Continuous small target real-time detection method based on sonar image

Abstract

The invention belongs to the technical field of target detection, and relates to a sonar image-based small target real-time detection method, which comprises the following steps of: 1) enhancing and segmenting a sonar image to obtain target intensity, target position and target diffusion range; 2) recovering a target shape of a target in the sonar image based on the target position; and 3) based on the target shape, the target intensity, the target position and the target diffusion range, adopting target multi-frame detection to realize real-time detection of the small target. The method does not depend on large parallel computing equipment, is easy to deploy, is small in calculation amount and high in operation speed, and can meet run-time detection of the equipment on a CPU (Central Processing Unit); the preset parameters are few and clear in meaning, a user can adjust in time according to the use effect, and use is convenient; according to the method, multi-frame detection is adopted, historical target records are reserved, the target position can be reserved when the image is subjected to transient interference, and the anti-interference capability is high.

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