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Images according to the noise density of ‘salt & pepper’ effect, Gaussian blurring, and pixel intensity for the training dataset. The background of the target caused noise to the sonar image, so ‘salt & pepper’ noise to the CKI was applied in (a) and then blurred in (b). The image sharpness of (b) was varied by adjusting the pixel intensity because the sharpness can be differed according to the inclined angle of the sonar sensor.
