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

Figure 9

Detection of keypoints on the MBS image sequences using the LoG-Harris and MBS-Harris detectors. and were adjusted to obtain the same number of keypoints with all keypoint detectors: (a–d) two fish targets using LoG-Harris; (e–h) two fish targets using MBS-Harris.

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