Abstract: Programmed ocean surface protest identification and following for safe self-sufficient submerged vehicle and submarine surfacing is a basic issue in connection to the mischance announced in the most recent decades. Here, we propose an effective device to identify and track ocean surface impediments by preparing forward-looking sonar pictures. The proposed technique can identify either still or moving items with and without wake. Recognition and following stages trade data keeping in mind the end goal to diminish the quantity of false alerts. Promising outcomes are gotten utilizing genuine information gathered adrift with different items and situations. This study goes for planning an underground question discovery on Raspberry Pi in view of Linux stage.