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

Figure 8

Detection of keypoints on the single frame MBS image using the LoG-Harris and the MBS-Harris detectors. and were adjusted to obtain the same number of keypoints with both detectors: (a) single fish target using LoG-Harris; (b) single fish target using MBS-Harris; (c) metal chain using LoG-Harris; (d) metal chain using MBS-Harris.

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