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An Efficient Implementation of Tracking Using Kalman Filter for Underwater Robot Application

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Executive Summary

The exploration of oceans and sea beds is being made increasingly possible through the development of Autonomous Underwater Vehicles (AUVs). This is an activity that concerns the marine community and it must confront the existence of notable challenges. However, an automatic detecting and tracking system is the first and foremost element for an AUV or an aqueous surveillance network. In this paper a method of Kalman filter was presented to solve the problems of objects track in sonar images. Region of object was extracted by threshold segment and morphology process, and the features of invariant moment and area were analyzed.

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