Martian Skylight Identification Based on the Deep Learning Model

As a type of distinctive pit on Mars, skylights are entrances to subsurface lava caves. They are very important for studying volcanic activity and potential preserved water ice, and are also considered as potential sites for human extraterrestrial bases in the future. Most skylights are manually identified, which has low efficiency and is highly subjective. Although deep learning methods have recently been used to identify skylights, they face challenges of few effective samples and low identification accuracy. In this article, 151 positive samples and 920 negative samples based on the MRO-HiRISE image data was used to create an initial skylight dataset, which contained few positive samples. To augment the initial dataset, StyleGAN2-ADA was selected to synthesize some positive samples and generated an augmented dataset with 896 samples. On the basis of the augmented skylight dataset, we proposed YOLOv9-Skylight for skylight identification by incorporating Inner-EIoU loss and DySample to enhance localization accuracy and feature extracting ability. Compared with YOLOv9, the P, R, and the F1 of YOLOv9-Skylight were improved by about 9.1%, 2.8%, and 5.6%, respectively. Compared with other mainstream models such as YOLOv5, YOLOv10, Faster R-CNN, Mask R-CNN, and DETR, YOLOv9-Skylight achieved the highest accuracy (F1 = 92.5%), which shows a strong performance in skylight identification.