The trade-offs between the number of detected features and their reliability or repeatability are critical considerations in underwater sonar applications. While a higher number of detected features can provide more data points for analysis, it does not necessarily correlate with improved reliability or repeatability. In challenging underwater environments, such as those with varying levels of turbidity or non-uniform lighting, an increase in detected features may include a significant number of false positives or irrelevant features, which can complicate subsequent processing tasks.
Reliability is often compromised when feature detectors prioritize quantity over quality, leading to a situation where many features are detected, but only a few are truly representative of the underlying objects. Conversely, focusing on fewer, more reliable features may enhance repeatability across different sonar systems and environmental conditions, as these features are more likely to be consistently detected. Therefore, it is essential to strike a balance between the number of features and their quality, ensuring that the selected features are robust and meaningful for the specific application, such as object recognition, navigation, or mapping.