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Drones have emerged as a powerful tool in animal detection, significantly advancing wildlife monitoring, conservation, and management by capturing high-resolution, real-time imagery over areas often inaccessible or challenging for human observers to reach. However, manual analysis of drone imagery for animal detection is labour-intensive and time-consuming. The application of deep learning methods, particularly convolutional neural networks, in automating animal detection from drone imagery has the potential to revolutionise wildlife monitoring, conservation, and management protocols.This review provides a comprehensive overview of the increasing use and prospects of deep learning in animal detection using drone imagery. It explores successful applications of deep learning for animal detection, localisation, recognition, and their combinations. The paper also discusses the challenges, limitations, and future research directions of this field. A key message from this review is the need for representative training data covering the various scenarios in which target animals may appear, image annotation difficulties, and the comparability of DL model results across studies. Many studies have focused on single species, locations, or images with a high density of common target species. Assessments of models are potentially biased from using a single test set; many studies lack metrics to evaluate model efficiency, feasibility, and generalizability, and there are uncertainties regarding the optimal number of training images and required ground sample distance (GSD) for different animal detection tasks in drone imagery.The potential applications of deep learning in wildlife monitoring, conservation, and ecological research using drone imagery are substantial. By enhancing the accuracy and efficiency of animal detection in imagery, this technology could contribute to the understanding and protecting animal populations. To expand the applicability of deep learning to diverse species, environments, and spatial scales, researchers should create standardised benchmark datasets and prioritise open collaboration and data sharing, which would aid in addressing the current challenges.

Classification of sheep behaviour from a sequence of tri-axial accelerometer data has the potential to enhance sheep management. Sheep behaviour is inherently imbalanced (e.g., more ruminating than walking) resulting in underperforming classification for the minority activities which hold importance. Existing works have not addressed class imbalance and use traditional machine learning techniques, e.g., Random Forest (RF). We investigated Deep Learning (DL) models, namely, Long Short Term Memory (LSTM) and Bidirectional LSTM (BLSTM), appropriate for sequential data, from imbalanced data. Two data sets were collected in normal grazing conditions using jaw-mounted and ear-mounted sensors. Novel to this study, alongside typical single classes, e.g., walking, depending on the behaviours, data samples were labelled with compound classes, e.g., walking_grazing. The number of steps a sheep performed in the observed 10 s time window was also recorded and incorporated in the models. We designed several multi-class classification studies with imbalance being addressed using synthetic data. DL models achieved superior performance to traditional ML models, especially with augmented data (e.g., 4-Class + Steps: LSTM 88.0%, RF 82.5%). DL methods showed superior generalisability on unseen sheep (i.e., F1-score: BLSTM 0.84, LSTM 0.83, RF 0.65). LSTM, BLSTM and RF achieved sub-millisecond average inference time, making them suitable for real-time applications. The results demonstrate the effectiveness of DL models for sheep behaviour classification in grazing conditions. The results also demonstrate the DL techniques can generalise across different sheep. The study presents a strong foundation of the development of such models for real-time animal monitoring.

LiDAR sensors have been shown to generate data with various common corruptions, which seriously affect their applications in 3D vision tasks, particularly object detection. At the same time, it has been demonstrated that traditional defense strategies, including adversarial training, are prone to suffering from gradient confusion during training. Moreover, they can only improve their robustness against specific types of data corruption. In this work, we propose LiDARPure, which leverages the powerful generation ability of diffusion models to purify corruption in the LiDAR scene data. By dividing the entire scene into voxels to facilitate the processes of diffusion and reverse diffusion, LiDARPure overcomes challenges induced from adversarial training, such as sparse point clouds in large-scale LiDAR data and gradient confusion. In addition, we utilize the latent geometric features of a scene as a condition to assist the generation of diffusion models. Detailed experiments show that LiDARPure can effectively purify 19 common types of LiDAR data corruption. Further evaluation results demonstrate that it can improve the average precision of 3D object detectors to an extent of 20% in the face of data corruption, much higher than existing defence strategies.

