Shallow-Water Habitat Mapping using Underwater Hyperspectral Imaging from an Unmanned Surface Vehicle: A Pilot Study

Quantifying pigment content in crustose coralline algae using hyperspectral imaging: A case study with Tethysphytum antarcticum (Ross Sea, Antarctica)

Crustose coralline algae (CCA) are a highly diverse group of habitat-forming, calcifying red macroalgae (Rhodophyta) with unique adaptations to diverse irradiance regimes. A distinctive CCA phenotype adaptation, which allows them to maximize photosynthetic performance in low light, is their content of a specific group of light-harvesting pigments called phycobilins. In this study, we assessed the potential of noninvasive hyperspectral imaging (HSI) in the visible spectrum (400-800 nm) to describe the phenotypic variability in phycobilin content of an Antarctic coralline, Tethysphytum antarcticum (Hapalidiales), from two distinct locations. We validated our measurements with pigment extractions and spectrophotometry analysis, in addition to DNA barcoding using the psbA marker. Targeted spectral indices were developed and correlated with phycobilin content using linear mixed models (R2 = 0.64-0.7). Once applied to the HSI, the models revealed the distinct phycoerythrin spatial distribution in the two site-specific CCA phenotypes, with thin and thick crusts, respectively. This study advances the capabilities of hyperspectral imaging as a tool to quantitatively study CCA pigmentation in relation to their phenotypic plasticity, which can be applied in laboratory studies and potentially in situ surveys using underwater hyperspectral imaging systems.

Pixelwise immersion factor calibration for underwater hyperspectral imaging instruments

In situ spectral reflectance initially captured at high spatial resolution with underwater hyperspectral imaging (UHI) is effective for classification and quantification in oceanic biogeochemical studies; however, the measured spectral radiance is rarely used as an absolute quantity due to challenges in calibration of UHI instruments. In this paper, a commercial UHI instrument was calibrated for radiometric flat field response and pixelwise immersion effect to support in situ measurement of absolute spectral radiance. The radiometric and immersion factor calibrations of the UHI instrument were evaluated quantitatively through comparative experiments with a spectroradiometer and a spectrometer. Results show that the immersion factor of the center pixel of the tested UHI instrument was 1.763 in pure water at 600 nm, and the averaged difference in immersion factor between the center and edge pixel of the UHI instrument in the visible light band was only 1∼3% across its half angle field of view of 35° in air. The new calibration coefficients were further used to calculate the spectral radiance of transmitted sunlight through ice algae clusters in sea ice measured by the UHI instrument during an Arctic under-ice bio-optical survey.

A Tunable Hyperspectral Imager for Detection and Quantification of Marine Biofouling on Coated Surfaces

Fouling control coatings (FCCs) are used to prevent the accumulation of marine biofouling on, e.g., ship hulls, which causes increased fuel consumption and the global spread of non-indigenous species. The standards for performance evaluations of FCCs rely on visual inspections, which induce a degree of subjectivity. The use of RGB images for objective evaluations has already received interest from several authors, but the limited acquired information restricts detailed analyses class-wise. This study demonstrates that hyperspectral imaging (HSI) expands the specificity of biofouling assessments of FCCs by capturing distinguishing spectral features. We developed a staring-type hyperspectral imager using a liquid crystal tunable filter as the wavelength selective element. A novel light-emitting diode illumination system with high and uniform irradiance was designed to compensate for the low-filter transmittance. A spectral library was created from reflectance-calibrated optical signatures of representative biofouling species and coated panels. We trained a neural network on the annotated library to assign a class to each pixel. The model was evaluated on an artificially generated target, and global accuracy of 95% was estimated. The classifier was tested on coated panels (exposed at the CoaST Maritime Test Centre) with visible intergrown biofouling. The segmentation results were used to determine the coverage percentage per class. Although a detailed taxonomic description might be complex due to spectral similarities among groups, these results demonstrate the feasibility of HSI for repeatable and quantifiable biofouling detection on coated surfaces.

