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  • 1
    Keywords: Hochschulschrift ; Meeresboden ; Klassifikation ; Akustisches Verfahren
    Type of Medium: Online Resource
    Pages: 1 Online-Ressource (143 Seiten) , Illustrationen, Diagramme
    DDC: 550
    Language: English
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  • 2
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    PANGAEA
    In:  Supplement to: Alevizos, Evangelos; Schoening, Timm; Köser, Kevin; Snellen, Mirjam; Greinert, Jens (in review): Quantification of the fine-scale distribution of Mn-nodules: insights from AUV multi-beam and optical imagery data fusion. Biogeosciences Discussions, 1-29, https://doi.org/10.5194/bg-2018-60
    Publication Date: 2024-02-16
    Description: The zip file contains grid files in UTM 16S resulted from AUV mutlibeam data processing and a table with descriptions of these grid files. AUV bathymetry data resulted from interpolation of multibeam depth measurements using the IDW algorithm in SAGA GIS. The AUV bathymetric derivatives (Bathymetric Position Index, Concavity, LS factor, and Terrain Ruggedness Index were calculated in SAGA GIS. The slope derivative was calculated in ArcMap. The AUV backscatter statistics (10th quantile, 90th quantile, mean and mode) were calculated in FMGT Geocoder. The Bayesian classification map was created in SAGA GIS using data from Bayesian classification in Matlab. The ISODATA classification map was created in SAGA GIS using the the AUV backscatter statistics and the Random Forest predictive map was created using the MGET toolbox in ArcMap and the AUV bathymetry, bathymetric derivatives and backscatter statistics data.
    Keywords: Autonomous underwater vehicle; AUV; JPI-OCEANS; JPI Oceans - Ecological Aspects of Deep-Sea Mining; JPIO-MiningImpact; SO242/1; SO242/1_47-1; SO242/1_47-1_AUV 6; Sonne_2
    Type: Dataset
    Format: application/zip, 26.7 MBytes
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  • 3
    Publication Date: 2020-02-06
    Description: This study applies three classification methods exploiting the angular dependence of acoustic seafloor backscatter along with high resolution sub-bottom profiling for seafloor sediment characterization in the Eckernförde Bay, Baltic Sea Germany. This area is well suited for acoustic backscatter studies due to its shallowness, its smooth bathymetry and the presence of a wide range of sediment types. Backscatter data were acquired using a Seabeam1180 (180 kHz) multibeam echosounder and sub-bottom profiler data were recorded using a SES-2000 parametric sonar transmitting 6 and 12 kHz. The high density of seafloor soundings allowed extracting backscatter layers for five beam angles over a large part of the surveyed area. A Bayesian probability method was employed for sediment classification based on the backscatter variability at a single incidence angle, whereas Maximum Likelihood Classification (MLC) and Principal Components Analysis (PCA) were applied to the multi-angle layers. The Bayesian approach was used for identifying the optimum number of acoustic classes because cluster validation is carried out prior to class assignment and class outputs are ordinal categorical values. The method is based on the principle that backscatter values from a single incidence angle express a normal distribution for a particular sediment type. The resulting Bayesian classes were well correlated to median grain sizes and the percentage of coarse material. The MLC method uses angular response information from five layers of training areas extracted from the Bayesian classification map. The subsequent PCA analysis is based on the transformation of these five layers into two principal components that comprise most of the data variability. These principal components were clustered in five classes after running an external cluster validation test. In general both methods MLC and PCA, separated the various sediment types effectively, showing good agreement (kappa 〉0.7) with the Bayesian approach which also correlates well with ground truth data (r2 〉 0.7). In addition, sub-bottom data were used in conjunction with the Bayesian classification results to characterize acoustic classes with respect to their geological and stratigraphic interpretation. The joined interpretation of seafloor and sub-seafloor data sets proved to be an efficient approach for a better understanding of seafloor backscatter patchiness and to discriminate acoustically similar classes in different geological/bathymetric settings.
