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항법 적용을 위한 수중 소나 영상 처리 요소 기법 비교 분석
신영식(Young-Sik Shin),조영근(Younggun Cho),이영준(Yeongjun Lee),최현택(Hyun-Taek Choi),김아영(Ayoung Kim) 한국해양공학회 2016 韓國海洋工學會誌 Vol.30 No.3
Imaging sonars such as side-scanning sonar or forward-looking sonar are becoming fundamental sensors in the underwater robotics field. However, using sonar images for underwater perception presents many challenges. Sonar images are usually low resolution with inherent speckled noise. To overcome the limited sensor information for underwater perception, we investigated preprocessing methods for sonar images and feature detection methods for a nonlinear scale space. In this paper, we focus on a comparative analysis of (1) preprocessing for sonar images and (2) the feature detection performance in relation to the scale space composition.