High-resolution Underwater Research Articles

Artificial Intelligence-Assisted Environmental DNA Metabarcoding and High-Resolution Underwater Optical Imaging for Noninvasive and Innovative Marine Environmental Monitoring

To effectively protect the marine environment, it is crucial to establish effective environ mental monitoring platforms. Traditional marine environmental monitoring methods heavily rely on morphological identification and field expertise, with the sampling process being disruptive and potentially destructive to vulnerable marine environments. In light of emerging biomonitoring needs and biodiversity declines, we reviewed the urgently needed, ongoing advances in developing effective, noninvasive, and innovative monitoring methods and systems to examine the complex marine environment for better strategic conservation and protection, using the coral ecosystem as one of the representative forefront examples in marine protection. This review summarizes current trends and efforts in transitioning into more standardizable and automatable utilizations of environmental DNA metabarcoding-based monitoring strategies and high-resolution underwater optical imaging monitoring systems as two of the promising pillars for the next generation of noninvasive biomonitoring and associated applications. The assistance of artificial intelligence for environmental DNA metabarcoding and high-resolution underwater optical imaging into an empowered, all-rounded monitoring platform for enhanced monitoring capacity is discussed as a highly potent direction for future research exploration. This review will be a cornerstone reference for the future development of artificial intelligence-assisted, noninvasive, and innovative marine environmental monitoring systems.

High spatial resolution underwater confocal LiDAR: reduction of optical aberrations in air-water interfaces using a dome port.

We study the impact of optical aberrations in underwater scanning confocal inelastic imaging arising from refraction at oblique incidences on a refractive index-mismatched air-glass-water interface. We experimentally demonstrate that optical aberrations at non-normal incidence drastically reduce the intensity of the inelastic signal and deteriorate the system resolution. At a 2.5° incidence angle, the return signal decreases to about 20% of its peak value at normal incidence. We implement passive correction using a spherical glass dome that is co-centered with the pivot point of the scanning mirror to ensure near-normal incidence on the interface irrespective of the scanning angle and depth. This configuration provides a drastic reduction in the optical aberrations within an angular range from -20° to 20°. The optical system is modeled in ray tracing software for validation. The interfacing of a scanning confocal system with a dome port unlocks near-diffraction-limited underwater imaging over wide areas without resorting to complex adaptive wavefront manipulation.

Application of Photogrammetric Computer Vision and Deep Learning in High-Resolution Underwater Mapping: A Case Study of Shallow-Water Coral Reefs

Abstract. Underwater mapping is vital for engineering applications and scientific research in ocean environments, with coral reefs being a primary focus. Unlike more uniform and predictable terrestrial environments, coral reefs present a unique challenge for 3D reconstruction due to their intricate and irregular structures. Traditional 3D reconstruction methods struggle to accurately capture the nuances of coral reefs. This is primarily because coral reefs exhibit a high degree of spatial heterogeneity, featuring diverse shapes, sizes, and textures. Additionally, the dynamic nature of underwater conditions, such as varying light, water clarity, and movement, further complicates the accurate geometrical estimation of these ecosystems. With the rapid advancement of photogrammetric computer vision and deep learning technologies, there are emerging methods that have potential to enhance the quality of its 3D reconstruction. In this context, this study formulates a coral reef reconstruction workflow that incorporates these cutting-edge technologies. This workflow is divided into two core stages: sparse reconstruction and dense reconstruction. We conduct individual summaries of the relevant research efforts in these stages and outline the available methods. To assess the specific capabilities of these methods, we apply them to real-world coral reef images and conduct a comprehensive evaluation. Additionally, we analyze the strengths and weaknesses of different methods and identify areas for improvement. We believe this study offers valuable references for future research in underwater mapping.

