“…In order to differentiate common underwater targets, a variety of test objects with different materials were selected, including ceramic tiles, iron sheets, and plastic, each with different material properties and varying surface smoothness, as shown in Fig 8(C). Since ceramic tiles, iron sheets, and plastic are all objects with low transmittance and high reflectance, according to references [22,23], the detectors for these three types of samples were placed in the direction of laser reflection behind the targets for measurement, as shown in Fig 8.…”