Underwater photogrammetry in Antarctica: long-term observations in benthic ecosystems and legacy data rescue

Photogrammetry as a promising tool to unveil marine caves' benthic assemblages

Traditionally, monitoring approaches to survey marine caves have been constrained by equipment limitations and strict safety protocols. Nowadays, the rise of new approaches opens new possibilities to describe these peculiar ecosystems. The current study aimed to explore the potential of Structure from Motion (SfM) photogrammetry to assess the abundance and spatial distribution of the sessile benthic assemblages inside a semi-submerged marine cave. Additionally, since impacts of recent date mussel Lithophaga lithophaga illegal fishing were recorded, a special emphasis was paid to its distribution and densities. The results of SfM were compared with a more "traditional approach", by simulating photo-quadrats deployments over the produced orthomosaics. A total of 22 sessile taxa were identified, with Porifera representing the dominant taxa within the cave, and L. lithophaga presenting a density of 88.3 holes/m². SfM and photo-quadrats obtained comparable results regarding species richness, percentage cover of identified taxa and most of the seascape metrics, while, in terms of taxa density estimations, photo-quadrats highly overestimated their values. SfM resulted in a suitable non-invasive technique to record marine cave assemblages. Seascape indexes proved to be a comprehensive way to describe the spatial pattern of distribution of benthic organisms, establishing a useful baseline to assess future community shifts.

Long-term High Resolution Image Dataset of Antarctic Coastal Benthic Fauna

Antarctica is a remote place, the continent is covered by ice and its surrounding coastal areas are frozen for the majority of the year. Due to its peculiarity the observation of the underwater organisms is particularly difficult, complicated by logistic factors. We present a long-term dataset consisting of 755 images acquired by using a non-invasive, autonomous imaging device and encompassing both the Antarctic daylight and dark periods, including the corresponding transition phases. All images have the same field of view showing the benthic fauna and part of the water column above, including fishes present in the monitored period. All the images are manually annotated after a visual inspection performed by expert biologists. The extended monitoring period and the annotated images make the dataset a valuable benchmark suitable for studying the dynamics of the long-term Antarctic underwater fauna as well as for developing and testing algorithms for automated image analysis focused on the recognition and classification of the Antarctic organisms and the automated analysis of their long-term dynamics.

Assessing Seagrass Restoration Actions through a Micro-Bathymetry Survey Approach (Italy, Mediterranean Sea)

Underwater photogrammetry provides a means of generating high-resolution products such as dense point clouds, 3D models, and orthomosaics with centimetric scale resolutions. Underwater photogrammetric models can be used to monitor the growth and expansion of benthic communities, including the assessment of the conservation status of seagrass beds and their change over time (time lapse micro-bathymetry) with OBIA classifications (Object-Based Image Analysis). However, one of the most complex aspects of underwater photogrammetry is the accuracy of the 3D models for both the horizontal and vertical components used to estimate the surfaces and volumes of biomass. In this study, a photogrammetry-based micro-bathymetry approach was applied to monitor Posidonia oceanica restoration actions. A procedure for rectifying both the horizontal and vertical elevation data was developed using soundings from high-resolution multibeam bathymetry. Furthermore, a 3D trilateration technique was also tested to collect Ground Control Points (GCPs) together with reference scale bars, both used to estimate the accuracy of the models and orthomosaics. The root mean square error (RMSE) value obtained for the horizontal planimetric measurements was 0.05 m, while the RMSE value for the depth was 0.11 m. Underwater photogrammetry, if properly applied, can provide very high-resolution and accurate models for monitoring seagrass restoration actions for ecological recovery and can be useful for other research purposes in geological and environmental monitoring.

Automatic Semantic Segmentation of Benthic Habitats Using Images from Towed Underwater Camera in a Complex Shallow Water Environment

Underwater image segmentation is useful for benthic habitat mapping and monitoring; however, manual annotation is time-consuming and tedious. We propose automated segmentation of benthic habitats using unsupervised semantic algorithms. Four such algorithms––Fast and Robust Fuzzy C-Means (FR), Superpixel-Based Fast Fuzzy C-Means (FF), Otsu clustering (OS), and K-means segmentation (KM)––were tested for accuracy for segmentation. Further, YCbCr and the Commission Internationale de l’Éclairage (CIE) LAB color spaces were evaluated to correct variations in image illumination and shadow effects. Benthic habitat field data from a geo-located high-resolution towed camera were used to evaluate proposed algorithms. The Shiraho study area, located off Ishigaki Island, Japan, was used, and six benthic habitats were classified. These categories were corals (Acropora and Porites), blue corals (Heliopora coerulea), brown algae, other algae, sediments, and seagrass (Thalassia hemprichii). Analysis showed that the K-means clustering algorithm yielded the highest overall accuracy. However, the differences between the KM and OS overall accuracies were statistically insignificant at the 5% level. Findings showed the importance of eliminating underwater illumination variations and outperformance of the red difference chrominance values (Cr) in the YCbCr color space for habitat segmentation. The proposed framework enhanced the automation of benthic habitat classification processes.