    Type: Article , PeerReviewed
    Format: text
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  • 4
    Publication Date: 2021-03-18
    Description: In this study ship- and AUV-based multibeam data from the German Mn-nodule license area in the Clarion-Clipperton Zone (CCZ; eastern Pacific) are linked to ground truth data from optical imaging. Photographs obtained by an AUV enable semi-quantitative assessments of nodule coverage at a spatial resolution in the range of meters. Together with high resolution AUV bathymetry this revealed a correlation of small-scale terrain variations (〈 5 m horizontally, 〈 1 m vertically) with nodule abundance. In the presented data set, increased nodule coverage could be correlated with slopes 〉 1.8° and concave terrain. On a more regional scale, factors such as the geological setting (existence of horst and graben structures, sediment thickness, outcropping basement) and influence of bottom currents seem to play an essential role for the spatial variation of nodule abundance and the related hard substrate habitat. AUV imagery was also successfully employed to map the distribution of re-settled sediment following a disturbance and sediment cloud generation during a sampling deployment of an Epibenthic Sledge. Data from before and after the "disturbance" allows a direct assessment of the impact. Automated image processing analyzed the nodule coverage at the seafloor, revealing nodule blanketing by resettling of suspended sediment within 16 hours after the disturbance. The visually detectable impact was spatially limited to a maximum of 100m distance from the disturbance track, downstream of the bottom water current. A correlation with high resolution AUV bathymetry reveals that the blanketing pattern varies in extent by tens of meters, strictly following the bathymetry, even in areas of only slightly undulating seafloor (〈 1 m vertical change). These results highlight the importance of detailed terrain knowledge when engaging in resource assessment studies for nodule abundance estimates and defining minable areas. At the same time, it shows the importance of high resolution mapping for detailed benthic habitat studies that show a heterogeneity at scales of 10 m to 100 m. Terrain knowledge is also needed to determine the scale of the impact by seafloor sediment blanketing during mining-operations.
    Type: Article , PeerReviewed , info:eu-repo/semantics/article
    Format: text
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  • 5
    Publication Date: 2021-03-19
    Description: In this study, high-resolution bathymetric multibeam and optical image data, both obtained within the Belgian manganese (Mn) nodule mining license area by the autonomous underwater vehicle (AUV) Abyss, were combined in order to create a predictive random forests (RF) machine learning model. AUV bathymetry reveals small-scale terrain variations, allowing slope estimations and calculation of bathymetric derivatives such as slope, curvature, and ruggedness. Optical AUV imagery provides quantitative information regarding the distribution (number and median size) of Mn nodules. Within the area considered in this study, Mn nodules show a heterogeneous and spatially clustered pattern, and their number per square meter is negatively correlated with their median size. A prediction of the number of Mn nodules was achieved by combining information derived from the acoustic and optical data using a RF model. This model was tuned by examining the influence of the training set size, the number of growing trees (ntree), and the number of predictor variables to be randomly selected at each node (mtry) on the RF prediction accuracy. The use of larger training data sets with higher ntree and mtry values increases the accuracy. To estimate the Mn-nodule abundance, these predictions were linked to ground-truth data acquired by box coring. Linking optical and hydroacoustic data revealed a nonlinear relationship between the Mn-nodule distribution and topographic characteristics. This highlights the importance of a detailed terrain reconstruction for a predictive modeling of Mn-nodule abundance. In addition, this study underlines the necessity of a sufficient spatial distribution of the optical data to provide reliable modeling input for the RF.
