Obstacle avoidance under the surface of water

Hi, has anyone got experience with detecting obstacles under the surface of water for boats? What sensors are best suited for this task?

  • sonar 360 degrees, like Ping360 Ping 360?
  • are there any underwater lidars available? Found 3datdepth, but this seems expensive
  • some non standard cameras that work underwater?

Any comments would be appreciated

Regards,

Those “fishing” sonars are quite cheap: Deeper CHIRP Smart Sonar for Pro Anglers