Underwater Hyperspectral Imaging (UHI): A Review of Systems and Applications for Proximal Seafloor Ecosystem Studies

Marine ecosystem monitoring requires observations of its attributes at different spatial and temporal scales that traditional sampling methods (e.g., RGB imaging, sediment cores) struggle to efficiently provide. Proximal optical sensing methods can fill this observational gap by providing observations of, and tracking changes in, the functional features of marine ecosystems non-invasively. Underwater hyperspectral imaging (UHI) employed in proximity to the seafloor has shown a further potential to monitor pigmentation in benthic and sympagic phototrophic organisms at small spatial scales (mm–cm) and for the identification of minerals and taxa through their finely resolved spectral signatures. Despite the increasing number of studies applying UHI, a review of its applications, capabilities, and challenges for seafloor ecosystem research is overdue. In this review, we first detail how the limited band availability inherent to standard underwater cameras has led to a data analysis “bottleneck” in seafloor ecosystem research, in part due to the widespread implementation of underwater imaging platforms (e.g., remotely operated vehicles, time-lapse stations, towed cameras) that can acquire large image datasets. We discuss how hyperspectral technology brings unique opportunities to address the known limitations of RGB cameras for surveying marine environments. The review concludes by comparing how different studies harness the capacities of hyperspectral imaging, the types of methods required to validate observations, and the current challenges for accurate and replicable UHI research.

Towards Benthic Habitat 3D Mapping Using Machine Learning Algorithms and Structures from Motion Photogrammetry

The accurate classification and 3D mapping of benthic habitats in coastal ecosystems are vital for developing management strategies for these valuable shallow water environments. However, both automatic and semiautomatic approaches for deriving ecologically significant information from a towed video camera system are quite limited. In the current study, we demonstrate a semiautomated framework for high-resolution benthic habitat classification and 3D mapping using Structure from Motion and Multi View Stereo (SfM-MVS) algorithms and automated machine learning classifiers. The semiautomatic classification of benthic habitats was performed using several attributes extracted automatically from labeled examples by a human annotator using raw towed video camera image data. The Bagging of Features (BOF), Hue Saturation Value (HSV), and Gray Level Co-occurrence Matrix (GLCM) methods were used to extract these attributes from 3000 images. Three machine learning classifiers (k-nearest neighbor (k-NN), support vector machine (SVM), and bagging (BAG)) were trained by using these attributes, and their outputs were assembled by the fuzzy majority voting (FMV) algorithm. The correctly classified benthic habitat images were then geo-referenced using a differential global positioning system (DGPS). Finally, SfM-MVS techniques used the resulting classified geo-referenced images to produce high spatial resolution digital terrain models and orthophoto mosaics for each category. The framework was tested for the identification and 3D mapping of seven habitats in a portion of the Shiraho area in Japan. These seven habitats were corals (Acropora and Porites), blue corals (H. coerulea), brown algae, blue algae, soft sand, hard sediments (pebble, cobble, and boulders), and seagrass. Using the FMV algorithm, we achieved an overall accuracy of 93.5% in the semiautomatic classification of the seven habitats.

Composition and structure of the marine benthic community in Terra Nova Bay, Antarctica: Responses of the benthic assemblage to disturbances

The community structure and assemblages of marine benthic organisms were investigated in coastal areas near the Jang Bogo Antarctic Research Station in Terra Nova Bay during the 2012-2018 summer seasons. We also examined the recovery pattern of marine benthic organisms following disturbance due to the construction of the Jang Bogo Station. A total of 26 taxa were identified in the study area during the experimental period. Species number and diversity indices (richness, evenness, and diversity) were relatively low compared to data previously reported from Terra Nova Bay. Sphaerotylus antarcticus, Clavularia frankliniana, Hydractinia sp., Iridaea cordata, Fragilariopsis spp., Alcyonium antarcticum, and Metalaeospira pixelli were the dominant species in this area. Of these, the diatom Fragilariopsis spp. were the most abundant species, indicating their key role in maintaining the marine benthic community and controlling biogeochemical cycling. During the construction of the Jang Bogo Station, sediment coverage increased and diatoms declined due to the release of sediment into the coastal area. In February 2014, one month after the disturbance due to cyclone, the diatom coverage increased dramatically and thereby species number, richness index, and diversity index steadily rose from 2015 to 2018. However, non-metric multidimensional scaling ordination analysis of species similarities among sampling times showed that community structure had not completely recovered by 2018. Thus, long-term monitoring is required to elucidate the post-disturbance settlement mechanisms of marine benthic organisms at the study area in Terra Nova Bay.

An Under-Ice Hyperspectral and RGB Imaging System to Capture Fine-Scale Biophysical Properties of Sea Ice

Sea-ice biophysical properties are characterized by high spatio-temporal variability ranging from the meso- to the millimeter scale. Ice coring is a common yet coarse point sampling technique that struggles to capture such variability in a non-invasive manner. This hinders quantification and understanding of ice algae biomass patchiness and its complex interaction with some of its sea ice physical drivers. In response to these limitations, a novel under-ice sled system was designed to capture proxies of biomass together with 3D models of bottom topography of land-fast sea-ice. This system couples a pushbroom hyperspectral imaging (HI) sensor with a standard digital RGB camera and was trialed at Cape Evans, Antarctica. HI aims to quantify per-pixel chlorophyll-a content and other ice algae biological properties at the ice-water interface based on light transmitted through the ice. RGB imagery processed with digital photogrammetry aims to capture under-ice structure and topography. Results from a 20 m transect capturing a 0.61 m wide swath at sub-mm spatial resolution are presented. We outline the technical and logistical approach taken and provide recommendations for future deployments and developments of similar systems. A preliminary transect subsample was processed using both established and novel under-ice bio-optical indices (e.g., normalized difference indexes and the area normalized by the maximal band depth) and explorative analyses (e.g., principal component analyses) to establish proxies of algal biomass. This first deployment of HI and digital photogrammetry under-ice provides a proof-of-concept of a novel methodology capable of delivering non-invasive and highly resolved estimates of ice algal biomass in-situ, together with some of its environmental drivers. Nonetheless, various challenges and limitations remain before our method can be adopted across a range of sea-ice conditions. Our work concludes with suggested solutions to these challenges and proposes further method and system developments for future research.