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The fundamental idea of detecting submerged objects, such as underwater rocks, fish, or the seabed, is to measure the intensity of the retro-reflected signal. If the intensity is strong enough, one can detect the existence of an object, and determine its depth under the water by the time delay of the signal. In the last two decades, light-scattering methods have been widely used in physical or chemical determinations and remote sensing of the ocean.
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