ORCID Profile
0000-0001-6612-2738
Current Organisations
University of Sydney
,
Norwegian University of Science and Technology
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Research Topics
In Research Link Australia (RLA), "Research Topics" refer to ANZSRC FOR and SEO codes. These topics are either sourced from ANZSRC FOR and SEO codes listed in researchers' related grants or generated by a large language model (LLM) based on their publications.
Top 5 Research Topics
ANZSRC Field of Research (FoR)
Artificial Intelligence and Image Processing | Adaptive Agents and Intelligent Robotics | Computer Vision | Control Systems, Robotics and Automation | Ocean Engineering | Pattern Recognition and Data Mining | Image Processing | Field robotics | Machine learning | Ecological Applications | Knowledge Representation And Machine Learning | Special Vehicles | Intelligent robotics | Computer vision | Biological Oceanography | Computer Vision | Ecological Impacts of Climate Change | Special Vehicles | Autonomous Vehicles | Environmental Impact Assessment | Mechanical Engineering | Maritime Engineering | Landscape Ecology | Environmental Monitoring | Ocean Engineering | Semi- and unsupervised learning | Artificial intelligence | Data Communications | Intelligent Robotics |
ANZSRC Socio-Economic Objective (SEO)
Ecosystem Assessment and Management of Marine Environments | Marine protected areas | Integrated (ecosystem) assessment and management | Command, Control and Communications | Navy | Integrated (ecosystem) assessment and management | Marine Flora, Fauna and Biodiversity | Effects of Climate Change and Variability on Australia (excl. Social Impacts) | Navy | Oil and Gas Exploration | Physical and Chemical Conditions of Water in Coastal and Estuarine Environments | Expanding Knowledge in the Environmental Sciences | Expanding Knowledge in History and Archaeology
Related Links
Publications
Estimation of clustering parameters using Gaussian process regression
Publisher: Public Library of Science (PLoS)
Date: 10-11-2014
Multi-Scale Measures of Rugosity, Slope and Aspect from Benthic Stereo Image Reconstructions
Publisher: Public Library of Science (PLoS)
Date: 12-12-2012
Variability in mesophotic coral reef communities along the great barrier reef, Australia
Publisher: Inter-Research Science Center
Date: 03-05-2011
DOI: 10.3354/MEPS09046
Multimodal information-theoretic measures for autonomous exploration
Publisher: IEEE
Date: 05-2016
Reconstructing pavlopetri: Mapping the world's oldest submerged town using stereo-vision
Publisher: IEEE
Date: 05-2011
Saliency ranking for benthic survey using underwater images
Publisher: IEEE
Date: 12-2010
Climate-driven shift in coral morphological structure predicts decline of juvenile reef fishes
Publisher: Wiley
Date: 14-12-2020
DOI: 10.1111/GCB.14911
Abstract: Rapid intensification of environmental disturbances has sparked widespread decline and compositional shifts in foundation species in ecosystems worldwide. Now, an emergent challenge is to understand the consequences of shifts and losses in such habitat‐forming species for associated communities and ecosystem processes. Recently, consecutive coral bleaching events shifted the morphological makeup of habitat‐forming coral assemblages on the Great Barrier Reef (GBR). Considering the disparity of coral morphological growth forms in shelter provision for reef fishes, we investigated how shifts in the morphological structure of coral assemblages affect the abundance of juvenile and adult reef fishes. We used a temporal dataset from shallow reefs in the northern GBR to estimate coral convexity (a fine‐scale quantitative morphological trait) and two widely used coral habitat descriptors (coral cover and reef rugosity) for disentangling the effects of coral morphology on reef fish assemblages. Changes in coral convexity, rather than live coral cover or reef rugosity, disproportionately affected juvenile reef fishes when compared to adults, and explained more than 20% of juvenile decline. The magnitude of this effect varied by fish body size with juveniles of small‐bodied species showing higher vulnerability to changes in coral morphology. Our findings suggest that continued large‐scale shifts in the relative abundance of morphological groups within coral assemblages are likely to affect population replenishment and dynamics of future reef fish communities. The different responses of juvenile and adult fishes according to habitat descriptors indicate that focusing on coarse‐scale metrics alone may mask fine‐scale ecological responses that are key to understand ecosystem functioning and resilience. Nonetheless, quantifying coral morphological traits may contribute to forecasting the structure of reef fish communities on novel reef ecosystems shaped by climate change.