Low-Tech and Low-Cost System for High-Resolution Underwater RTK Photogrammetry in Coastal Shallow Waters

Monitoring coastal seabed in very shallow waters (0–5 m) is a challenging methodological issue, even though such data is of major importance to many scientific and technical communities. Over the years, Structure-from-Motion (SfM) photogrammetry has emerged as a flexible and inexpensive method able to provide both a 3D model and high-resolution imagery of the seabed (~cm level). In this study, we propose a low-cost (about USD 1500), adaptable, lightweight and easily dismantled system called POSEIDON (for Platform Operating in Shallow-water Environment for Imaging and 3D reconstructiON). This prototype combines a floating support (typically a bodyboard), two imagery sensors (here, GoPro® cameras) and an accurate positioning system using Real Time Kinematic GNSS. Validation of this method was deployed in a macrotidal zone, comparing on the foreshore the point cloud provided by POSEIDON “SfM bathymetry” and by classical terrestrial SfM survey. Mean deviation was 5.2 cm and standard deviation was 4.6 cm. Such high-resolution SfM bathymetric surveys have a great potential for a wide range of applications: micro-bathymetry, hydrodynamics (bottom roughness), benthic habitats, ecological inventories, archaeology, etc.

Active acoustic field modulation of ultrasonic transducers with flexible composites

The simple acoustic field generated by conventional transducers limits the development of ultrasound applications. Current methods rely on passive acoustic lenses or active arrays to manipulate ultrasonic waves, but they face challenges such as low transmission efficiency with bulky morphology for lenses, and complex systems with high-cost for arrays. Here, we propose a method exploiting flexible piezoelectric ultrasonic transducers (FPUT) with 1-3 PZT8/PDMS composites to achieve a high-frequency and diversified ultrasonic field. The FPUT at a center frequency of 1.5 MHz exhibits a high electromechanical coupling coefficient (kt ~ 0.74), excellent transmission efficiency, and mechanical conformability. We showcase two dynamic functionalities of our setup, namely variable acoustic focus and multi-order vortex generated by circular and spiral shape transducers. Finally, we show that the FPUT achieves high-resolution underwater ultrasonic imaging at a wide spatial range (>12λ) via ultrasonic collimation, offering a viable technological alternative for active acoustic fields manipulation and ultrasonic applications.

Underwater Target Detection Based on Parallel High-Resolution Networks.

A parallel high-resolution underwater target detection network is proposed to address the problems of complex underwater scenes and limited target feature extraction capability. First, a high-resolution network (HRNet), a lighter high-resolution human posture estimation network, is used to improve the target feature representation and effectively reduce the semantic information lost in the image during sampling. Then, the attention module (A-CBAM) is improved to capture complex feature distributions by modeling the two-dimensional space in the activation function stage through the introduction of the flexible rectified linear units (FReLU) activation function to achieve pixel-level spatial information modeling capability. Feature enhancement in the spatial and channel dimensions is performed to improve understanding of fuzzy targets and small target objects and to better capture irregular and detailed object layouts. Finally, a receptive field augmentation module (RFAM) is constructed to obtain sufficient semantic information and rich detail information to further enhance the robustness and discrimination of features and improve the detection capability of the model for multi-scale underwater targets. Experimental results show that the method achieves 81.17%, 77.02%, and 82.9% mean average precision (mAP) on three publicly available datasets, specifically underwater robot professional contest (URPC2020, URPC2018) and pattern analysis, statistical modeling, and computational learning visual object classes (PASCAL VOC2007), respectively, demonstrating the effectiveness of the proposed network.

Confocal LiDAR for remote high-resolution imaging of auto-fluorescence in aquatic media

