Investigation of Influence of Change of Noise Variance in Removing Floating Matter from Underwater Image Using Kalman Filter

In this paper, we propose a method for eliminating image noise (from sand, algae, bubbles, etc.) that is transferred when capturing underwater images. In detail, we separate the input of a moving underwater image into a slowly changing background and foreground moving at a certain speed using Kalman filter and object tracking. In this research, we examined the difference in image quality of the output image by changing the noise variance given to the Kalman filter.