In this paper, invariant sonar texture characterization for seabed classification is addressed from the spatial distribution of image keypoints using log-Gaussian Cox processes. Considering the categorized visual keypoints, the spatial statistical properties of keypoint sets are expressed by the intensity and the pair correlation function of the log-Gaussian Cox model to define a novel invariant texture descriptor. Reported results of an application to sonar texture classification validate the

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... roposed descriptor compared to previous work. We further discuss the main contribution of proposed approach, including the key features of a statistical model and complexity aspects.