Obstacle detection is one of the most important
stages in the obstacle avoidance system. This work is focused
to explain the operation of a designed and implemented for
the overall detection of objects with low computational cost
strategy. This strategy of low computational cost is based on
performing a spatial segmentation of the information
obtained by the SONAR and determine the minimum
distance between the SONAR (AUV) and the obstacle.
Galarza, C.M., Prat, J., Gomariz, S. Obstacle detection algorithm of low computational cost for Guanay II AUV. A: International Workshop on Marine Technology. "PROCEEDINGS MARTECH 2016". Barcelona: 2016, p. 137-138.