Spatially resolved in situ monitoring of plankton can provide insights on the impacts of climate change on aquatic ecosystems due to their vital role in the biological carbon pump. However, high-resolution underwater imaging is technically complex and restricted to small close-range volumes with current techniques. Here, we report a novel inelastic scanning confocal light detection and ranging (LiDAR) system for remote underwater volumetric imaging of fluorescent objects. A continuous wave excitation beam is combined with a pinhole in a conjugated detection plane to reject out-of-focus scattering and accomplish near-diffraction limited probe volumes. The combination of bi-directional scanning with remote focusing enables the acquisition of three-dimensional data. We experimentally determine the point spread and axial weighting functions, and demonstrate selective volumetric imaging of obstructed layers through spatial filtering. Finally, we spatially resolve in vivo autofluorescence from sub-millimeter Acocyclops royi copepods to demonstrate the applicability of our novel instrument in non-intrusive morphological and spectroscopic studies of aquatic fauna. The proposed system constitutes a unique tool e.g. for profiling chlorophyll distributions and for quantitative studies of zooplankton with reduced interference from intervening scatterers in the water column that degrade the the performance of conventional imaging systems currently in place.

Integration of SSS-Based Reconstructed Results and Bathymetric Data to Obtain High-Resolution and High-Accuracy Underwater Topography

Integration of SSS-Based Reconstructed Results and Bathymetric Data to Obtain High-Resolution and High-Accuracy Underwater Topography

Optical Design and Optimization with Genetic Algorithm for High-Resolution Optics Applied to Underwater Remote-Sensing

In fields such as biology, archeology, and industry, underwater photogrammetry can be achieved using consumer-grade equipment. However, camera operations underwater differ considerably from those on land because underwater photogrammetry involves different optical phenomena. On the basis of the requirements and specifications of the marine vessel Polaris, we developed a novel underwater camera with prime and zoom lenses and a high resolving power. The camera can be used in the spectrum in shallow water and the blue–green spectrum in deep water. In the past, ordinary cameras would be placed in waterproof airtight boxes for underwater photography. These cameras were not optimized to the underwater spectrum and environment, resulting in no breakthroughs in resolving power. Furthermore, the use of the blue spectrum greatly increases during underwater and particularly deep-water surveying. Chromatic aberration and focus-point displacement generated by the shift from the shallow-water spectrum to the blue–green spectrum in deep water makes universal underwater photography even more difficult. Our proposed optical design aimed to overcome such challenges for the development of a high-resolution underwater surveying camera. We designed a prime lens and a zoom lens. We adopted a waterproof dome window on the outer surface as the basic structure and optimized it in accordance with the conditions of different water depths and spectra to obtain distortion within ±2% and high-resolution underwater imaging quality. For the zoom lens design, we employed a genetic algorithm in Zemax to attenuate chromatic aberration as a kind of extended optimization. This novel optical design that can be used in all waters is expected to greatly reduce the volume and weight of conventional underwater cameras by more than 50% and 60%, respectively, and increase their resolving power by 30–40%.

New evidence of a Roman road in the Venice Lagoon (Italy) based on high resolution seafloor reconstruction

This study provides new evidence of the presence of an ancient Roman road in correspondence to a paleobeach ridge now submerged in the Venice Lagoon (Italy). New high resolution underwater seafloor data shed new light on the significance of the Roman remains in the lagoon. The interpretation of the data through archive and geo-archaeological research allowed a three-dimensional architectural reconstruction of the Roman road. The presence of the ancient Roman road confirms the hypothesis of a stable system of Roman settlements in the Venice Lagoon. The study highlights the significance of this road in the broader context of the Roman transport system, demonstrating once more the Roman ability to adapt and to handle complex dynamic environments that were often radically different from today.

An Optical Assessment of Weathervane Scallop Density and Abundance Off Kodiak Island, Alaska

Since 2000, information to support the sustainable management of the weathervane scallop Patinopecten caurinus in the Gulf of Alaska is largely derived from fishery-dependent observations from a small fleet (≤8 vessels total). As a supplement to this information, the Alaska Department of Fish and Game collected more than one million high-resolution underwater photographs of the sea floor in five previously unsurveyed scallop beds off Kodiak Island during the spring of 2014. Weathervane scallop distribution, abundance, and size composition in these beds were assessed by analyzing more than 150,000 images subsampled in 50-image strips (stations) using a 100-m grid. In addition, the influence of local abiotic habitat features, including depth, substrate, and shell remains, on weathervane scallop distributions was explored. An estimated 26.8 [95% confidence interval (CI) = 23.5–30.7] million scallops in the five beds, with densities ranging from 0.08 (95% CI = 0.067–0.084) to 0.26 (95% CI = 0.221–0.297) ind.•m–2 among the beds. Shell size compositions differed significantly despite the relative proximity of the beds. Weathervane density was positively related (in order of influence) to gravel, shell debris, shell hash, mud, and cobble. Optical assessment of these five previously unsurveyed scallop beds in the Gulf of Alaska demonstrates the efficacy of this approach for weathervanes and suggests that the expansion of optical survey coverage to include other known beds as a viable path to overcoming the limitations of fishery-dependent information for scallop assessment and management in Alaskan waters.

