Low visual quality has prevented underwater robotic vision from a wide range of applications. Although several algorithms have been developed, real-time and adaptive methods are deficient for real-world tasks. In this paper, we address this difficulty based on generative adversarial networks (GAN), and propose a GAN-based restoration scheme (GAN-RS). In particular, we develop a multi-branch discriminator including an adversarial branch and a critic branch for the purpose of simultaneously preserving image content and removing underwater noise. In addition to adversarial learning, a novel dark channel prior loss also promotes the generator to produce realistic vision. More specifically, an underwater index is investigated to describe underwater properties, and a loss function based on the underwater index is designed to train the critic branch for underwater noise suppression. Through extensive comparisons on visual quality and feature restoration, we confirm the superiority of the proposed approach. Consequently, the GAN-RS can adaptively improve underwater visual quality in real time and induce an overall superior restoration performance. Finally, a real-world experiment is conducted on the seabed for grasping marine products, and the results are quite promising. The source code is publicly available at https://github.com/SeanChenxy/GAN_RS.
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