Autonomous Marine Robotic Technology Reveals an Expansive Benthic Bacterial Community Relevant to Regional Nitrogen Biogeochemistry
Publisher: American Chemical Society (ACS)
Date: 06-10-2016
Abstract: Benthic accumulations of filamentous, mat-forming bacteria occur throughout the oceans where bisulfide mingles with oxygen or nitrate, providing key but poorly quantified linkages between elemental cycles of carbon, nitrogen and sulfur. Here we used the autonomous underwater vehicle Sentry to conduct a contiguous, 12.5 km photoimaging survey of sea-floor colonies of filamentous bacteria between 80 and 579 m water depth, spanning the continental shelf to the deep suboxic waters of the Santa Barbara Basin (SBB). The survey provided >31 000 images and revealed contiguous, white-colored bacterial colonization coating > ∼80% of the ocean floor and spanning over 1.6 km, between 487 and 523 m water depth. Based on their localization within the stratified waters of the SBB we hypothesize a dynamic and annular biogeochemical zonation by which the bacteria capitalize on periodic flushing events to accumulate and utilize nitrate. Oceanographic time series data bracket the imaging survey and indicate rapid and contemporaneous nitrate loss, while autonomous capture of microbial communities from the benthic boundary layer concurrent with imaging provides possible identities for the responsible bacteria. Based on these observations we explore the ecological context of such mats and their possible importance in the nitrogen cycle of the SBB.
Light field image denoising using a linear 4D frequency-hyperfan all-in-focus filter
Publisher: SPIE
Date: 14-02-2013
DOI: 10.1117/12.2002239
Hierarchical MCTS for Scalable Multi-Vessel Multi-Float Systems
Publisher: IEEE
Date: 30-05-2021
Rugosity, slope and aspect from bathymetric stereo image reconstructions
Publisher: IEEE
Date: 05-2010
Bounding Drift in Cooperative Localisation Through the Sharing of Local Loop Closures
Publisher: IEEE
Date: 05-2018
Large-scale geographic variation in distribution and abundance of Australian deep-water kelp forests
Publisher: Public Library of Science (PLoS)
Date: 18-02-2015
Coral settlement and recruitment are negatively related to reef fish trait diversity
Publisher: Cold Spring Harbor Laboratory
Date: 21-10-2021
DOI: 10.1101/2021.10.19.464984
Abstract: The process of coral recruitment is crucial to the functioning of coral reef ecosystems, as well as recovery of coral assemblages following disturbances. Fishes can be key mediators of this process by removing benthic competitors like algae, but their foraging impacts are capable of being facilitative or harmful to coral recruits depending on species traits. Reef fish assemblages are highly erse in foraging strategies and the relationship between this ersity with coral settlement and recruitment success remains poorly understood. Here, we investigate how foraging trait ersity of reef fish assemblages covaries with coral settlement and recruitment success across multiple sites at Lizard Island, Great Barrier Reef. Using a multi-model inference approach incorporating six metrics of fish assemblage foraging ersity (foraging rates, trait richness, trait evenness, trait ergence, herbivore abundance, and sessile invertivore abundance), we found that herbivore abundance was positively related to both coral settlement and recruitment success. However, the correlation with herbivore abundance was not as strong in comparison with foraging trait ersity metrics. Coral settlement and recruitment exhibited a negative relationship with foraging trait ersity, especially with trait ergence and richness in settlement. Our findings provide further evidence that fish play a role in making benthic habitats more conducive for coral settlement and recruitment. Because of their ability to shape the reef benthos, the variation of fish bio ersity is likely to contribute to spatially uneven patterns of coral recruitment and reef recovery.
