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SUSHI is a vision-first navigation system for Autonomous Surface Vehicles (ASVs) that fuses detection, water segmentation, and monocular depth to produce camera-centric navigation grids for planning and control. The proposed perception methods achieve 90% segmentation accuracy through knowledge distillation with SAM2 logits, requiring only 500-550 frames and approximately 30 minutes of training. The system implements a YOLO detection model that achieves 94.5% mAP@0.5 (F1 score: 0.91) for trash and obstacle detection in simulation, and benchmarks a monocular depth method that solves the issue of reflective surfaces and can work universally. Path planning uses a Multi-Field Synthesis (MFS) approach: a locally reactive artificial-potential-field component blended adaptively with a global wavefront flow field, mitigating local minima while preserving real-time responsiveness. A behavior layer prioritizes target seeking and mask-based visual exploration when explicit goals are absent. Validation was performed in the TOAST simulator and in a pool environment, demonstrating robust goal targeting and exploration using cameras with minimal side sensing for emergency avoidance.<\/jats:p>","DOI":"10.1007\/s10846-026-02379-9","type":"journal-article","created":{"date-parts":[[2026,3,6]],"date-time":"2026-03-06T10:45:46Z","timestamp":1772793946000},"update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":1,"title":["SUSHI: A Vision System for Reactive, Uninformed ASV Navigation via Multi-Field Path Planning and Visual Exploration"],"prefix":"10.1007","volume":"112","author":[{"given":"Hamze","family":"Hammami","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Muhammad","family":"Abban","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Abdul Maajid","family":"Aga","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Laith","family":"Mohamed","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Saif","family":"Alsaad","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Nidhal","family":"Abdulaziz","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"297","published-online":{"date-parts":[[2026,3,6]]},"reference":[{"issue":"5","key":"2379_CR1","doi-asserted-by":"publisher","first-page":"833","DOI":"10.3390\/jmse12050833","volume":"12","author":"Y Wu","year":"2024","unstructured":"Wu, Y., Wang, T., Liu, S.: A review of path planning methods for marine autonomous surface vehicles. 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