System and Method for Sensing Underwater Point Cloud

A system for sensing underwater point cloud, comprising:

• an underwater sonar array configured to acquire point cloud information comprising a plurality of points;
• and
• a computing module communicatively connected to the underwater sonar array, wherein the computing module is configured to rearrange the points into a matrix comprising the points and a plurality of missing points;
• wherein the computing module performs an interpolation calculation for each of the missing points based on depth values of neighboring points among the points to obtain a depth value of each of the missing points.