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Remotely operated vehicles (ROVs) provide practical solutions for a wide range of activities in a particularly challenging domain, despite their dependence on support ships and operators. Recent advancements in AI, machine learning, predictive analytics, control theories, and sensor technologies offer opportunities to make ROVs (semi) autonomous in their operations and to remotely test and monitor their dynamics. This study moves towards that goal by formulating a complete navigation, guidance, and control (NGC) system for a six DoF BlueROV2, offering a solution to the current challenges in the field of marine robotics, particularly in the areas of power supply, communication, stability, operational autonomy, localization, and trajectory planning. The vehicle can operate (semi) autonomously, relying on a sensor acoustic USBL localization system, tethered communication with the surface vessel for power, and a line of sight (LOS) guidance system. This strategy transforms the path control problem into a heading control problem, aligning the vehicle’s movement with a dynamically calculated reference point along the desired path. The control system uses PID controllers implemented in the navigator flight controller board. Additionally, an infrastructure has been developed that synchronizes and communicates between the real ROV and its digital twin within the Unity environment. The digital twin acts as a visual representation of the ROV’s movements and considers hydrodynamic behaviors. This approach combines the physical properties of the ROV with the advanced simulation and analysis capabilities of its digital counterpart. All findings were validated at the Point Rouge port located in Marseille and at the port of Ancona. The NGC implemented has proven positive vehicle stability and trajectory tracking in time despite external interferences. Additionally, the digital part has proven to be a reliable infrastructure for a future bidirectional communication system.

Imaging the marine environment is more and more useful to understand relationships between species, as well as natural processes. Developing photogrammetry allowed the use of 3D measuring to study populations dynamics of sessile organisms at various scales: from colony to population. This study focuses on red coral (Corallium rubrum), as known as precious coral. Metrics measured at a colony scale (e.g., maximum height, diameter and number of branches) allowed population understanding and a comparison between an old (Cerbère-Banyuls reserve) vs. a new (Calanques National Park) MPA. Our results suggested a 5-year time step allows the appearance of a significant difference between populations inside vs. outside the Calanques National Park no-take zones. Red coral colonies were taller and had more branches inside no-take zones. A significant difference was still observable for the populations inside the Cerbère-Banyuls reserve after 40 years of protection, reflecting the sustainability and effectiveness of precautionary measures set by the reserve. The impacts at the local level (mechanical destruction) and those presumed to occur via global change (climatic variations) underline the need to develop strategies both to follow the evolutions of red coral populations but also to understand their resilience. Photogrammetry induced modeling is a time and cost effective as well as non-invasive method which could be used to understand population dynamics at a seascape scale on coralligenous reefs.

In the Mediterranean Sea, shallow rocky reefs and the associated three-dimensional (3D) structure support rich and abundant communities; they are therefore of functional importance, in particular for the renewal of fish stocks. However, these habitats and their functions are likely to be altered by anthropogenic pressures inducing habitat transformations. It is therefore necessary to assess their 3D structure, their transformations and relationship to communities, especially for management and conservation purposes. In this article we aimed (i) to compare two methods that quantify the metrics of the 3D structure (rugosity) of shallow rocky reefs (chain-and-tape method and photogrammetry), and (ii) to quantify the possible links between this habitat structure and the fish assemblages. We found that photogrammetry and the chain-and-tape method yielded a similar estimate of rugosity, but photogrammetry was the most efficient method in terms of measurement quality and time (when considering in-water acquisition). This method also displayed the best repeatability. The 3D habitat descriptors (mean surface rugosity, variation of surface rugosity, and depth) differed significantly between the studied sites and were therefore included as covariables. Total fish abundance and species richness increased with higher mean surface rugosity. In addition, the composition of fish assemblages was significantly influenced by surface rugosity, although this effect was modulated by depth. When focusing on specific taxa, neither density patterns nor size class distributions displayed clear patterns in relation to rugosity metrics. However, this study demonstrated that spatial variability of teleost fish assemblages can be explained by habitat rugosity which probably increases the number of shelters and food resources, and therefore improves chances of survival. In addition, our study has shown that photogrammetry is an appropriate method to assess 3D structure metrics in a temperate rocky reef.