Abstract Low‐power localisation systems are crucial for machine‐to‐machine communication technologies. This article investigates LoRa technology for localisation using multiple features of the received signal, such as Received Signal Strength Indicator (RSSI), Spreading Factors (SF), and Signal to Noise Ratio (SNR). A novel range‐based technique to estimate the distance of a target node from a LoRa gateway using machine‐learning models that incorporates SF, SNR, and RSSI to train the models is proposed. A modified trilateration approach is then used to localise the target node from three gateways. Our experiment used three LoRaWAN gateways and two sensor nodes, on a sports oval with an approximate area coverage of 30,000 square metres. The authors also used a public LoRaWAN dataset to build a model test the proposed method and compare both range‐based distance mapping with trilateration and fingerprint‐based direct location estimation techniques. Our method achieved an average distance error of 43.97 m on our experimental dataset. The results show that the combination of RSSI, SNR, and SF‐based distance mapping provides ∼10% improvement on ranging accuracy and 26.58% higher accuracy for trilateration‐based localisation when compared with just using RSSI. Our method also achieved 50% superior localisation accuracy with fingerprint‐based direct location estimation approaches.

Frost damage is one of the major concerns for crop growers as it can impact the growth of the plants and hence, yields. Early detection of frost can help farmers mitigating its impact. In the past, frost detection was a manual or visual process. Image-based techniques are increasingly being used to understand frost development in plants and automatic assessment of damage resulting from frost. This research presents a comprehensive survey of the state-of the-art methods applied to detect and analyse frost stress in plants. We identify three broad computational learning approaches i.e., statistical, traditional machine learning and deep learning, applied to images to detect and analyse frost in plants. We propose a novel taxonomy to classify the existing studies based on several attributes. This taxonomy has been developed to classify the major characteristics of a significant body of published research. In this survey, we profile 80 relevant papers based on the proposed taxonomy. We thoroughly analyse and discuss the techniques used in the various approaches, i.e., data acquisition, data preparation, feature extraction, computational learning, and evaluation. We summarise the current challenges and discuss the opportunities for future research and development in this area including in-field advanced artificial intelligence systems for real-time frost monitoring.

Abstract Background We applied machine learning (ML) algorithms to generate a risk prediction tool [Collaboration for Risk Evaluation in COVID-19 (CORE-COVID-19)] for predicting the composite of 30-day endotracheal intubation, intravenous administration of vasopressors, or death after COVID-19 hospitalization and compared it with the existing risk scores. Methods This is a retrospective study of adults hospitalized with COVID-19 from March 2020 to February 2021. Patients, each with 92 variables, and one composite outcome underwent feature selection process to identify the most predictive variables. Selected variables were modeled to build four ML algorithms (artificial neural network, support vector machine, gradient boosting machine, and Logistic regression) and an ensemble model to generate a CORE-COVID-19 model to predict the composite outcome and compared with existing risk prediction scores. The net benefit for clinical use of each model was assessed by decision curve analysis. Results Of 1796 patients, 278 (15%) patients reached primary outcome. Six most predictive features were identified. Four ML algorithms achieved comparable discrimination (P > 0.827) with c-statistics ranged 0.849–0.856, calibration slopes 0.911–1.173, and Hosmer–Lemeshow P > 0.141 in validation dataset. These 6-variable fitted CORE-COVID-19 model revealed a c-statistic of 0.880, which was significantly (P

Recently, transformers have achieved great success in a number of computer vision tasks due to their excellent ability to capture long-range feature dependencies. In contrast, convolutional neural networks (CNNs) are good at extracting local features. Given that the capture of short- and long-range band dependencies are both important for hyperspectral data classification, we propose MCE-ST, a convolution-transformer (conformer) based framework capable of exploiting the complementary strengths of transformers and CNNs. In contrast to the conventional transformer, which uses a linear projection for tokenization, the proposed MCE-ST uses a convolution-based tokenization method to extract local dependency between spectral bands. Moreover, since different hyperspectral samples may have different spans of local relationships, a multiscale conformer encoder (MCE) comprising two separate branches of depth-wise dilated convolution with different kernel sizes is used to extract the different spans of the local interactions between tokens. We conducted experiments on four salt stress datasets and one cassava disease dataset. The results show that the proposed MCE-ST outperforms the state-of-the-art techniques for crop stress classification using hyperspectral data. The code for MCE-ST is publicly available at https://github.com/Weejaa04/MCE-ST-GitHub.

