Height Estimation of a Sonar Towfish from Side-Scan Imagery
نویسنده
چکیده
The algorithm described uses a combination of Haar wavelet decomposition and Kalman filtering to track the noisy echoes. This was able to compute the towfish height on the fly with a minimal delay and without thresholding. Its performance is demonstrated using real side-scan sonar data and is shown to be robust with respect to the great variation in echo level (including drop-outs) and to the presence of interfering echoes.
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