Marine animal forests are benthic communities dominated by sessile suspension feeders (such as sponges, corals, and bivalves) able to generate three-dimensional (3D) frameworks with high structural complexity. The biodiversity and functioning of marine animal forests are strictly related to their 3D complexity. The present paper aims at providing new perspectives in underwater optical surveys. Starting from the current gaps in data collection and analysis that critically limit the study and conservation of marine animal forests, we discuss the main technological and methodological needs for the investigation of their 3D structural complexity at different spatial and temporal scales. Despite recent technological advances, it seems that several issues in data acquisition and processing need to be solved, to properly map the different benthic habitats in which marine animal forests are present, their health status and to measure structural complexity. Proper precision and accuracy should be chosen and assured in relation to the biological and ecological processes investigated. Besides, standardized methods and protocols are strictly necessary to meet the FAIR (findability, accessibility, interoperability, and reusability) data principles for the stewardship of habitat mapping and biodiversity, biomass, and growth data.

In both the industrial and scientific fields, the need for very high-resolution cartographic data is constantly increasing. With the aging of offshore subsea assets, it is very important to plan and maintain the longevity of structures, equipment, and systems. Inspection, maintenance, and repair (IMR) of subsea structures are key components of an overall integrity management system that aims to reduce the risk of failure and extend the life of installations. The acquisition of very detailed data during the inspection phase is a technological challenge, especially since offshore installations are sometimes deployed in extreme conditions (e.g., depth, hydrodynamics, visibility). After a review of high resolution mapping techniques for underwater environment, this article will focus on optical sensors that can satisfy the requirements of the offshore industry by assessing their relevance and degree of maturity. These requirements concern the resolution and accuracy but also cost, ease of implementation, and qualification. With the evolution of embedded computing resources, in-vehicle optical survey solutions are becoming increasingly important in the landscape of large-scale mapping solutions and more and more off-the-shelf systems are now available. The issues raised in this review are mainly related to the qualification of the results produced by optical systems and their limitations to cover all the needs expressed by the oil and gas industry field. Interesting qualification works of these solutions are presented in this paper as well as the use of online processing tools such as visual odometry or VSLAM to guide the data acquisition and pre-qualified survey. Finally, it seems interesting to combine acoustic and optical technologies in order to extend the field of application of these methods to low visibility conditions, which remains one of the main limiting factors in the generalization of the use of optical sensors in high resolution underwater cartography applications.

In this paper we present a photogrammetry-based approach for deep-sea underwater surveys conducted from a submarine and guided by knowledge-representation combined with a logical approach (ontology). Two major issues are discussed in this paper. The first concerns deep-sea surveys using photogrammetry from a submarine. Here the goal was to obtain a set of images that completely covered the selected site. Subsequently and based on these images, a low-resolution 3D model is obtained in real-time, followed by a very high-resolution model produced back in the laboratory. The second issue involves the extraction of known artefacts present on the site. This aspect of the research is based on an a priori representation of the knowledge involved using systematic reasoning. Two parallel processes were developed to represent the photogrammetric process used for surveying as well as for identifying archaeological artefacts visible on the sea floor. Mapping involved the use of the CIDOC-CRM system (International Committee for Documentation (CIDOC)—Conceptual Reference Model)—This is a system that has been previously utilised to in the heritage sector and is largely available to the established scientific community. The proposed theoretical representation is based on procedural attachment; moreover, a strong link is maintained between the ontological description of the modelled concepts and the Java programming language which permitted 3D structure estimation and modelling based on a set of oriented images. A very recently discovered shipwreck acted as a testing ground for this project; the Xelendi Phoenician shipwreck, found off the Maltese coast, is probably the oldest known shipwreck in the western Mediterranean. The approach presented in this paper was developed in the scope of the GROPLAN project (Généralisation du Relevé, avec Ontologies et Photogrammétrie, pour l'Archéologie Navale et Sous-marine). Financed by the French National Research Agency (ANR) for four years, this project associates two French research laboratories, an industrial partner, the University of Malta, and Texas A & M University.

This paper provides details of hardware and software conception and realization of a stereo embedded system for underwater imaging. The system provides several functions that facilitate underwater surveys and run smoothly in real-time. A first post-image acquisition module provides direct visual feedback on the quality of the taken images which helps appropriate actions to be taken regarding movement speed and lighting conditions. Our main contribution is a light visual odometry method adapted to the underwater context. The proposed method uses the captured stereo image stream to provide real-time navigation and a site coverage map which is necessary to conduct a complete underwater survey. The visual odometry uses a stochastic pose representation and semi-global optimization approach to handle large sites and provides long-term autonomy, whereas a novel stereo matching approach adapted to underwater imaging and system attached lighting allows fast processing and suitability to low computational resource systems. The system is tested in a real context and shows its robustness and promising future potential.