Analysis of High-Resolution Underwater Acoustic Imaging Technology in Multi-Subarray Beam Domain

Chu, P.; Zhang, L.; Huo, W.; Wang, K., and Chen, Y., 2020. Analysis of high-resolution underwater acoustic imaging technology in multi-subarray beam domain. In: Gong, D.; Zhang, M., and Liu, R. (eds.), Advances in Coastal Research: Engineering, Industry, Economy, and Sustainable Development. Journal of Coastal Research, Special Issue No. 106, pp. 518–521. Coconut Creek (Florida), ISSN 0749-0208.The development of ocean resources and the research of ocean engineering are inseparable from the acquisition and mastery of underwater scene information, and the most important way to obtain this information is underwater acoustic imaging technology. This paper is divided into two parts: theoretical research and model simulation. In the theoretical research, the principle of traditional the split-beam phase detection method and the basic principle of cross-correlation detection technology of the phase center in beam domain are analyzed. Then, the signal model is established, and the conclusion that the number of subarray elements is positively correlated with the resolution of the system is obtained. Finally, the simulation model of the seabed is established to verify the algorithm of multi-subarray beam domain seabed detection and the high-resolution underwater acoustic imaging system.

Obtaining 3D High-Resolution Underwater Acoustic Images by Synthesizing Virtual Aperture on the 2D Transducer Array of Multibeam Echo Sounder

In recent decades, imaging sonar has been the most widely employed remote sensing instruments in the field of underwater detection. The multibeam echo sounder (MBES) plays an important role in obtaining high-accuracy seabed topography. However, the resolution of the MBES substantially decreases with the increasing distance. Synthetic aperture sonar (SAS) achieves constant resolution on the along-track, improving the fineness of the image. However, conventional side-scan SAS usually only achieves 2D images, and gaps always exist. In this modeling and experimental research paper, we propose a novel underwater acoustic imaging scheme to improve the imaging performance of MBES, based on the complementarity of MBES and SAS systems. We design a 2D transducer array to increase the detection efficiency and obtain spatial gain. Moreover, the processing scheme is analyzed to design the working parameters in actual engineering applications. We exploit a target echo simulation approach to establish the research basics of the imaging algorithms, which also reflects the shapes and shadows of targets to match actual situations as realistically as possible. The proposed imaging algorithm synthesizes a virtual aperture receiving array on the along-track and reserves the multi-element manifold on the across-track. This helps to improve the imaging quality of the MBES and achieves high-resolution 3D detection with no gaps. Simulation and tank experimental results demonstrate that the proposed scheme can significantly improve the detection ability of the MBES, especially for small 3D target detection, thus making it suitable for 3D high-resolution underwater detection applications.

Development of a High-Resolution Underwater Gravity Measurement System Installed on an Autonomous Underwater Vehicle

Recently, hydrothermal deposits below the seafloor are believed to be useful for human activity. Because the size of each deposit is much smaller than that of an offshore oil field, detailed exploration for the position and the estimated mass is needed. An underwater gravity survey just above seafloor can directly give localized mass distribution below the seafloor. Therefore, we have developed an underwater gravity measurement system onboard an autonomous underwater vehicle (AUV), which is suitable for wide area surveys close to the seafloor with high resolution. An improved gravimeter was mounted on a levelling platform and the system was contained in a spherical pressure vessel with a diameter of 50 cm. The gravimeter system was installed on a large AUV. All the power is supplied from the AUV and an acoustic communication system enables control and monitoring during observation. The first observation was carried out in September 2012 in Sagami Bay, Japan. The AUV was navigated at a constant speed and constant depth on the same profile. As a result, our system has a repeatability of 0.1 mGal. The developed underwater gravimeter has been used for mapping of gravity anomalies in seafloor deposits areas around Japan since 2013.

