidata.org/wiki/Q7429708","display_name":"Scale-space segmentation","level":4,"score":0.3310000002384186},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.32429999113082886},{"id":"https://openalex.org/C36503486","wikidata":"https://www.wikidata.org/wiki/Q11235244","display_name":"Domain (mathematical analysis)","level":2,"score":0.3215000033378601},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.30059999227523804},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.2989000082015991},{"id":"https://openalex.org/C62354387","wikidata":"https://www.wikidata.org/wiki/Q875399","display_name":"Boundary (topology)","level":2,"score":0.28929999470710754},{"id":"https://openalex.org/C72434380","wikidata":"https://www.wikidata.org/wiki/Q230930","display_name":"State space","level":2,"score":0.2824000120162964},{"id":"https://openalex.org/C25694479","wikidata":"https://www.wikidata.org/wiki/Q7446278","display_name":"Segmentation-based object categorization","level":5,"score":0.2696000039577484},{"id":"https://openalex.org/C44249647","wikidata":"https://www.wikidata.org/wiki/Q208498","display_name":"Confidence interval","level":2,"score":0.26809999346733093},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.26409998536109924},{"id":"https://openalex.org/C2779304628","wikidata":"https://www.wikidata.org/wiki/Q3503480","display_name":"Face (sociological concept)","level":2,"score":0.2542000114917755},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.25189998745918274},{"id":"https://openalex.org/C2778572836","wikidata":"https://www.wikidata.org/wiki/Q380933","display_name":"Space (punctuation)","level":2,"score":0.250900000333786}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1371/journal.pone.0360659","doi":"https://doi.org/10.1371/journal.pone.0360659","is_oa":true,"landing_page_url":"https://doi.org/10.1371/journal.pone.0360659","pdf_url":null,"source":{"id":"https://openalex.org/S202381698","display_name":"PLoS ONE","issn_l":"1932-6203","issn":["1932-6203"],"is_oa":true,"is_in_doaj":true,"is_core":true,"listed_in":["anvur-class-a","anvur-scientific","cwts-core","doaj","dongbi-c","doyens","erih-plus","jufo-1","ki-jl-1","medline","norway-1","poland-100","russia-white-list-1","vabb-shw"],"host_organization":"https://openalex.org/P4310315706","host_organization_name":"Public Library of Science","host_organization_lineage":["https://openalex.org/P4310315706"],"host_organization_lineage_names":["Public Library of Science"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"PLOS One","raw_type":"journal-article"}],"best_oa_location":{"id":"doi:10.1371/journal.pone.0360659","doi":"https://doi.org/10.1371/journal.pone.0360659","is_oa":true,"landing_page_url":"https://doi.org/10.1371/journal.pone.0360659","pdf_url":null,"source":{"id":"https://openalex.org/S202381698","display_name":"PLoS ONE","issn_l":"1932-6203","issn":["1932-6203"],"is_oa":true,"is_in_doaj":true,"is_core":true,"listed_in":["anvur-class-a","anvur-scientific","cwts-core","doaj","dongbi-c","doyens","erih-plus","jufo-1","ki-jl-1","medline","norway-1","poland-100","russia-white-list-1","vabb-shw"],"host_organization":"https://openalex.org/P4310315706","host_organization_name":"Public Library of Science","host_organization_lineage":["https://openalex.org/P4310315706"],"host_organization_lineage_names":["Public Library of Science"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"PLOS