    Type: Article , PeerReviewed
    Format: text
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  • 6
    Publication Date: 2021-02-08
    Description: This study presents a novel approach, based on high-dimensionality hydro-acoustic data, for improving the performance of angular response analysis (ARA) on multibeam backscatter data in terms of acoustic class separation and spatial resolution. This approach is based on the hyper-angular cube (HAC) data structure which offers the possibility to extract one angular response from each cell of the cube. The HAC consists of a finite number of backscatter layers, each representing backscatter values corresponding to single-incidence angle ensonifications. The construction of the HAC layers can be achieved either by interpolating dense soundings from highly overlapping multibeam echo-sounder (MBES) surveys (interpolated HAC, iHAC) or by producing several backscatter mosaics, each being normalized at a different incidence angle (synthetic HAC, sHAC). The latter approach can be applied to multibeam data with standard overlap, thus minimizing the cost for data acquisition. The sHAC is as efficient as the iHAC produced by actual soundings, providing distinct angular responses for each seafloor type. The HAC data structure increases acoustic class separability between different acoustic features. Moreover, the results of angular response analysis are applied on a fine spatial scale (cell dimensions) offering more detailed acoustic maps of the seafloor. Considering that angular information is expressed through high-dimensional backscatter layers, we further applied three machine learning algorithms (random forest, support vector machine, and artificial neural network) and one pattern recognition method (sum of absolute differences) for supervised classification of the HAC, using a limited amount of ground truth data (one sample per seafloor type). Results from supervised classification were compared with results from an unsupervised method for inter-comparison of the supervised algorithms. It was found that all algorithms (regarding both the iHAC and the sHAC) produced very similar results with good agreement (〉0.5 kappa) with the unsupervised classification. Only the artificial neural network required the total amount of ground truth data for producing comparable results with the remaining algorithms.
    Type: Article , PeerReviewed
    Format: text
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  • 7
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    In:  [Poster] In: GeoHab 2017, 01.-05.05.2017, Halifax, Nova Scotia, Canada .
    Publication Date: 2019-09-23
    Description: This study presents a novel concept of seafloor acoustic mapping utilizing the angular dependence of high density soundings. A prerequisite is that data should result from a backscatter-dedicated survey (〉100% swath overlap) in order to obtain small-scale seafloor areas ensonified from multiple incidence angles. Accordingly, backscatter data should be geometrically and radiometrically corrected in order to represent only variations due to seafloor type. This method is considered as a mixture of OBIA with empirical ARA and pattern recognition concepts and it provides supervised classification based on empirical backscatter angular signatures of a known set of seafloor types. Therefore it requires a library with all angular signatures corresponding to ground truth locations (seafloor type, dB and angle). The backscatter only needs to be stable and hence this approach is not only applicable on calibrated sonars but works for any MBES system that records backscatter in a stable way. The library should consist of sediment samples, underwater images and/or video which are used to drive the classification and validate its results. Ideally, the ground truth set should cover all different seafloor types from the study area. The concept is that angular backscatter signatures of known seafloor types that have been extracted from fine square areas of seafloor can be utilized for comparison with angular signatures of unknown seafloor. Initially, the study area is segmented into fine squares within which soundings from various beam-angles fall. The smaller the square size, the higher the seafloor homogeneity can be achieved; hence more representative angular backscatter signatures can be extracted for each seafloor type. In this study 5x5 m squares were used for representing naturally homogeneous seafloor. By extracting the angular signatures from the vicinity of sediment sample locations it was possible to use them as reference vectors for performing supervised classification. The classification works in the following way: vectors carrying the mean backscatter value per swath angle are being created from each group of soundings belonging to the same square. Following, each vector is compared to the reference vectors that represent ground-truthed seafloor types. The comparison tests whether the backscatter values of the vector under-comparison fall within a user-defined envelope (range of values) above and below the mean backscatter values of the reference vectors. If the backscatter values for the majority (〉85%) of corresponding swath angles belong to the envelope of a reference vector, then these soundings are assigned with the class number of the reference vector. Empirical ARA is more flexible in describing seafloor heterogeneity, compared to physical backscatter models, therefore allowing for classification of a wider variety of seafloor types in a consistent way.
