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Introduction: Autonomous underwater vehicles (AUVs) are required to thoroughly scan designated areas during underwater missions. They typically follow a zig-zag trajectory to achieve full coverage. However, effective coverage can be challenging in complex environments due to the accumulation and drift of navigation errors. Possible solutions include surfacing for satellite positioning or underwater acoustic positioning using transponders on other vehicles. Nevertheless, surfacing or active acoustics can compromise stealth during reconnaissance missions in hostile areas by revealing the vehicle's location.

Introduction: Autonomous Underwater Vehicles (AUVs) are capable of independently performing underwater navigation tasks, with side-scan sonar being a primary tool for underwater detection. The integration of these two technologies enables autonomous monitoring of the marine environment.

Introduction: High-resolution sonar systems are critical for underwater robots to obtain precise environmental perception. However, the computational demands of processing sonar imagery in real-time pose significant challenges for autonomous underwater vehicles (AUVs) operating in dynamic environments. Current segmentation methods often struggle to balance processing speed with accuracy.