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However, a significant barrier still exists in implementing high\u2010performance real\u2010time underwater object tracking on low\u2010power edge devices. To achieve real\u2010time tracking of underwater objects for edge devices, this article develops an underwater real\u2010time visual sensing system applied to AUV tracking. First, an underwater object tracking device is designed in this article employing a stereo binocular camera, an edge embedded NVIDIA Jetson Xavier NX and an STM32 control board. Then, after preprocessing, the input image with the effective USM algorithm, we propose a quick approach for detecting underwater objects based on SIoU\u2010YOLOv8n, which enables automatic object recognition and selection. At the same time, this article proposes a twin network UW\u2010Siam for continuous tracking of underwater objects, which achieves more accurate underwater object tracking. Finally, the algorithm is deployed to the designed real\u2010time underwater vision sensing system and tested in real\u2010world scenarios. The tracking accuracy reached 0.652, and the detection mAP reached 0.97. The results indicate that the system can rapidly detect and continuously monitor objects, performing well in real\u2010world scenarios with high accuracy and\u00a0robustness.<\/jats:p>","DOI":"10.1049\/ipr2.70183","type":"journal-article","created":{"date-parts":[[2025,8,13]],"date-time":"2025-08-13T14:22:30Z","timestamp":1755094950000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":1,"title":["Real\u2010Time Underwater Vision Sensing System for AUV Tracking"],"prefix":"10.1049","volume":"19","author":[{"given":"Canrong","family":"Chen","sequence":"first","affiliation":[{"name":"Key Laboratory of Underwater Acoustic Communication and Marine InformationTechnology, Department of Communication Engineering, School of Information Xiamen University  Xiamen,Fujian Province China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Tingzhuang","family":"Liu","sequence":"additional","affiliation":[{"name":"Key Laboratory of Underwater Acoustic Communication and Marine InformationTechnology, Department of Communication Engineering, School of Information Xiamen University  Xiamen,Fujian Province China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Linglu","family":"He","sequence":"additional","affiliation":[{"name":"Key Laboratory of Underwater Acoustic Communication and Marine InformationTechnology, Department of Communication Engineering, School of Information Xiamen University  Xiamen,Fujian Province China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Yi","family":"Zhu","sequence":"additional","affiliation":[{"name":"Key Laboratory of Underwater Acoustic Communication and Marine InformationTechnology, Department of Communication Engineering, School of Information Xiamen University  Xiamen,Fujian Province China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-8614-8756","authenticated-orcid":false,"given":"Fei","family":"Yuan","sequence":"additional","affiliation":[{"name":"Key Laboratory of Underwater Acoustic Communication and Marine InformationTechnology, Department of Communication Engineering, School of Information Xiamen University  Xiamen,Fujian Province China"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"265","published-online":{"date-parts":[[2025,8,13]]},"reference":[{"key":"e_1_2_12_2_1","doi-asserted-by":"publisher","DOI":"10.1109\/TIM.2019.2906974"},{"key":"e_1_2_12_3_1","doi-asserted-by":"crossref","unstructured":"D.Skarlatos P.Agrafiotis T.Balogh F.Bruno andC.Poullis \u201cProject Imareculture: Advanced vr Immersive Serious Games and Augmented Reality as Tools to Raise Awareness and Access to European Underwater Cultural Heritage \u201d inProc. 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