A SIFT-Like Feature Detector and Descriptor for Multibeam Sonar Imaging

Figure 6

Detection of keypoints on a rectangle corrupt by speckle noise with the LoG-Harris detector applied on the amplitude image and the logarithm image, respectively, compared with the MBS-Harris detector applied on the logarithm image. (a) LoG-Harris detector applied on amplitude image (29 keypoints). (b) LoG-Harris detector applied on the logarithm image (24 keypoints). (c) MBS-Harris detector applied on the logarithm image (39 keypoints).

(a)

(b)

(c)