(The image of the bottom Reconstructed from the echo sounder measurements.

c

The 3D bottom relief was reconstructed by estimation of
an altitude z(x, y) sequentially for consecutive discrete points
(x, y) on a plane, using the scheme depicted in Fig. 2.
https://sciendo.com/pdf/10.2478/pomr-2013-0033

In postprocessing, the underwater shape of the icebergs was reconstructed using the measurements collected by the sonar.

https://onlinelibrary.wiley.com/doi/10.1002/rob.21873