The main focus of this paper is on extracting features with SOund Navigation And Ranging (SONAR) sensing for further underwater landmark-based Simultaneous Localization and Mapping (SLAM). According to the characteristics of sonar images. in this paper. an improved Otsu threshold segmentation method (TSM) has been developed for feature detection. https://www.diegojavierfares.com/mega-price-Houston-Texans-NFL-Side-Stripe-Training-Shorts-p6850-top-buy/