One","raw_type":"journal-article"},"sustainable_development_goals":[],"study_designs":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W1901129140","https://openalex.org/W2108598243","https://openalex.org/W2194775991","https://openalex.org/W2432481613","https://openalex.org/W2518108298","https://openalex.org/W2523532944","https://openalex.org/W2565639579","https://openalex.org/W2769400802","https://openalex.org/W2770233088","https://openalex.org/W2888358068","https://openalex.org/W2889985731","https://openalex.org/W2908510526","https://openalex.org/W2909208433","https://openalex.org/W2950055287","https://openalex.org/W2964309882","https://openalex.org/W2997763120","https://openalex.org/W3014111670","https://openalex.org/W3088226460","https://openalex.org/W3110196536","https://openalex.org/W3119997354","https://openalex.org/W3157502174","https://openalex.org/W3160331490","https://openalex.org/W3187418919","https://openalex.org/W4321232185","https://openalex.org/W4389326242","https://openalex.org/W4390874273","https://openalex.org/W4391013663","https://openalex.org/W4402555919","https://openalex.org/W4403152483","https://openalex.org/W4405139613","https://openalex.org/W4415540030"],"related_works":[],"abstract_inverted_index":{"Underwater":[0],"scene":[1],"segmentation":[2,35,135,204],"is":[3,158,185],"challenging":[4],"because":[5],"image":[6],"degradation":[7],"and":[8,16,46,54,138,153,165,181,183,205,217],"domain":[9],"shift":[10],"vary":[11],"greatly":[12],"in":[13,24,59,125,160],"marine":[14],"environments,":[15],"the":[17,39,60,74,89,97,103,120,142,167,188,207],"behavior":[18,149],"of":[19,67,113,122],"selective":[20],"state-space":[21],"models":[22],"(SSMs)":[23],"this":[25,127],"environment":[26],"remains":[27,88,176],"insufficiently":[28],"characterized.":[29],"We":[30],"propose":[31],"AquaMamba,":[32,151],"a":[33,55,197],"ResNet34-UNet":[34],"framework":[36],"that":[37],"replaces":[38],"bottleneck":[40],"operator":[41],"with":[42,49],"stacked":[43],"Mamba":[44],"layers,":[45],"compare":[47],"it":[48],"five":[50],"established":[51],"CNN-based":[52],"methods":[53],"constructed":[56],"Transformer-bottleneck":[57],"baseline":[58,77,200],"SUIM":[61],"benchmark.":[62],"AquaMamba":[63,101,157,184,195],"achieves":[64],"an":[65],"mIoU":[66],"0.669,":[68],"1.9":[69],"percentage":[70],"points":[71],"higher":[72],"than":[73,133],"controlled":[75,198],"Trans-UNet":[76,152],"(0.650),":[78],"while":[79,173],"using":[80],"fewer":[81],"parameters":[82],"(29.5M":[83],"vs.":[84],"33.9M).":[85],"DeepLabV3":[86,154,174],"+":[87,155,175],"strongest":[90],"overall":[91],"model,":[92],"reaching":[93],"0.712":[94],"mIoU.":[95],"On":[96],"unlabeled":[98],"UIEB":[99],"dataset,":[100],"shows":[102],"highest":[104],"confidence":[105,131],"retention":[106],"among":[107,150],"four":[108],"representative":[109,144],"models,":[110],"retaining":[111],"93.5%":[112],"its":[114],"source-domain":[115],"prediction":[116,130],"confidence.":[117],"Due":[118],"to":[119,213],"lack":[121],"semantic":[123,203],"annotation":[124],"UIEB,":[126],"result":[128],"reflects":[129],"rather":[132],"target-domain":[134],"accuracy.":[136],"Scale-":[137],"boundary-specific":[139],"diagnostics":[140],"within":[141],"selected":[143],"subset":[145],"further":[146],"show":[147],"complementary":[148],":":[156],"competitive":[159],"several":[161],"large":[162],"object":[163],"categories":[164],"obtains":[166],"lowest":[168],"boundary":[169],"error":[170],"point":[171],"estimate,":[172],"stronger":[177],"for":[178,201,209],"human":[179],"divers":[180],"plant/seagrass,":[182],"limited":[186],"on":[187],"reported":[189],"small-RO":[190],"subset.":[191],"These":[192],"findings":[193],"position":[194],"as":[196],"SSM":[199,211],"underwater":[202],"emphasize":[206],"need":[208],"future":[210],"designs":[212],"better":[214],"integrate":[215],"multi-scale":[216],"high-resolution":[218],"features.":[219]},"counts_by_year":[],"updated_date":"2026-11-12T12:28:57.059296","created_date":"2026-11-12T00:00:00"}
