Abstract: Technologies for processing a three-dimensional (3D) underwater scene is disclosed. A computing device receives a data set representative of an underwater environment corresponding to sonar data generated by a sonar transducer assembly and receiving parameters. The data set includes 3D volumetric points representative of at least one 3D volumetric data set at one or more time points. The computing device applies segmentation modes on the data set, in which each segmentation mode generates a processed subset of the 3D volumetric points. Each processed subset includes one or more 3D volumetric objects. The computing device classifies one or more 3D volumetric objects based on a combination of the plurality of processed subsets.

Abstract: Reflected sonar signals arising from one or more possible unknown objects are distinguished according to a first criterion, and possible shapes each having a defined unique associated point are assigned each of the possible unknown objects. Then the three dimensional points are tracked by the sonar system.