Sonar Image Acquisition

A moving sonar fish emits an acoustic wave at regular intervals of time and records the reflected wave.

An image of the sea floor is reconstructed from the acoustic waves.

Objects observed at different distances from the sonar fish will present different intensities and shapes.

The farther an object is from the sonar, the longer its shadow.

The image is therefore divided into three regions (in the range direction) and filter parameters are optimized separately in each region.