Hajj, the Muslim pilgrimage, is a large mass gathering event that involves performing rituals at several sites on specific days and times in a fixed order, thereby requiring transport of pilgrims between sites. For the past two decades, Hajj transport has relied on conventional and shuttle buses, train services, and pilgrims walking along pedestrian routes that link these sites. To ensure smooth and efficient transport during Hajj, specific groups of pilgrims are allocated with the cooperation of Hajj authorities to specific time windows, modes, and routes. However, the large number of pilgrims, delays and changes in bus schedules/timetables, and occasional lack of coordination between transport modes have often caused congestion or delays in pilgrim transfer between sites, with a cascading effect on transport management. This study focuses on modelling and simulating the transport of pilgrims between the sites using a discrete event simulation tool called "ExtendSim". Three transport modules were validated, and different scenarios were developed. These scenarios consider changes in the percentages of pilgrims allocated to each transport mode and the scheduling of various modes. The results can aid authorities to make informed decisions regarding transport strategies for managing the transport infrastructure and fleets. The proposed solutions could be implemented with judicious allocation of resources, through pre-event planning and real-time monitoring during the event.

Australia has a reputation for producing a reliable supply of high-quality barley in a contaminant-free climate. As a result, Australian barley is highly sought after by malting, brewing, distilling, and feed industries worldwide. Barley is traded as a variety-specific commodity on the international market for food, brewing and distilling end-use, as the intrinsic quality of the variety determines its market value. Manual identification of barley varieties by the naked eye is challenging and time-consuming for all stakeholders, including growers, grain handlers and traders. Current industrial methods for identifying barley varieties include molecular protein weights or DNA based technology, which are not only time-consuming and costly but need specific laboratory equipment. On grain receival, there is a need for efficient and low-cost solutions for barley classification to ensure accurate and effective variety segregation. This paper proposes an efficient deep learning-based technique that can classify barley varieties from RGB images. Our proposed technique takes only four milliseconds to classify an RGB image. The proposed technique outperforms the baseline method and achieves a barley classification accuracy of 94% across 14 commercial barley varieties (some highly genetically related).

Abstract Our aim was to investigate the usefulness of machine learning approaches on linked administrative health data at the population level in predicting older patients’ one-year risk of acute coronary syndrome and death following the use of non-steroidal anti-inflammatory drugs (NSAIDs). Patients from a Western Australian cardiovascular population who were supplied with NSAIDs between 1 Jan 2003 and 31 Dec 2004 were identified from Pharmaceutical Benefits Scheme data. Comorbidities from linked hospital admissions data and medication history were inputs. Admissions for acute coronary syndrome or death within one year from the first supply date were outputs. Machine learning classification methods were used to build models to predict ACS and death. Model performance was measured by the area under the receiver operating characteristic curve (AUC-ROC), sensitivity and specificity. There were 68,889 patients in the NSAIDs cohort with mean age 76 years and 54% were female. 1882 patients were admitted for acute coronary syndrome and 5405 patients died within one year after their first supply of NSAIDs. The multi-layer neural network, gradient boosting machine and support vector machine were applied to build various classification models. The gradient boosting machine achieved the best performance with an average AUC-ROC of 0.72 predicting ACS and 0.84 predicting death. Machine learning models applied to linked administrative data can potentially improve adverse outcome risk prediction. Further investigation of additional data and approaches are required to improve the performance for adverse outcome risk prediction.

Generating textual descriptions of images has been an important topic in computer vision and natural language processing. A number of techniques based on deep learning have been proposed on this topic. These techniques use human-annotated images for training and testing the models. These models require a large number of training data to perform at their full potential. Collecting human generated images with associative captions is expensive and time-consuming. In this paper, we propose an image captioning method that uses both real and synthetic data for training and testing the model. We use a Generative Adversarial Network (GAN) based text to image generator to generate synthetic images. We use an attention-based image captioning method trained on both real and synthetic images to generate the captions. We demonstrate the results of our models using both qualitative and quantitative analysis on popularly used evaluation metrics. We show that our experimental results achieve two fold benefits of our proposed work: i) it demonstrates the effectiveness of image captioning for synthetic images, and ii) it further improves the quality of the generated captions for real images, understandably because we use additional images for training.

