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.

Description: Underwater photogrammetry and in particular systematic visual surveys of the deep sea are by far less developed than similar techniques on land or in space. The main challenges are the rough conditions with extremely high pressure, the accessibility of target areas (container and ship deployment of robust sensors, then diving for hours to the ocean floor), and the limitations of localization technologies (no GPS). The absence of natural light complicates energy budget considerations for deep diving flash-equipped drones. Refraction effects influence geometric image formation considerations with respect to field of view and focus, while attenuation and scattering degrade the radiometric image quality and limit the effective visibility. As an improvement on the stated issues, we present an AUV-based optical system intended for autonomous visual mapping of large areas of the seafloor (square kilometers) in up to 6000 m water depth. We compare it to existing systems and discuss tradeoffs such as resolution vs. mapped area and show results from a recent deployment with 90,000 mapped square meters of deep ocean floor.

Description: Ocean science and hydroacoustic seafloor mapping rely on accurate navigation underwater. By exploiting terrain information provided by a multibeam echosounder system, it is possible to significantly improve map quality. This article presents an algorithm capable of improving map quality and accuracy by aligning consecutive pings to tiles that are matched pairwise. A globally consistent solution is calculated from these matches. The proposed method has the potential to be used online in addition to other navigation solutions, but is mainly targeted for post processing. The algorithm was tested using different parameter settings on an AUV and a ship-based dataset. The ship-based dataset is publicly available as a benchmark. The original accurate navigation serving as a ground truth, alongside trajectories that include an artificial drift, are available. This allows quantitative comparisons between algorithms and parameter settings.

Description: Machine learning spatial modeling is used for mapping the distribution of deep-sea polymetallic nodules (PMN). However, the presence and influence of spatial autocorrelation (SAC) have not been extensively studied. SAC can provide information regarding the variable selection before modeling, and it results in erroneous validation performance when ignored. ML models are also problematic when applied in areas far away from the initial training locations, especially if the (new) area to be predicted covers another feature space. Here, we study the spatial distribution of PMN in a geomorphologically heterogeneous area of the Peru Basin, where SAC of PMN exists. The local Moran’s I analysis showed that there are areas with a significantly higher or lower number of PMN, associated with different backscatter values, aspect orientation, and seafloor geomorphological characteristics. A quantile regression forests (QRF) model is used using three cross-validation (CV) techniques (random-, spatial-, and cluster-blocking). We used the recently proposed “Area of Applicability” method to quantify the geographical areas where feature space extrapolation occurs. The results show that QRF predicts well in morphologically similar areas, with spatial block cross-validation being the least unbiased method. Conversely, random-CV overestimates the prediction performance. Under new conditions, the model transferability is reduced even on local scales, highlighting the need for spatial model-based dissimilarity analysis and transferability assessment in new areas.