Towards geo-referenced AUV navigation through fusion of USBL and DVL measurements
Publisher: IEEE
Date: 09-2006
Hierarchical Bayesian models for unsupervised scene understanding
Publisher: Elsevier BV
Date: 02-2015
Burnout and Work Engagement in Occupational Therapists
Publisher: SAGE Publications
Date: 03-2014
DOI: 10.4276/030802214X13941036266621
Abstract: Work engagement, characterized by vigour, dedication, and absorption, is often perceived as the opposite of burnout. Occupational therapists with burnout feel exhausted and disengaged from their work. This study aims to investigate demographic and work-related psychosocial factors associated with burnout and work engagement. A cross-sectional postal survey of 951 occupational therapists was conducted. Two models representing factors associated with burnout (F(15,871) = 28.01, p .001) and work engagement (F(10,852) = 16.15, p .001) accounted for 32.54% and 15.93% of the variance respectively. Burnout and work engagement were inversely associated (χ 2 (n = 941) = 55.16, p .001). Factors associated with burnout and work engagement were identified. The variables associated with burnout included: low psychological detachment from work during out-of-work hours, low income satisfaction, perceived work overload, difficulty saying ‘no’, 10 years' experience, low frequency of having a ‘belly laugh’, and not having children. High levels of work engagement were reported by therapists with the following: low psychological detachment from work, high income satisfaction, postgraduate qualifications, 40 hours work/week, high frequency of having a ‘belly laugh’, and having children. Understanding the factors associated with burnout and work engagement provides prerequisite information to inform strategies aimed at building healthy workforces.
Large area 3-D reconstructions from underwater optical surveys
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Date: 04-2009
Go With the Flow: Energy Minimising Periodic Trajectories for UVMS
Publisher: IEEE
Date: 23-05-2022
Predictive habitat models from AUV-based multibeam and optical imagery
Publisher: IEEE
Date: 09-2010
Automated registration for multi-year robotic surveys of marine benthic habitats
Publisher: IEEE
Date: 11-2013
BioTIME: A database of biodiversity time series for the Anthropocene
Publisher: Wiley
Date: 07-2018
DOI: 10.1111/GEB.12729
Frequency-based underwater terrain segmentation
Publisher: Springer Science and Business Media LLC
Date: 27-07-2013
Crowdsourced saliency for mining robotically gathered 3D maps using multitouch interaction on smartphones and Tablets
Publisher: IEEE
Date: 05-2014
Microbathymetric mapping from underwater vehicles in the deep ocean
Publisher: Elsevier BV
Date: 07-2000
Classification with probabilistic targets
Publisher: IEEE
Date: 10-2012
A word on habitat complexity
Publisher: Wiley
Date: 25-03-2023
DOI: 10.1111/ELE.14208
Abstract: In their recent synopsis, Loke and Chisholm ( Ecology Letters, 25, 2269–2288, 2022 ) present an overview of habitat complexity metrics for ecologists. They provide a review and some sound advice. However, we found several of their analyses and opinions misleading. This technical note provides a different perspective on the complexity metrics assessed.
Habitats and Benthos at Hydrographers Passage, Great Barrier Reef, Australia
Publisher: Elsevier
Date: 2012
Towards autonomous habitat classification using Gaussian mixture models
Publisher: IEEE
Date: 10-2010
A simple, fast, and repeatable survey method for underwater visual 3D benthic mapping and monitoring
Publisher: Wiley
Date: 15-02-2017
DOI: 10.1002/ECE3.2701
High resolution, consistent navigation and 3D optical reconstructions from AUVs using magnetic compasses and pressure-based depth sensors
Publisher: IEEE
Date: 05-2010
Rapid swath mapping of reef ecology and associated water column chemistry in the Gulf of Chiriquí, Panamá
Publisher: IEEE
Date: 09-2007
Regional-scale benthic monitoring for Ecosystem-Based Fisheries Management (EBFM) using an Autonomous Underwater Vehicle (AUV)
Publisher: Oxford University Press (OUP)
Date: 18-05-2012
Abstract: Smale, D. A., Kendrick, G. A., Harvey, E. S., Langlois, T. J., Hovey, R. K., Van Niel, K. P., Waddington, K. I., Bellchambers, L. M., Pember, M. B., Babcock, R. C., Vanderklift, M. A., Thomson, D. P., Jakuba, M. V., Pizarro, O., and Williams, S. B. 2012. Regional-scale benthic monitoring for ecosystem-based fisheries management (EBFM) using an autonomous underwater vehicle (AUV). – ICES Journal of Marine Science, 69: 1108–1118. Monitoring marine habitats and bio ersity is critical for understanding ecological processes, conserving natural resources, and achieving ecosystem-based fisheries management (EBFM). Here, we describe the application of autonomous underwater vehicle (AUV) technology to conduct ongoing monitoring of benthic habitats at two key locations in Western Australia. Benthic assemblages on rocky reefs were s led with an AUV, which captured 000 geo-referenced images. Surveys were designed to obtain 100% coverage of 25 × 25 m patches of benthic habitat. In 2010, multiple patches were surveyed at 15–40-m depths at three reference sites at the Houtman Abrolhos Islands and at six reference sites at Rottnest Island. The following year, repeat surveys of the same geo-referenced patches were conducted. Benthic assemblages at the Houtman Abrolhos Islands were varied in that one reference site was dominated by hard corals, whereas the other two were macroalgae dominated. Conversely, assemblages at Rottnest Island were dominated by the kelp Ecklonia radiata. The AUV resurveyed each patch with high precision and demonstrated adequate power to detect change. Repeated observations at the reference sites will track natural variability in benthic habitat structure, which in turn will facilitate the detection of ecological change and ultimately feed back into EBFM processes.