Hajj is a mass gathering event that takes place annually in Makkah, Saudi Arabia. Typically, around three million people participate in the event and perform rituals that involve their movements within strict space and time restrictions. Despite efforts by the Hajj organisers, such massive crowd gathering and movement cause overcrowding related problems at the Hajj sites. Several previous simulation studies on Hajj focused on the rituals individually. Tawaf, followed by Sayee, are two important rituals that are performed by all the pilgrims at the same venue on the same day. These events have a strong potential for crowd buildup and related problems. As opposed the previous works in the literature, in this paper we study these two events jointly, rather than separately. We use ExtendSim, a Discrete Event Simulation tool, to integrate the Tawaf and Sayee rituals into one model. The validated model was applied to a wide range of scenarios where different percentages of pilgrims were allocated to the various Tawaf and Sayee areas. The effect of such allocations on the time to complete Tawaf and Sayee indicate strategies for managing these two key Hajj rituals.

Convolutional Neural Network’s (CNN’s) performance disparity on clean and corrupted datasets has recently come under scrutiny. In this work, we analyse common corruptions in the frequency domain, i.e., High Frequency corruptions (HFc, e.g., noise) and Low Frequency corruptions (LFc, e.g., blur). Although a simple solution to HFc is low-pass filtering, ReLU – a widely used Activation Function (AF), does not have any filtering mechanism. In this work, we instill low-pass filtering into the AF (LP-ReLU) to improve robustness against HFc. To deal with LFc, we complement LP-ReLU with Discrete Cosine Transform based augmentation. LP-ReLU, coupled with DCT augmentation, enables a deep network to tackle the entire spectrum of corruption. We use CIFAR-10-C and Tiny ImageNet-C for evaluation and demonstrate improvements of 5% and 7.3% in accuracy respectively, compared to the State-Of-The-Art (SOTA). We further evaluate our method’s stability on a variety of perturbations in CIFAR-10-P and Tiny ImageNet-P, achieving new SOTA in these experiments as well. To further strengthen our understanding regarding CNN’s lack of robustness, a decision space visualisation process is proposed and presented in this work.

A forensic investigator creates a timeline from a forensic disk image after an occurrence of a security incident. This procedure aims to acquire the time for all events identified from the investigated artifacts. An investigator usually looks for events of interest by manually searching the timeline. One of the sources from which to build a timeline is log files, and these events are often found in log messages. In this paper, we propose a sentiment analysis technique to automatically extract events of interest from log messages in the forensic timeline. We use a deep learning technique with a context and content attention model to identify aspect terms and the corresponding sentiments in the forensic timeline. Terms with negative sentiments indicate events of interest and are highlighted in the timeline. Therefore, the investigator can quickly examine the events and other activities recorded within the surrounding time frame. Experimental results on four public forensic case studies show that the proposed method achieves 98.43% and 99.64% for the F1 score and accuracy, respectively.

We consider the recent challenges of 3D shape analysis based on a volumetric CNN that requires a huge computational power. This high-cost approach forces to reduce the volume resolutions when applying 3D CNN on volumetric data. In this context, we propose a multiorientation volumetric deep neural network (MV-DNN) for 3D object classification with octree generating low-cost volumetric features. In comparison to conventional octree representations, we propose to limit the octree partition to a certain depth to reserve all leaf octants with sparsity features. This allows for improved learning of complex 3D features and increased prediction of object labels at both low and high resolutions. Our auxiliary learning approach predicts object classes based on the subvolume parts of a 3D object that improve the classification accuracy compared to other existing 3D volumetric CNN methods. In addition, the influence of views and depths of the 3D model on the classification performance is investigated through extensive experiments applied to the ModelNet40 database. Our deep learning framework runs significantly faster and consumes less memory than full voxel representations and demonstrate the effectiveness of our octree-based auxiliary learning approach for exploring high resolution 3D models. Experimental results reveal the superiority of our MV-DNN that achieves better classification accuracy compared to state-of-art methods on two public databases.

Weakly supervised semantic segmentation with image-level labels is of great significance since it alleviates the dependency on dense annotations. However, as it relies on image classification networks that are only capable of producing sparse object localization maps, its performance is far behind that of fully supervised semantic segmentation models. Inspired by the successful use of multi-scale features for an improved performance in a wide range of visual tasks, we propose a Scale-Aware Feature Network (SAFN) for generating object localization maps. The proposed SAFN uses an attention module to learn the relative weights of multi-scale features in a modified fully convolutional network with dilated convolutions. This approach leads to efficient enlargements of the receptive fields of view and produces dense object localization maps. Our approach achieves mIoUs of 62.3% and 66.5% on the PASCAL VOC 2012 test set using VGG16 based and ResNet based segmentation models, respectively, outperforming other state-of-the-art methods for the weakly supervised semantic segmentation task.

