The sonar image data used for this work have been released [23], as well as the position data required for mapping, to replicate Figures 9–11.

[23] Rymansaib, Z.; Nga, Y.; Treloar, A.A.; Hunter, A. Sidescan sonar images for training automated recognition of submerged
body-like objects. Univ. Bath Res. Data Arch. 2024. http://dx.doi.org/10.15125/BATH-01467