Patent attributes
Methods, apparatuses, and computer program products are provided for producing a 3D image of an underwater environment. 2D sonar return data that defines an angle and distance value may be taken from a theoretical 2D slice of the underwater environment. Multiple sets of 2D sonar return data are taken from corresponding 2D slices of the underwater environment during travel. The multiple sets of 2D sonar return data can be inputted into a 3D point cloud/matrix based on the distance value and angle and the corresponding 2D slice associated with each sonar return. The 3D point cloud/matrix can then be processed to determine a cluster of sonar returns that correspond to the bottom surface. Additional filtering may be performed and the bottom surface can be reconstructed to form a 3D image for display to a user.