In situ camera observations reveal major role of zooplankton in modulating marine snow formation during an upwelling-induced plankton bloom

Particle aggregation and the consequent formation of marine snow alter important properties of biogenic particles (size, sinking rate, degradability), thus playing a key role in controlling the vertical flux of organic matter to the deep ocean. However, there are still large uncertainties about rates and mechanisms of particle aggregation, as well as the role of plankton community structure in modifying biomass transfer from small particles to large fast-sinking aggregates.Here we present data from a high-resolution underwater camera system that we used to observe particle size distributions and formation of marine snow (aggregates >0.5 mm) over the course of a 9-week in situ mesocosm experiment in the Eastern Subtropical North Atlantic. After an oligotrophic phase of almost 4 weeks, addition of nutrient-rich deep water (650 m) initiated the development of a pronounced diatom bloom and the subsequent formation of large marine snow aggregates in all 8 mesocosms. We observed a substantial time lag between the peaks of chlorophyll a and marine snow biovolume of 9–12 days, which is much longer than previously reported and indicates a marked temporal decoupling of phytoplankton growth and marine snow formation during our study. Despite this time lag, our observations revealed substantial transfer of biomass from small particle sizes (single phytoplankton cells and chains) to marine snow aggregates of up to 2.5 mm diameter (ESD), with most of the biovolume being contained in the 0.5–1 mm size range. Notably, the abundance and community composition of mesozooplankton had a substantial influence on the temporal development of particle size spectra and formation of marine snow aggregates: While higher copepod abundances were related to reduced aggregate formation and biomass transfer towards larger particle sizes, the presence of appendicularia and doliolids enhanced formation of large marine snow.Furthermore, we combined in situ particle size distributions with measurements of particle sinking velocity to compute instantaneous (potential) vertical mass flux. However, somewhat surprisingly, we did not find a coherent relationship between our computed flux and measured vertical mass flux (collected by sediment traps in 15 m depth). Although the onset of measured vertical flux roughly coincided with the emergence of marine snow, we found substantial variability in mass flux among mesocosms that was not related to marine snow numbers, and was instead presumably driven by zooplankton-mediated alteration of sinking biomass and export of small particles (fecal pellets).Altogether, our findings highlight the role of zooplankton community composition and feeding interactions on particle size spectra and formation of marine snow aggregates, with important implications for our understanding of particle aggregation and vertical flux of organic matter in the ocean.

A Novel High-Resolution Optical Instrument for Imaging Oceanic Bubbles

The formation of bubbles from breaking waves has a significant effect on air-sea gas transfer and aerosol production. Detailed data in situ about the bubble populations are required to understand these processes. However, these data are difficult to acquire because bubble populations are complex, spatially inhomogeneous, and short lived. This paper describes the design and development of a novel high-resolution underwater optical instrument for imaging oceanic bubbles at the sea. The instrument was successfully deployed in 2013 as part of the HiWINGS campaign in the North Atlantic Ocean. It contains a high-resolution machine vision camera, strobe flash unit to create a light sheet, and single board computer to control system operation. The instrument is shown to successfully detect bubbles of radii in the range 20-10 000 μm.

