Methods and apparatuses for reconstructing a 3d sonar image

An apparatus comprising a sonar signal processor and a memory including computer program code, the memory and the computer program code configured to, with the sonar signal processor, cause the apparatus to:

• receive a set of 2D sonar return data received by at least one transducer element traversing a body of water;
• generate a 3D matrix based on a plurality of sets of 2D sonar return data received as the at least one transducer element traverses the body of water, wherein the 3D matrix comprises a plurality of sonar returns defined by each of the received plurality of sets of 2D sonar return data, wherein each of the plurality of sonar returns defines a strength value, a distance value, and an angle;
• determine, based on at least the angle of each of the plurality of sonar returns and at least one of the strength value or the distance value of each of the plurality of sonar returns, a group of some of the plurality of sonar returns in the 3D matrix that correspond to the bottom surface of the underwater environment;
• and
• generate a 3D representation of the bottom surface of the underwater environment based on the group of some of the plurality of sonar returns in the 3D matrix.

Computer program product comprising a non-transitory computer readable medium having program code portions stored thereon, the program code portions configured, when said program product is run with a sonar signal processor, to:

• receive a set of 2D sonar return data received by at least one transducer element traversing a body of water;
• generate a 3D matrix based on a plurality of sets of 2D sonar return data received as the at least one transducer element traverses the body of water, wherein the 3D matrix comprises a plurality of sonar returns defined by each of the received plurality of sets of 2D sonar return data, wherein each of the plurality of sonar returns defines a strength value, a distance value, and an angle;
• determine, based on at least the angle of each of the plurality of sonar returns and at least one of the strength value or the distance value of each of the plurality of sonar returns, a group of some of the plurality of sonar returns in the 3D matrix that correspond to the bottom surface of the underwater environment;
• and
• generate a 3D representation of the bottom surface of the underwater environment based on the group of some of the plurality of sonar returns in the 3D matrix.