A detection system that detects subsurface objects within a medium and estimates various features of the objects is provided. The detection system receives a streaming sequence of image frames of the medium at various along-medium locations. An image frame contains voxel values (intensities) representing characteristics of the medium across the medium and in the depth (range) direction. The detection system depth-compensates the intensities for determining which voxels are part of an object using an unsupervised binary classifier. The detection system then connects object voxels into distinct objects and recursively estimates the features of those objects as the image frames stream based on the locations and intensities of the object voxels.
STATEMENT REGARDING FEDERALLY SPONSORED RESEARCH
 The United States government has rights in this invention pursuant to Contract No. DE-AC52-07NA27344 between the U.S. Department of Energy and Lawrence Livermore National Security, LLC, for the operation of Lawrence Livermore National Laboratory.