• Raj Kumar Goswami
• G Sasibhushana Rao

Image processing forms an integral part of the design of every Autonomous Underwater Vehicle (AUV) where the vehicle is required to be controlled in the constrained environment. The objects detected in the images provided by the imaging sonar fitted on board AUV are tracked and then their trajectory is determined. These are then correlated with the speed and direction of the AUV and then by using the triangulation method the collision course can be calculated and finally the collision is avoided by giving the appropriate command to the AUV. In this paper a tracking method based on the centroids of the objects has been presented and the trajectories are then determined by using the Kalman filter. The implementation has been undertaken in the MATLAB.

Image Processing, Kalman Filtering Centroid based Tracking

"CENTROID BASED TRACKING OF THE OBJECTS EXTRACTED FROM THE IMAGES RECEIVED FROM SONAR", International Journal of Emerging Technologies and Innovative Research (www.jetir.org), ISSN:2349-5162, Vol.6, Issue 5, page no.16-19, May-2019, Available :http://www.jetir.org/papers/JETIR1905X03.pdf

"CENTROID BASED TRACKING OF THE OBJECTS EXTRACTED FROM THE IMAGES RECEIVED FROM SONAR", International Journal of Emerging Technologies and Innovative Research (www.jetir.org | UGC and issn Approved), ISSN:2349-5162, Vol.6, Issue 5, page no. pp16-19, May-2019, Available at : http://www.jetir.org/papers/JETIR1905X03.pdf