Towards high-resolution imaging from underwater vehicles
Publisher: SAGE Publications
Date: 2007
Abstract: Large area mapping at high resolution underwater continues to be constrained by sensor-level environmental constraints and the mismatch between available navigation and sensor accuracy. In this paper, advances are presented that exploit aspects of the sensing modality, and consistency and redundancy within local sensor measurements to build high-resolution optical and acoustic maps that are a consistent representation of the environment. This work is presented in the context of real-world data acquired using autonomous underwater vehicles (AUVs) and remotely operated vehicles (ROVs) working in erse applications including shallow water coral reef surveys with the Seabed AUV, a forensic survey of the RMS Titanic in the North Atlantic at a depth of 4100 m using the Hercules ROV, and a survey of the TAG hydrothermal vent area in the mid-Atlantic at a depth of 3600 m using the Jason II ROV. Specifically, the focus is on the related problems of structure from motion from underwater optical imagery assuming pose instrumented calibrated cameras. General wide baseline solutions are presented for these problems based on the extension of techniques from the simultaneous localization and mapping (SLAM), photogrammetric and the computer vision communities. It is also examined how such techniques can be extended for the very different sensing modality and scale associated with multi-beam bathymetric mapping. For both the optical and acoustic mapping cases it is also shown how the consistency in mapping can be used not only for better global mapping, but also to refine navigation estimates.
Sampling methods for improved benthic habitat maps based on reducing integrated Bernoulli variance
Publisher: IEEE
Date: 20-09-2021
Anisotropic Disturbance Rejection for Kinematically Redundant Systems with Applications on an UVMS
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Date: 10-2021
Return to antikythera: Multi-session SLAM based AUV mapping of a first century B.C. wreck site
Publisher: Springer International Publishing
Date: 2016
Effective benthic surveying with autonomous underwater vehicles
Publisher: IEEE
Date: 09-2007
Stereoscopic imaging for coral segmentation and classification
Publisher: IEEE
Date: 09-2006
Ocean Dumping of Containerized DDT Waste Was a Sloppy Process
Publisher: American Chemical Society (ACS)
Date: 04-03-2019
Abstract: Industrial-scale dumping of organic waste to the deep ocean was once common practice, leaving a legacy of chemical pollution for which a paucity of information exists. Using a nested approach with autonomous and remotely operated underwater vehicles, a dumpsite offshore California was surveyed and s led. Discarded waste containers littered the site and structured the suboxic benthic environment. Dichlorodiphenyltrichloroethane (DDT) was reportedly dumped in the area, and sediment analysis revealed substantial variability in concentrations of p, p-DDT and its analogs, with a peak concentration of 257 μg g
The Coral Reef Sentinels Program: A Mars Shot for Blue Planetary Health
Publisher: Marine Technology Society
Date: 05-2021
DOI: 10.4031/MTSJ.55.3.51
Abstract: Abstract Up to 90% of global coral reefs are predicted to be severely degraded by 2050 under “business-as-usual” scenarios. To meet the scale and scope of this challenge, we propose designing and demonstrating a multi-modal system that can incorporate data from remote sensing (satellites, aircraft, and aerial drones), acoustics, genetics, sensor arrays, and low-cost imaging systems. The latter will be collected by low-cost smart sensing and autonomous underwater vehicles (AUVs) guided by adaptive s ling modeling software and rapidly analyzed using automated machine learning systems. Development and deployment will be linked to extensive and ersity-enhancing training programs. The Coral Sentinel System will be globally deployed to enable rapid-response adaptive management and to build public engagement in conservation interventions to save coral reefs.Phase 1 (Year 1) will involve testing assumptions, coalition building, fundraising, and initial system development. Phase 2 (Years 2‐4) will focus on engineering and development with a pilot deployment in the Caribbean. Phase 3 (Years 5‐6) will involve system expansion and iteration along the Tropical Eastern Pacific corridor. Phase 4 (Years 7‐10) will involve global deployment to over 50 reef sites. This will lead during the following decade (Phase 5) to provisioning of low-cost Sentinel systems to coastal communities globally.