The heterogeneous network (HetNet) is a specified cellular platform to tackle the rapidly growing anticipated data traffic. From a communications perspective, data loads can be mapped to energy loads that are generally placed on the operator networks. Meanwhile, renewable energy-aided networks offer to curtailed fossil fuel consumption, so to reduce the environmental pollution. This paper proposes a renewable energy based power supply architecture for the off-grid HetNet using a novel energy sharing model. Solar photovoltaics (PV) along with sufficient energy storage devices are used for each macro, micro, pico, or femto base station (BS). Additionally, a biomass generator (BG) is used for macro and micro BSs. The collocated macro and micro BSs are connected through end-to-end resistive lines. A novel-weighted proportional-fair resource-scheduling algorithm with sleep mechanisms is proposed for non-real time (NRT) applications by trading-off the power consumption and communication delays. Furthermore, the proposed algorithm with an extended discontinuous reception (eDRX) and power saving mode (PSM) for narrowband internet of things (IoT) applications extends the battery lifetime for IoT devices. HOMER optimization software is used to perform optimal system architecture, economic, and carbon footprint analyses while the Monte-Carlo simulation tool is used for evaluating the throughput and energy efficiency performances. The proposed algorithms are validated through the practical data of the rural areas of Bangladesh from which it is evident that the proposed power supply architecture is energy-efficient, cost-effective, reliable, and eco-friendly.

Eggplant is a popular vegetable crop. Eggplant yields can be affected by various diseases. Automatic detection and recognition of diseases is an important step toward improving crop yields. In this paper, we used a two-stream deep fusion architecture, employing CNN-SVM and CNN-Softmax pipelines, along with an inference model to infer the disease classes. A dataset of 2284 images was sourced from primary (using a consumer RGB camera) and secondary sources (the internet). The dataset contained images of nine eggplant diseases. Experimental results show that the proposed method achieved better accuracy and lower false-positive results compared to other deep learning methods (such as VGG16, Inception V3, VGG 19, MobileNet, NasNetMobile, and ResNet50).

Biotic and abiotic plant stress (e.g., frost, fungi, diseases) can significantly impact crop production. It is thus essential to detect such stress at an early stage before visual symptoms and damage become apparent. To this end, this paper proposes a novel deep learning method, called Spectral Convolution and Channel Attention Network (SC-CAN), which exploits the difference in spectral responses of healthy and stressed crops. The proposed SC-CAN method comprises two main modules: (i) a spectral convolution module, which consists of dilated causal convolutional layers stacked in a residual manner to capture the spectral features; (ii) a channel attention module, which consists of a global pooling layer and fully connected layers that compute inter-relationship between feature map channels before scaling them based on their importance level (attention score). Unlike standard convolution, which focuses on learning local features, the dilated convolution layers can learn both local and global features. These layers also have long receptive fields, making them suitable for capturing long dependency patterns in hyperspectral data. However, because not all feature maps produced by the dilated convolutional layers are important, we propose a channel attention module that weights the feature maps according to their importance level. We used SC-CAN to classify salt stress (i.e., abiotic stress) on four datasets (Chinese Spring (CS), Aegilops columnaris (co(CS)), Ae. speltoides auchery (sp(CS)), and Kharchia datasets) and Fusarium head blight disease (i.e., biotic stress) on Fusarium dataset. Reported experimental results show that the proposed method outperforms existing state-of-the-art techniques with an overall accuracy of 83.08%, 88.90%, 82.44%, 82.10%, and 82.78% on CS, co(CS), sp(CS), Kharchia, and Fusarium datasets, respectively.

