Detecting moving targets in active sonar echograph of harbor environment using robust high-order flux tensor

An important goal of an active sonar system is to detect and track underwater intruders such as frogmen, unmanned underwater vehicles, etc. Unfortunately, the intruders appear visually as a small fluctuating "blob" against the high-level fluctuating background caused by multipath propagation and reverberation in the harbor environment, making it difficult to be distinguished. Classical motion features well developed in computer vision cannot cope with an underwater environment. Thus, this paper presents a robust high-order flux tensor (RHO-FT) to characterize the small underwater moving targets against high-level fluctuating background. According to the dynamic behavior of active clutter from real-world harbor environment, we first classify it into two main types: (1) dynamic clutter but with relatively consistent spatial-temporal variation in a certain neighborhood; (2) sparkle clutter presenting completely random flashing. Then starting from the classical flux tensor, we develop a statistical high-order computation to handle the former followed by a spatial-temporal connected component to suppress the latter to achieve higher robustness. Experiments on a set of real-world harbor datasets demonstrate the effectiveness of our RHO-FT.