Forward-looking sonar target tracking method based on frog-eye visual characteristics
A frog-eye vision and target tracking technology, applied in the field of image processing, can solve problems such as blurred edges, strong noise, and poor target tracking effect of forward-looking sonar
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[0036] The detailed content and technology of the present invention are described as follows with reference to the accompanying drawings.
[0037] The flow chart of tracking the moving target in the underwater forward-looking sonar image frame by adopting the improved spatio-temporal context method based on frog eye visual characteristics of the present invention is as follows: figure 1 As shown, the specific steps are as follows:
[0038] (1) read the forward looking sonar video image I;
[0039] (2) Using the frog-eye spatio-temporal filter operator F to convolve the forward-looking sonar video image to obtain the motion-filtered image IF;
[0040] The frog-eye spatio-temporal filter operator F used is specifically defined as follows:
[0041]
[0042] in,
[0043] K(t) is a time exponential impact function, and its response characteristics depend on the size of the motion stimulus. The specific expression is:
[0044]
[0045] In formula (1), A 1 、A 2 ,λ,τ, ...
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