    Type: Conference or Workshop Item , NonPeerReviewed
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  • 8
    Publication Date: 2019-09-23
    Description: Highlights: • Acoustically meaningful clustering correlating with ground truth data • Seascape scale acoustic mapping through classification per beam footprint • Bayesian approach for discriminating sedimentary units with low heterogeneity • Geo-acoustic resolution: a new measure of sedimentary acoustic class separability Modern seafloor mapping is based on high resolution MBES systems that provide detailed bathymetric and acoustic intensity (backscatter) information. We examine and validate the performance of two unsupervised MBES classification techniques for discriminating acoustic classes of sedimentary units with small grain size variability. The first technique, based on a principal components analysis (PCA), is commonly used in literature and has been applied for comparison with the more recent approach of Bayesian statistics. By applying these techniques to a MBES dataset from an estuarine area in The Netherlands, we tested their ability to discriminate fine grained sediments (at least 70% silt) holding small percentages of coarser material such as sand, shell hash or shells. We focus on the Bayesian technique as it outputs acoustically significant classes related to backscatter values. This technique utilizes backscatter values averaged over scatter pixels (projected pulse lengths) inside the footprint of each beam. The originality of our application lies in the fact that, the optimal number of classes is derived by utilizing a number of beams simultaneously. It is assumed that the backscatter values per beam vary relatively to the varying seafloor types. By treating the beams separately, across track variation in the seafloor type can also be accounted for. Thereby the classification is guided by outer, more discriminative beams. Additionally we control the optimal number of classes by employing the quantitative criterion of goodness of fit (χ2). The Bayesian acoustic classes show correlation with grain size parameters such as coarse fraction (〉500μm) percentage and mean of the grain size (〈500μm) when analyzed with multiple linear regression. In order to examine the relative scale of the acoustic classification results we compare the Bayesian acoustic classes with underwater video interpretation. Our results reveal that the Bayesian approach enhances the sedimentological interpretation of MBES high resolution data, by providing classification on seascape scale (here meters to tens of meters). Hence we suggest that backscatter processing techniques are more commonly applied to produce classes that discriminate sediments with low grain size contrast. To describe this ability we introduce the term geoacoustic resolution. We want to encourage the use of the Bayesian technique also in deep sea applications, based on AUV data, where sediments express low variability but sampling would be time consuming and costly. The advantages of this method would favor mapping of macro-habitats which appear at meter-scale and require datasets of sufficient resolution in order to be quantitatively described.
    Type: Article , PeerReviewed
    Format: text
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  • 9
    Publication Date: 2018-01-30
    Type: Conference or Workshop Item , NonPeerReviewed
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  • 10
    Publication Date: 2021-03-04
    Description: Autonomous underwater vehicles (AUVs) offer unique possibilities for exploring the deep seafloor in high resolution over large areas. We highlight the results from AUV-based multibeam echosounder (MBES) bathymetry / backscatter and digital optical imagery from the DISCOL area acquired during research cruise SO242 in 2015. AUV bathymetry reveals a morphologically complex seafloor with rough terrain in seamount areas and low-relief variations in sedimentary abyssal plains which are covered in Mn-nodules. Backscatter provides valuable information about the seafloor type and particularly about the influence of Mn-nodules on the response of the transmitted acoustic signal. Primarily, Mn-nodule abundances were determined by means of automated nodule detection on AUV seafloor imagery and nodule metrics such as nodules m−2 were calculated automatically for each image allowing further spatial analysis within GIS in conjunction with the acoustic data. AUV-based backscatter was clustered using both raw data and corrected backscatter mosaics. In total, two unsupervised methods and one machine learning approach were utilized for backscatter classification and Mn-nodule predictive mapping. Bayesian statistical analysis was applied to the raw backscatter values resulting in six acoustic classes. In addition, Iterative Self-Organizing Data Analysis (ISODATA) clustering was applied to the backscatter mosaic and its statistics (mean, mode, 10th, and 90th quantiles) suggesting an optimum of six clusters as well. Part of the nodule metrics data was combined with bathymetry, bathymetric derivatives and backscatter statistics for predictive mapping of the Mn-nodule density using a Random Forest classifier. Results indicate that acoustic classes, predictions from Random Forest model and image-based nodule metrics show very similar spatial distribution patterns with acoustic classes hence capturing most of the fine-scale Mn-nodule variability. Backscatter classes reflect areas with homogeneous nodule density. A strong influence of mean backscatter, fine scale BPI and concavity of the bathymetry on nodule prediction is seen. These observations imply that nodule densities are generally affected by local micro-bathymetry in a way that is not yet fully understood. However, it can be concluded that the spatial occurrence of Mn-covered areas can be sufficiently analysed by means of acoustic classification and multivariate predictive mapping allowing to determine the spatial nodule density in a much more robust way than previously possible.
    Type: Article , NonPeerReviewed
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