High-Resolution Real-Time Underwater 3-D Acoustical Imaging Through Designing Ultralarge Ultrasparse Ultra-Wideband 2-D Arrays

Acoustical imaging systems are an important kind of instrumentation for underwater investigation. Currently, angular resolutions of most existing real-time underwater 3-D imaging systems are around 1°, which cannot meet the high-quality imaging requirement in a relatively far distance. Enhancing the angular resolution of a real-time 3-D imaging system needs enlarging the aperture size of its receiving 2-D array. However, the huge number of elements is not affordable for a traditional fully sampled uniform large 2-D array with half-wavelength interelement spacing to achieve a high angular resolution. This paper proposes the concept of ultralarge ultrasparse ultra-wideband (UUU) 2-D arrays for achieving the high angular resolution of underwater 3-D acoustical imaging systems. The design method of UUU 2-D arrays is demonstrated through the example of designing an annular 2-D array with only 100 elements. The capabilities of the designed annular UUU 2-D array are evaluated, showing that it can achieve a 0.1° angular resolution and a −32 dB maximum sidelobe level. The imaging simulations of complicated targets also demonstrate that the designed annular UUU 2-D array can satisfy the requirement of high-resolution underwater 3-D acoustical imaging. The element number of the designed annular UUU 2-D array is 4 orders of magnitude lower than that of a fully sampled uniform 2-D array, which provides a viable choice for developing high-resolution real-time underwater 3-D acoustical imaging systems.

High-Resolution Underwater Robotic Vision-Based Mapping and Three-Dimensional Reconstruction for Archaeology

Documenting underwater archaeological sites is an extremely challenging problem. Sites covering large areas are particularly daunting for traditional techniques. In this paper, we present a novel approach to this problem using both an autonomous underwater vehicle (AUV) and a diver-controlled stereo imaging platform to document the submerged Bronze Age city at Pavlopetri, Greece. The result is a three-dimensional (3D) reconstruction covering 26,600 m2 at a resolution of 2 mm/pixel, the largest-scale underwater optical 3D map, at such a resolution, in the world to date. We discuss the advances necessary to achieve this result, including i) an approach to color correct large numbers of images at varying altitudes and over varying bottom types; ii) a large-scale bundle adjustment framework that is capable of handling upward of 400,000 stereo images; and iii) a novel approach to the registration and rapid documentation of an underwater excavations area that can quickly produce maps of site change. We present visual and quantitative comparisons to the authors' previous underwater mapping approaches.

Multi-dimensional water quality assessment of an urban drinking water source elucidated by high resolution underwater towed vehicle mapping

Spatial surveys of Ramsey Lake, Sudbury, Ontario water quality were conducted using an innovative underwater towed vehicle (UTV) equipped with a multi-parameter probe providing real-time water quality data. The UTV revealed underwater vent sites through high resolution monitoring of different spatial chemical characteristics using common sensors (turbidity, chloride, dissolved oxygen, and oxidation/reduction sensors) that would not be feasible with traditional water sampling methods. Multi-parameter probe vent site identification is supported by elevated alkalinity and silica concentrations at these sites. The identified groundwater vent sites appear to be controlled by bedrock fractures that transport water from different sources with different contaminants of concern. Elevated contaminants, such as, arsenic and nickel and/or nutrient concentrations are evident at the vent sites, illustrating the potential of these sources to degrade water quality.

High-Resolution Underwater Mapping Using Side-Scan Sonar.

The goal of this study is to generate high-resolution sea floor maps using a Side-Scan Sonar(SSS). This is achieved by explicitly taking into account the SSS operation as follows. First, the raw sensor data is corrected by means of a physics-based SSS model. Second, the data is projected to the sea-floor. The errors involved in this projection are thoroughfully analysed. Third, a probabilistic SSS model is defined and used to estimate the probability of each sea-floor region to be observed. This probabilistic information is then used to weight the contribution of each SSS measurement to the map. Because of these models, arbitrary map resolutions can be achieved, even beyond the sensor resolution. Finally, a geometric map building method is presented and combined with the probabilistic approach. The resulting map is composed of two layers. The echo intensity layer holds the most likely echo intensities at each point in the sea-floor. The probabilistic layer contains information about how confident can the user or the higher control layers be about the echo intensity layer data. Experimental results have been conducted in a large subsea region.