TERA: Task-Evidence Restoration for Underwater Object Detection under Bandwidth-Constrained Transmission

Abstract

Underwater object detectors are typically evaluated on pre-transmission images, overlooking additional degradation from bandwidth-constrained downscaling and compression. We introduce AquaTX, a controlled benchmark built from real underwater detection datasets with seen and held-out codecs. We also propose TERA, a metadata-blind receiver-side framework combining task-guided pixel restoration and dual-state feature correction while keeping the detector frozen. Under seen compound degradation, TERA improves mean average precision (mAP50:95, averaged over IoU thresholds from 0.50 to 0.95) from 37.7 to 50.0 on DUO-TX and from 31.5 to 41.3 on RUOD-TX relative to the frozen detector without restoration. TERA also preserves clean-input performance and remains competitive with detector fine-tuning under the held-out AVIF codec. These findings support transmission-aware evaluation and task-guided restoration for underwater object detection. Code is available at https://github.com/hijinkim/TERA.