Underwater Hyperspectral Imaging of Arctic Macroalgal Habitats during the Polar Night Using a Novel Mini-ROV-UHI Portable System

We describe an Underwater Hyperspectral Imager (UHI) deployed on an instrument-carrying platform consisting of two interconnected mini-ROVs (Remotely Operated Vehicle) for the mapping and monitoring of Arctic macroalgal habitats in Kongsfjorden (Svalbard) during the Polar Night. The mini-ROV-UHI system is easy to transport, assemble and deploy from shore, even under the dark, icy and cold conditions of the Arctic Polar Night. The system can be operated by two persons, keeping the operational costs low. In vivo hyperspectral reflectance of collected specimens of brown, red and green macroalgae was measured with a spectrometer in the lab to provide a spectral library for supervised pigment group classification based on UHI photomosaics. The in situ UHI-photomosaics provided detailed information of the areal coverage of the seafloor substrate (16%), as well as brown (51% habitat cover), red (18%), and green (14%) macroalgae, with spatial resolution in the range of cm and spectral resolution of 2 nm. The collected specimens from the mapped area were also used for species identification and health state evaluation. This innovative UHI sampling method provides significant information about macroalgal distribution and physiology, and due to its flexibility in terms of deployment, it is applicable to a variety of environments.

Very High-Resolution Satellite-Derived Bathymetry and Habitat Mapping Using Pleiades-1 and ICESat-2

Accurate and reliable bathymetric data are needed for a wide diversity of marine research and management applications. Satellite-derived bathymetry represents a time saving method to map large shallow waters of remote regions compared to the current costly in situ measurement techniques. This study aims to create very high-resolution (VHR) bathymetry and habitat mapping in Mayotte island waters (Indian Ocean) by fusing 0.5 m Pleiades-1 passive multispectral imagery and active ICESat-2 LiDAR bathymetry. ICESat-2 georeferenced photons were filtered to remove noise and corrected for water column refraction. The bathymetric point clouds were validated using the French naval hydrographic and oceanographic service Litto3D® dataset and then used to calibrate the multispectral image to produce a digital depth model (DDM). The latter enabled the creation of a digital albedo model used to classify benthic habitats. ICESat-2 provided bathymetry down to 15 m depth with a vertical accuracy of bathymetry estimates reaching 0.89 m. The benthic habitats map produced using the maximum likelihood supervised classification provided an overall accuracy of 96.62%. This study successfully produced a VHR DDM solely from satellite data. Digital models of higher accuracy were further discussed in the light of the recent and near-future launch of higher spectral and spatial resolution satellites.

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.

Development of Coral Investigation System Based on Semantic Segmentation of Single-Channel Images

Among aquatic biota, corals provide shelter with sufficient nutrition to a wide variety of underwater life. However, a severe decline in the coral resources can be noted in the last decades due to global environmental changes causing marine pollution. Hence, it is of paramount importance to develop and deploy swift coral monitoring system to alleviate the destruction of corals. Performing semantic segmentation on underwater images is one of the most efficient methods for automatic investigation of corals. Firstly, to design a coral investigation system, RGB and spectral images of various types of corals in natural and artificial aquatic sites are collected. Based on single-channel images, a convolutional neural network (CNN) model, named DeeperLabC, is employed for the semantic segmentation of corals, which is a concise and modified deeperlab model with encoder-decoder architecture. Using ResNet34 as a skeleton network, the proposed model extracts coral features in the images and performs semantic segmentation. DeeperLabC achieved state-of-the-art coral segmentation with an overall mean intersection over union (IoU) value of 93.90%, and maximum F1-score of 97.10% which surpassed other existing benchmark neural networks for semantic segmentation. The class activation map (CAM) module also proved the excellent performance of the DeeperLabC model in binary classification among coral and non-coral bodies.

Mapping the in situ microspatial distribution of ice algal biomass through hyperspectral imaging of sea-ice cores

Ice-associated microalgae make a significant seasonal contribution to primary production and biogeochemical cycling in polar regions. However, the distribution of algal cells is driven by strong physicochemical gradients which lead to a degree of microspatial variability in the microbial biomass that is significant, but difficult to quantify. We address this methodological gap by employing a field-deployable hyperspectral scanning and photogrammetric approach to study sea-ice cores. The optical set-up facilitated unsupervised mapping of the vertical and horizontal distribution of phototrophic biomass in sea-ice cores at mm-scale resolution (using chlorophyll a [Chl a] as proxy), and enabled the development of novel spectral indices to be tested against extracted Chl a (R² ≤ 0.84). The modelled bio-optical relationships were applied to hyperspectral imagery captured both in situ (using an under-ice sliding platform) and ex situ (on the extracted cores) to quantitatively map Chl a in mg m⁻² at high-resolution (≤ 2.4 mm). The optical quantification of Chl a on a per-pixel basis represents a step-change in characterising microspatial variation in the distribution of ice-associated algae. This study highlights the need to increase the resolution at which we monitor under-ice biophysical systems, and the emerging capability of hyperspectral imaging technologies to deliver on this research goal.

