AUV EKF ITCOMP-SOM Information technology industries MAREDAT Remote sensing Self Organizing Maps Tara Oceans USV YOLOv3 automated image analysis autonomous autonomous marine navigation autonomous vehicles co-operative convolutional neural network convolutional neural networks deep chlorophyll maximum deep learning inversion light field machine learning marine environment maritime vessel dataset multi-platform imaging multi-robot multi-sensor fusion multispectral polarimetric imagery object based map object detection