Moving to 3D: Relationships between coral planar area, surface area and volume
Publisher: PeerJ
Date: 06-02-2018
DOI: 10.7717/PEERJ.4280
Abstract: Coral reefs are a valuable and vulnerable marine ecosystem. The structure of coral reefs influences their health and ability to fulfill ecosystem functions and services. However, monitoring reef corals largely relies on 1D or 2D estimates of coral cover and abundance that overlook change in ecologically significant aspects of the reefs because they do not incorporate vertical or volumetric information. This study explores the relationship between 2D and 3D metrics of coral size. We show that surface area and volume scale consistently with planar area, albeit with morphotype specific conversion parameters. We use a photogrammetric approach using open-source software to estimate the ability of photogrammetry to provide measurement estimates of corals in 3D. Technological developments have made photogrammetry a valid and practical technique for studying coral reefs. We anticipate that these techniques for moving coral research from 2D into 3D will facilitate answering ecological questions by incorporating the 3rd dimension into monitoring.
Geometric Registration of Benthic Imagery for Learning Appearance-Based Place Recognition over Multiple Sessions
Publisher: IEEE
Date: 06-03-2023
Generation and visualization of large-scale three-dimensional reconstructions from underwater robotic surveys
Publisher: Wiley
Date: 03-12-2010
DOI: 10.1002/ROB.20324
From corals to canyons: The Great Barrier Reef margin
Publisher: American Geophysical Union (AGU)
Date: 10-06-2008
DOI: 10.1029/2008EO240002
Light Field Image Restoration for Vision in Scattering Media
Publisher: IEEE
Date: 10-2018
Editorial: Emerging Technologies With High Impact for Ocean Sciences, Ecosystem Management, and Environmental Conservation
Publisher: Frontiers Media SA
Date: 24-05-2021
Reflections on a decade of autonomous underwater vehicles operations for marine survey at the Australian Centre for Field Robotics
Publisher: Elsevier BV
Date: 2016
Characterization of measurement errors using structure-from-motion and photogrammetry to measure marine habitat structural complexity
Publisher: Wiley
Date: 15-06-2017
DOI: 10.1002/ECE3.3127
Biometric assessment of deep-sea vent megabenthic communities using multi-resolution 3D image reconstructions
Publisher: Elsevier BV
Date: 10-2016
Robust broad-scale benthic habitat mapping when training data is scarce
Publisher: IEEE
Date: 05-2012
Towards large scale optical and acoustic sensor integration for visualization
Publisher: IEEE
Date: 05-2009
Leveraging Metadata in Representation Learning with Georeferenced Seafloor Imagery
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Date: 10-2021
Multimodal learning and inference from visual and remotely sensed data
Publisher: SAGE Publications
Date: 14-12-2017
Abstract: Autonomous vehicles are often tasked to explore unseen environments, aiming to acquire and understand large amounts of visual image data and other sensory information. In such scenarios, remote sensing data may be available a priori, and can help to build a semantic model of the environment and plan future autonomous missions. In this paper, we introduce two multimodal learning algorithms to model the relationship between visual images taken by an autonomous underwater vehicle during a survey and remotely sensed acoustic bathymetry (ocean depth) data that is available prior to the survey. We present a multi-layer architecture to capture the joint distribution between the bathymetry and visual modalities. We then propose an extension based on gated feature learning models, which allows the model to cluster the input data in an unsupervised fashion and predict visual image features using just the ocean depth information. Our experiments demonstrate that multimodal learning improves semantic classification accuracy regardless of which modalities are available at classification time, allows for unsupervised clustering of either or both modalities, and can facilitate mission planning by enabling class-based or image-based queries.
