Per Gunnar Auran

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This paper describes a n e f i c i e n t algorithm f o r the segmenta t ion of echo clusters wi th in a dynamic 3-0 sonar image. T h e sensor centered image i s a n echo managemen t f ramework grouping sonar re turns in to spherical cells, and allowing real-time organisation of 3-D range data using inexpensive equipment. Each cell acts as a spatial key t o(More)
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