Person re-identification (re-ID), which aims to identify the same individual from a gallery collected with different cameras, has attracted increasing attention in the multimedia retrieval community. Current deep learning methods for person re-ID focus on learning classification models on training identities to obtain an ID-discriminative embedding (IDE) extractor, which is used to extract features from testing images for re-ID. The IDE features of the testing identities might not be discriminative due to that the training identities are different from the testing identities. In this paper, we introduce a new ID-adaptation network (ID-AdaptNet), which aims to improve the discriminative power of the IDE features of the testing identities for better person re-ID. The main idea of the ID-AdaptNet is to transform the IDE features to a common discriminative latent space, where the representations of the “seen”training identities are enforced to adapt to those of the “unseen”training identities. More specifically, the ID-AdaptNet is trained by simultaneously minimizing the classification cross-entropy and the discrepancy between the “seen”and the “unseen”training identities in the hidden space. To calculate the discrepancy, we represent their probability distributions as moment sequences and calculate their distance using their central moments. We further propose a stacking ID-AdaptNet that jointly trains multiple ID-AdaptNets with a regularization method for better re-ID. Experiments show that the ID-AdaptNet and stacking ID-AdaptNet effectively improve the discriminative power of IDE features.

BackgroundThe prediction of readmission or death after a hospital discharge for heart failure (HF) remains a major challenge. Modern healthcare systems, electronic health records, and machine learning (ML) techniques allow us to mine data to select the most significant variables (allowing for reduction in the number of variables) without compromising the performance of models used for prediction of readmission and death. Moreover, ML methods based on transformation of variables may potentially further improve the performance.ObjectiveTo use ML techniques to determine the most relevant and also transform variables for the prediction of 30-day readmission or death in HF patients.MethodsWe identified all Western Australian patients aged 65 years and above admitted for HF between 2003-2008 in linked administrative data. We evaluated variables associated with HF readmission or death using standard statistical and ML based selection techniques. We also tested the new variables produced by transformation of the original variables. We developed multi-layer perceptron prediction models and compared their predictive performance using metrics such as Area Under the receiver operating characteristic Curve (AUC), sensitivity and specificity.ResultsFollowing hospital discharge, the proportion of 30-day readmissions or death was 23.7% in our cohort of 10,757 HF patients. The prediction model developed by us using a smaller set of variables (n = 8) had comparable performance (AUC 0.62) to the traditional model (n = 47, AUC 0.62). Transformation of the original 47 variables further improved (pConclusionsA small set of variables selected using ML matched the performance of the model that used the full set of 47 variables for predicting 30-day readmission or death in HF patients. Model performance can be further significantly improved by transforming the original variables using ML methods.

In this paper, we propose a high performance Two-Stream spectral-spatial Residual Network (TSRN) for hyperspectral image classification. The first spectral residual network (sRN) stream is used to extract spectral characteristics, and the second spatial residual network (saRN) stream is concurrently used to extract spatial features. The sRN uses 1D convolutional layers to fit the spectral data structure, while the saRN uses 2D convolutional layers to match the hyperspectral spatial data structure. Furthermore, each convolutional layer is preceded by a Batch Normalization (BN) layer that works as a regularizer to speed up the training process and to improve the accuracy. We conducted experiments on three well-known hyperspectral datasets, and we compare our results with five contemporary methods across various sizes of training samples. The experimental results show that the proposed architecture can be trained with small size datasets and outperforms the state-of-the-art methods in terms of the Overall Accuracy, Average Accuracy, Kappa Value, and training time.

Across the globe, remote image data is rapidly being collected for the assessment of benthic communities from shallow to extremely deep waters on continental slopes to the abyssal seas. Exploiting this data is presently limited by the time it takes for experts to identify organisms found in these images. With this limitation in mind, a large effort has been made globally to introduce automation and machine learning algorithms to accelerate both classification and assessment of marine benthic biota. One major issue lies with organisms that move with swell and currents, such as kelps. This paper presents an automatic hierarchical classification method local binary classification as opposed to the conventional flat classification to classify kelps in images collected by autonomous underwater vehicles. The proposed kelp classification approach exploits learned feature representations extracted from deep residual networks. We show that these generic features outperform the traditional off-the-shelf CNN features and the conventional hand-crafted features. Experiments also demonstrate that the hierarchical classification method outperforms the traditional parallel multi-class classifications by a significant margin (90.0% vs. 57.6% and 77.2% vs. 59.0%) on Benthoz15 and Rottnest datasets respectively. Furthermore, we compare different hierarchical classification approaches and experimentally show that the sibling hierarchical training approach outperforms the inclusive hierarchical approach by a significant margin. We also report an application of our proposed method to study the change in kelp cover over time for annually repeated AUV surveys.