METHOD OF REAL-TIME RECOGNIZING AND TRACKING FOR UNDERWATER OBJECTS USING SONAR IMAGES

摘要

The present invention relates to a method for exploring and recognizing an underwater object by using underwater image sonar. According to the present invention, a recognizing and tracking method of an underwater object using real-time image processing of a new sonar image capable of; determining a candidate for an object to be found within an image which is obtained through underwater image sonar; determining a final candidate by selecting the candidate or a new candidate in the image; recognizing the object from the final candidate by applying a plurality of strong recognition algorithms; and performing image processing of the image which is sequentially processed by tracking the recognized object by applying a plurality of tracking algorithms is provided to resolve a problem of underwater detection methods using a traditional image sonar which cannot identify an object easily because of a characteristic of a sonar image, environmental factors, and low image quality and a lot of noises in comparison with an optical camera, and has difficulty after the image processing. Moreover, the underwater robot which is formed to be capable of grasping its own position and autonomous behavior in the water is provided by using the recognizing and tracking method. The recognizing and tracking method comprises; an interested candidate selecting step; a final candidate selecting step; a recognition step; and a tracking step.