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ISBN: 978-988-17012-7-5 IMECS 2009

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Figure

Fig. 1 One single ping received by the sonar in a shallow water environment.   In structured environments, specular reflection commonly
Fig. 4 Sonar raw data. The size of this image frame is 200×248 pixels, which  means the scan step was 1.8° and 200 pings were emitted from the transducer
Fig. 6 (a) One frame acoustic image in x-y plane after pre-processing. (b) Binary image after Otsu thresholding
Fig. 12 Mapping results when sonar was located at second position.
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