An efficient approach to bathymetric SLAM
Publisher: IEEE
Date: 10-2009
GeoCLR: Georeference Contrastive Learning for Efficient Seafloor Image Interpretation
Publisher: Field Robotics Publication Society
Date: 10-03-2022
DOI: 10.55417/FR.2022037
Abstract: This paper describes georeference contrastive learning of visual representation (GeoCLR) for efficient training of deep-learning convolutional neural networks (CNNs). The method leverages georeference information by generating a similar image pair using images taken of nearby locations, and contrasting these with an image pair that is far apart. The underlying assumption is that images gathered within a close distance are more likely to have similar visual appearance, where this can be reasonably satisfied in seafloor robotic imaging applications where image footprints are limited to edge lengths of a few meters and are taken so that they overlap along a vehicle’s trajectory, whereas seafloor substrates and habitats have patch sizes that are far larger. A key advantage of this method is that it is self-supervised and does not require any human input for CNN training. The method is computationally efficient, where results can be generated between es during multi-day autonomous underwater vehicle (AUV) missions using computational resources that would be accessible during most oceanic field trials. We apply GeoCLR to habitat classification on a dataset that consists of ~86,000 images gathered using an AUV. We demonstrate how the latent representations generated by GeoCLR can be used to efficiently guide human annotation efforts, where the semi-supervised framework improves classification accuracy by an average of 10.2% compared to the state-of-the-art SimCLR using the same CNN and equivalent number of human annotations for training.
Bathymetric particle filter SLAM using trajectory maps
Publisher: SAGE Publications
Date: 11-09-2012
Abstract: We present an efficient and featureless approach to bathymetric simultaneous localization and mapping (SLAM) that utilizes a Rao–Blackwellized particle filter (RBPF) and Gaussian process (GP) regression to provide loop closures in areas with little to no overlap with previously explored terrain. To significantly reduce the memory requirements (thereby allowing for the processing of large datasets) a novel map representation is also introduced that, instead of directly storing estimates of seabed depth, records the trajectory of each particle and synchronizes them to a common log of bathymetric observations. Upon detecting a loop closure each particle is weighted by matching new observations to the current predictions generated from a local reconstruction of their map using GP regression. Here the spatial correlation in the environment is fully exploited, allowing predictions of seabed depth in areas that may not have been directly observed previously. The results demonstrate how observations of seafloor structure with partial overlap can be used by bathymetric SLAM to improve map self consistency when compared with dead reckoning fused with long-baseline (LBL) observations. In addition we show how mapping corrections can still be achieved even when no map overlap is present.
Topography, substratum and benthic macrofaunal relationships on a tropical mesophotic shelf margin, central Great Barrier Reef, Australia
Publisher: Springer Science and Business Media LLC
Date: 19-09-2011
Toward adaptive benthic habitat mapping using gaussian process classification
Publisher: Wiley
Date: 08-10-2010
DOI: 10.1002/ROB.20372
Contrasting patterns of changes in abundance following a bleaching event between juvenile and adult scleractinian corals
Publisher: Springer Science and Business Media LLC
Date: 19-03-2018
Adaptive exploration of benthic habitats using Gaussian processes
Publisher: IEEE
Date: 09-2010
Towards Automated Sample Collection and Return in Extreme Underwater Environments
Publisher: Field Robotics Publication Society
Date: 10-03-2022
DOI: 10.55417/FR.2022045
Abstract: In this report, we present the system design, operational strategy, and results of coordinated multivehicle field demonstrations of autonomous marine robotic technologies in searchfor- life missions within the Pacific shelf margin of Costa Rica and the Santorini-Kolumbo caldera complex, which serve as analogs to environments that may exist in oceans beyond Earth. This report focuses on the automation of remotely operated vehicle (ROV) manipulator operations for targeted biological s le-collection-and-return from the seafloor. In the context of future extraterrestrial exploration missions to ocean worlds, an ROV is an analog to a planetary lander, which must be capable of high-level autonomy. Our field trials involve two underwater vehicles, the SuBastian ROV and the Nereid Under Ice (NUI) hybrid ROV for mixed initiative (i.e., teleoperated or autonomous) missions, both equipped seven-degrees-of-freedom hydraulic manipulators.We describe an adaptable, hardware-independent computer vision architecture that enables high-level automated manipulation. The vision system provides a three-dimensional understanding of the workspace to inform manipulator motion planning in complex unstructured environments. We demonstrate the effectiveness of the vision system and control framework through field trials in increasingly challenging environments, including the automated collection and return of biological s les from within the active undersea volcano Kolumbo. Based on our experiences in the field, we discuss the performance of our system and identify promising directions for future research.
