Marine Radar Target Detection for USV

Abstract

Unmanned surface vehicles (USV) have become an intense research area because of their extensive applications. Marine radar is the most important environmental perception sensor for USV. Aiming at the problems of noise jamming, uneven brightness, target lost in marine radar images, and the high-speed USV to the requirement of real-time and reliability, this paper proposes the radar image target detection algorithms which suitable for embedded marine radar target detection system. The smoothing algorithm can adaptive select filter in noise, border and background areas, improves the efficiency and smoothing effect. Based on the iterative threshold, the tolerance coefficient is selected by the histogram, ensures the robust of segmentation algorithm. The location, area and invariant moments features can be extracted from the radar image which after connected-component labeling. The actual radar image processing results demonstrate the effectiveness of the proposed algorithms.