How Far Can We Classify Macroalgae Remotely? An Example Using a New Spectral Library of Species from the South West Atlantic (Argentine Patagonia)

Macroalgae have attracted the interest of remote sensing as targets to study coastal marine ecosystems because of their key ecological role. The goal of this paper is to analyze a new spectral library, including 28 macroalgae from the South-West Atlantic coast, in order to assess its use in hyperspectral remote sensing. The library includes species collected in the Atlantic Patagonian coast (Argentina) with representatives of brown, red, and green algae, being 22 of the species included in a spectral library for the first time. The spectra of these main groups are described, and the intraspecific variability is also assessed, considering kelp differentiated tissues and depth range, discussing them from the point of view of their effects on spectral features. A classification and an independent component analysis using the spectral range and simulated bands of two state-of-the-art drone-borne hyperspectral sensors were performed. The results show spectral features and clusters identifying further algae taxonomic groups, showing the potential applications of this spectral library for drone-based mapping of this ecological and economical asset of our coastal marine ecosystems.

Underwater Hyperspectral Imaging Technology and Its Applications for Detecting and Mapping the Seafloor: A Review

Common methods of ocean remote sensing and seafloor surveying are mainly carried out by airborne and spaceborne hyperspectral imagers. However, the water column hinders the propagation of sunlight to deeper areas, thus limiting the scope of observation. As an emerging technology, underwater hyperspectral imaging (UHI) is an extension of hyperspectral imaging technology in air conditions, and is undergoing rapid development for applications in shallow and deep-sea environments. It is a close-range, high-resolution approach for detecting and mapping the seafloor. In this paper, we focus on the concepts of UHI technology, covering imaging systems and the correction methods of eliminating the water column’s influence. The current applications of UHI, such as deep-sea mineral exploration, benthic habitat mapping, and underwater archaeology, are highlighted to show the potential of this technology. This review can provide an introduction and overview for those working in the field and offer a reference for those searching for literature on UHI technology.

Mapping the Historical Shipwreck Figaro in the High Arctic Using Underwater Sensor-Carrying Robots

In 2007, a possible wreck site was discovered in Trygghamna, Isfjorden, Svalbard by the Norwegian Hydrographic Service. Using (1) a REMUS 100 autonomous underwater vehicle (AUV) equipped with a sidescan sonar (SSS) and (2) a Seabotix LBV 200 mini-remotely operated vehicle (ROV) with a high-definition (HD) camera, the wreck was in 2015 identified as the Figaro: a floating whalery that sank in 1908. The Figaro is to our knowledge currently the northernmost wreck in the world to be investigated by archaeologists. As the wreck is protected by law as an underwater cultural heritage (UCH) site, only non-intrusive methods could be used during surveys. In this study, we demonstrate how using multiple complementary remote sensing techniques can be advantageous with respect to acquiring a holistic overview of a recently discovered wreck site. In January 2016, the wreck was revisited, and a full photogrammetric survey of the site was conducted with a Sperre Subfighter 7500 medium class ROV. In addition to stereo camera images, HD-video and underwater hyperspectral imagery was also obtained from the wreck site. In terms of data analysis and interpretation, the emphasis was in the current study put on the photogrammetric 3D model and the underwater hyperspectral imagery. The former provided an excellent general overview of the Figaro wreck site, whereas the latter supplied detailed information from a 14.65-m2 sub-area situated on the top of the wreck. By analyzing classified underwater hyperspectral imagery in context with supplementary information from the 3D model, the levels of biofouling associated with different marine archaeological substrate types were assessed. Our findings suggest that strongly protruding archaeological objects support significantly higher levels of biofouling than their surroundings, and consequently that high-density biological assemblages could serve as proxies for identifying human-made artifacts on the seafloor.

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.

Design and Construction of a Modular Pump-Jet Thruster for Autonomous Surface Vehicle Operations in Extremely Shallow Water

This paper describes a customized thruster for Autonomous Surface Vehicles (ASV). The thruster is a Pump-Jet Module (PJM), which has been expressly designed, modeled, constructed, and tested for small-/medium-sized ASVs that perform environmental monitoring in extremely shallow waters such as wetlands (rivers, lakes, swamps, marshes), where water depth is only a few centimeters. The PJM is a fully-electric propulsion unit with a 360-degree continuous steering capability. Its main advantage is that the unit is flush with the flat bottom of the vehicle. This makes the PJM suitable for operation in extremely shallow waters because the risk of damaging the thrusting unit in case of grounding is very limited. The PJM was produced using innovative materials, and the hydraulic components were all constructed using a 3D printer.