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. 2021 Sep 8;8:706646. doi: 10.3389/frobt.2021.706646

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Copyright © 2021 Choi, Olson, Davis, Zhang, Racson, Bingham, McCarrin, Vogt and Herman.

This is an open-access article distributed under the terms of the Creative Commons Attribution License (CC BY). The use, distribution or reproduction in other forums is permitted, provided the original author(s) and the copyright owner(s) are credited and that the original publication in this journal is cited, in accordance with accepted academic practice. No use, distribution or reproduction is permitted which does not comply with these terms.

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Simulated multibeam echosounder image of a cylinder in a square sonar tank with reflectivity = 1e-3 [(A) live-view screenshot in the Gazebo with 11 rays, (B) time-averaged image colorized using MATLAB with 114 rays].