Towards image-based marine habitat classification
Publisher: IEEE
Date: 2008
A geometric basis for surface habitat complexity and biodiversity
Publisher: Cold Spring Harbor Laboratory
Date: 04-02-2020
DOI: 10.1101/2020.02.03.929521
Abstract: Structurally complex habitats tend to contain more species and higher total abundances than simple habitats. This ecological paradigm is grounded in first principles: species richness scales with area, and surface area and niche density increase with three-dimensional complexity. Here we present a geometric basis for surface habitats that unifies ecosystems and spatial scales. The theory is framed by fundamental geometric constraints among three structure descriptors—surface height, rugosity and fractal dimension—and explains 98% of surface variation in a structurally complex test system: coral reefs. We then show how coral bio ersity metrics (species richness, total abundance and probability of interspecific encounter) vary over the theoretical structure descriptor plane, demonstrating the value of the theory for predicting the consequences of natural and human modifications of surface structure.
Benthic monitoring with robotic platforms-The experience of Australia
Publisher: IEEE
Date: 03-2013
Linear volumetric focus for light field cameras
Publisher: Association for Computing Machinery (ACM)
Date: 02-03-2015
DOI: 10.1145/2665074
Abstract: We demonstrate that the redundant information in light field imagery allows volumetric focus, an improvement of signal quality that maintains focus over a controllable range of depths. To do this, we derive the frequency-domain region of support of the light field, finding it to be the 4D hyperfan at the intersection of a dual fan and a hypercone, and design a filter with correspondingly shaped passband. Drawing ex les from the Stanford Light Field Archive and images captured using a commercially available lenslet-based plenoptic camera, we demonstrate that the hyperfan outperforms competing methods including planar focus, fan-shaped antialiasing, and nonlinear image and video denoising techniques. We show the hyperfan preserves depth of field, making it a single-step all-in-focus denoising filter suitable for general-purpose light field rendering. We include results for different noise types and levels, through murky water and particulate matter, in real-world scenarios, and evaluated using a variety of metrics. We show that the hyperfan's performance scales with aperture count, and demonstrate the inclusion of aliased components for high-quality rendering.
Towards Adaptive Benthic Habitat Mapping
Publisher: IEEE
Date: 05-2020
True Color Correction of Autonomous Underwater Vehicle Imagery
Publisher: Wiley
Date: 07-10-2016
DOI: 10.1002/ROB.21638
Hierarchical classification in AUV imagery
Publisher: Springer International Publishing
Date: 2015
Variable responses of benthic communities to anomalously warm sea temperatures on a high-latitude coral reef
Publisher: Public Library of Science (PLoS)
Date: 26-11-2014
Analysis of propulsion methods for long-range AUVs
Publisher: Marine Technology Society
Date: 03-2010
DOI: 10.4031/MTSJ.44.2.3
Abstract: Abstract Underwater gliders use a buoyancy engine and symmetric wings to produce lift. During operation, gliders follow a saw-tooth trajectory, making them useful vehicles for profiling ocean chemistry. By operating at low speeds with low hotel loads, gliders achieve a high endurance. Man-portable, propeller-driven autonomous underwater vehicles (AUVs) are capable of level flight and can also follow terrain to yield high-quality benthic imagery. These platforms typically operate at high speeds with high hotel loads resulting in relatively low endurance. Although both vehicles are used to collect oceanographic data, constraints on how these vehicles are used differentiate the nature of data they collect. This article examines whether one method of propulsion can provide an intrinsic advantage in terms of horizontal range at low speed, regardless of s ling design. We employ first-principle analysis that concludes that either class of vehicle can be designed to achieve the same horizontal transit performance regardless of speed. This result implies that the choice of propulsion method should be driven exclusively by the application and operational requirements.
