Effective Parallelization Method for Object Recognition in 2D Sonar Images Based on Task Partitioning

Algorithm 1

	FUNCTION Img_Partitioning(I, InL, InR)
	/∗Color transform∗/
	If an Image I is not a binary Image then
	The Image I is converted to a new 2D Binary Image N with a threshold value
	else
	The Image I is just copied to a new Image N
	end if
	/∗Labeling∗/
	Find connected components in N
	Calculate position of each group
	Find the region of center in N
	/∗Partitioning∗/
	Divide N into InL and InR based on the center region
	if InL is empty or InR is empty then
	return FALSE
	else
	return Partitioned Images
	end if
	End FUNCTION