Flying Robots Teach Floating Robots—A Machine Learning Approach for Marine Habitat Mapping Based on Combined Datasets

Abstract

Unmanned aerial and autonomous surface vehicles (UAVs and ASVs, respectively) are two emerging technologies for the mapping of coastal and marine environments. Using UAV photogrammetry, the sea-bottom composition can be resolved with very high fidelity in shallow waters. At greater depths, acoustic methodologies have far better propagation properties compared to optics; therefore, ASVs equipped with multibeam echosounders (MBES) are better-suited for mapping applications in deeper waters. In this work, a sea-bottom classification methodology is presented for mapping the protected habitat of Mediterranean seagrass Posidonia oceanica (habitat code 1120) in a coastal subregion of Heraklion (Crete, Greece). The methodology implements a machine learning scheme, where knowledge obtained from UAV imagery is embedded (through training) into a classifier that utilizes acoustic backscatter intensity and features derived from the MBES data provided by an ASV. Accuracy and precision scores of greater than 85% compared with visual census ground-truth data for both optical and acoustic classifiers indicate that this hybrid mapping approach is promising to mitigate the depth-induced bias in UAV-only models. The latter is especially interesting in cases where the studied habitat boundaries extend beyond depths that can be studied via aerial devices’ optics, as is the case with P. oceanica meadows.

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