Decoding, calibration and rectification for lenselet-based plenoptic cameras
Publisher: IEEE
Date: 06-2013
Coral settlement and recruitment are negatively related to reef fish trait diversity
Publisher: Springer Science and Business Media LLC
Date: 06-03-2023
Mapping submerged archaeological sites using stereo-vision photogrammetry
Publisher: Informa UK Limited
Date: 15-05-2013
Dirichlet process mixture models for autonomous habitat classification
Publisher: IEEE
Date: 05-2010
Multi-vehicle localisation with additive compressed factor graphs
Publisher: No publisher found
Date: 2014
AUV-assisted surveying of relic reef sites
Publisher: IEEE
Date: 2008
Discovering salient regions on 3D photo-textured maps: Crowdsourcing interaction data from multitouch smartphones and tablets
Publisher: Elsevier BV
Date: 02-2015
Mid-water current aided localization for autonomous underwater vehicles
Publisher: Springer Science and Business Media LLC
Date: 11-02-2016
Toward large-area mosaicing for underwater scientific applications
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Date: 10-2003
A featureless approach to efficient bathymetric SLAM using distributed particle mapping
Publisher: Wiley
Date: 15-12-2011
DOI: 10.1002/ROB.20382
Adaptive spatial designs minimizing the integrated Bernoulli variance in spatial logistic regression models - with an application to benthic habitat mapping
Publisher: Elsevier BV
Date: 03-2023
Deployment Strategies for Representative Surveys using Passive Drifting Seafloor Imaging Floats
Publisher: IEEE
Date: 30-09-2020
Australian sea-floor survey data, with images and expert annotations
Publisher: Springer Science and Business Media LLC
Date: 27-10-2015
Abstract: This Australian benthic data set (BENTHOZ-2015) consists of an expert-annotated set of georeferenced benthic images and associated sensor data, captured by an autonomous underwater vehicle (AUV) around Australia. This type of data is of interest to marine scientists studying benthic habitats and organisms. AUVs collect georeferenced images over an area with consistent illumination and altitude, and make it possible to generate broad scale, photo-realistic 3D maps. Marine scientists then typically spend several minutes on each of thousands of images, labeling substratum type and biota at a subset of points. Labels from four Australian research groups were combined using the CATAMI classification scheme, a hierarchical classification scheme based on taxonomy and morphology for scoring marine imagery. This data set consists of 407,968 expert labeled points from around the Australian coast, with associated images, geolocation and other sensor data. The robotic surveys that collected this data form part of Australia's Integrated Marine Observing System (IMOS) ongoing benthic monitoring program. There is reuse potential in marine science, robotics, and computer vision research.
Autonomous exploration of large-scale benthic environments
Publisher: IEEE
Date: 05-2013
Feature Space Exploration For Planning Initial Benthic AUV Surveys
Publisher: Field Robotics Publication Society
Date: 10-01-2023
DOI: 10.55417/FR.2023021
Abstract: Special-purpose Autonomous Underwater Vehicles (AUVs) are utilized for benthic (seafloor) surveys, where the vehicle collects optical imagery of the seafloor. Due to the small-sensor footprint of the cameras and the vast areas to be surveyed, these AUVs can not feasibly collect full coverage imagery of areas larger than a few tens of thousands of square meters. Therefore it is necessary for AUV paths to s le the surveys areas sparsely, yet effectively. Broad-scale acoustic bathymetric data are readily available over large areas and are often a useful prior of seafloor cover. As such, prior bathymetry can be used to guide AUV data collection. This research proposes methods for planning initial AUV surveys that efficiently explore a feature space representation of the bathymetry, in order to s le from a erse set of bathymetric terrain. This will enable the AUV to visit areas that likely contain unique habitats and are representative of the entire survey site. We propose several information gathering planners that utilize a feature space exploration reward, to plan freeform paths or to optimize the placement of a survey template. The suitability of these methods to plan AUV surveys is evaluated based on the coverage of the feature space and also the ability to visit all classes of benthic habitat on the initial e. Informative planners based on Rapidly expanding Random Trees (RRT) and Monte Carlo Tree Search (MCTS) were found to be the most effective. This is a valuable tool for AUV surveys as it increases the utility of initial es. It also delivers a comprehensive training set to learn the relationship between acoustic bathymetry and visually derived seafloor classifications.
Corrigendum: Australian sea-floor survey data, with images and expert annotations (Scientific Data (2015) 2 (150057) DOI: 10.1038/sdata.2015.57)
Publisher: Springer Science and Business Media LLC
Date: 20-12-2016
Abstract: Scientific Data 2:150057 doi:10.1038/sdata.2015.57 (2015) Published 27 Oct 2015 Updated 20 Dec 2016 The authors regret that Ezequiel Marzinelli was omitted in error from the author list of the original version of this Data Descriptor. This omission has now been corrected in the HTML and PDF versions of this Data Descriptor.
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