Saliency-Based Diver Target Detection and Localization Method

Diver target automatic detection is indispensable for underwater defense systems, such as the unmanned harbor surveillance system. It is a very challenging task due to various poses and intensity features of diver target. In addition, the background noise in sonar images is complex, which also makes the task more difficult. In this paper, we propose a diver detection method based on saliency detection for sonar images. On the basis of studying the characteristics of diver sonar images, we first decompose the original sonar image and perform median filtering on it, which can significantly improve the quality of the sonar image saliency map. We employ saliency detection technique based on frequency analysis to segment the acoustic highlight region from its surroundings. This segmentation region roughly locates the diver target and generates a region of interest (ROI). We then extract the acoustic shadow region in ROI, which contributes to furtherly improve the localization accuracy. Finally, we merge the segmented highlight region and the extracted acoustic shadow region and compute the minimum outer rectangle of the merged region. Experimental results validate that the proposed method can well detect and locate the diver target, and it can also satisfy the demands of real-time application, and there is almost no false alarm in this method.