Estimating surface orientation from sonar images
A maximum likelihood method for estimating remote surface orientation from multi-static sonar images is presented. It is assumed that the sonar images are corrupted by signal-dependent noise, known as speckle, arising from complex Gaussian field fluctuations, and that the surface reflectance properties are effective. Lambert and the minimum number of independent samples necessary for maximum likelihood estimates to be asymptotically unbiased urrd attain classical estimation theory's lower bound on resolution are also derived.
SourceIn: High Frequency Seafloor Acoustics (SACLANTCEN Conference Proceedings CP-45), 1997, pp. 339-346
Makris, Nicholas C.