This article describes the set of photogrammetric tools developed for the monitoring of Mediterranean red coral Corallium rubrum populations. The description encompasses the full processing chain: from the image acquisition to the information extraction and data interpretation. The methods applied take advantage of existing tools and new, innovative and specific developments in order to acquire data on relevant ecological information concerning the structure and functioning of a red coral population. The tools presented here are based on: (i) automatic orientation using coded quadrats; (ii) use of non-photorealistic rendering (NPR) and 3D skeletonization techniques; (iii) computation of distances between colonies from a same site; and (iv) the use of a plenoptic approach in an underwater environment.

Overexploitation is a major threat for the integrity of marine ecosystems. Understanding the ecological consequences of different extractive practices and the mechanisms underlying the recovery of populations is essential to ensure sustainable management plans. Precious corals are long-lived structural invertebrates, historically overfished, and their conservation is currently a worldwide concern. However, the processes underlying their recovery are poorly known. Here, we examined harvesting effects and recovery mechanisms of red coral Corallium rubrum by analyzing long-term photographic series taken on two populations that were harvested. We compared the relative importance of reproduction and re-growth as drivers of resilience. Harvesting heavily impacted coral populations causing large decreases in biomass and strong size-class distribution shifts towards populations dominated by small colonies. At the end of the study (after 4 and 7 years) only partial recovery was observed. The observed general pattern of low recruitment and high mortality of new recruits demonstrated limited effects of reproduction on population recovery. Adversely, low mortality of partially harvested adults and a large proportion of colonies showing new branches highlighted the importance of re-growth in the recovery process. The demographic projections obtained through stochastic models confirmed that the recovery rates of C. rubrum can be strongly modulated depending on harvesting procedures. Thus, leaving the basal section of the colonies when harvesting to avoid total mortality largely enhances the resilience of C. rubrum populations and quickens their recovery. On the other hand, the high survival of harvested colonies and the significant biomass reduction indicated that abundance may not be an adequate metric to assess the conservation status of clonal organisms because it can underestimate harvesting effects. This study highlights the unsustainability of current harvesting practices of C. rubrum and provides urgently needed data to improve management practices that are still largely based on untested assumptions.

This paper presents certain reflections concerning an interdisciplinary project between medieval archaeologists from the University of Florence (Italy) and computer science researchers from CNRS, National Center for Scientific Research, (France), aiming towards a connection between 3D spatial representation and archaeological knowledge. We try to develop an integrated system for archaeological 3D survey and all other types of archaeological data and knowledge by incorporating observable (material) and non-graphic (interpretive) data. Survey plays a central role, since it is both a metric representation of the archaeological site and, to a wider extent, an interpretation of it (being also a common basis for communication between the two teams). More specifically, 3D survey is crucial, allowing archaeologists to connect actual spatial assets to the stratigraphic formation processes (i.e., to the archaeological time) and to translate spatial observations into historical interpretation of the site. It is well known that laser scanner, photogrammetry and computer vision are very useful tools for archaeologists, although the integration of the representation of space, as well as archaeological time has not yet found a methodological standard of reference. We propose a common formalism for describing photogrammetric survey and archaeological knowledge stemming from ontologies: indeed, ontologies are fully used to model and store 3D data and archaeological knowledge. We equip this formalism with a qualitative representation of time, starting from archaeological stratigraphy. Stratigraphic analyses (both of excavated deposits and of upstanding structures) are closely related to Edward Cecil Harris’s theory of the “Unit of Stratigraphication” (referred to as “US”, while a stratigraphic unit of an upstanding structure Unita Stratigrafica Murale, in Italian, will be referred to as “USM”). Every US is connected to the others by geometric, topological and, eventually, temporal links, and these are recorded by the 3D photogrammetric survey. However, the limitations of the Harris matrix approach led us to use another formalism for representing stratigraphic relationships, namely Qualitative Constraints Networks (QCN), which was successfully used in the domain of knowledge representation and reasoning in artificial intelligence for representing temporal relations.

This article presents a new approach to calculating the inverse of radial distortions. The method presented here provides a model of reverse radial distortion, currently modeled by a polynomial expression, that proposes another polynomial expression where the new coefficients are a function of the original ones. After describing the state of the art, the proposed method is developed. It is based on a formal calculus involving a power series used to deduce a recursive formula for the new coefficients. We present several implementations of this method and describe the experiments conducted to assess the validity of the new approach. Such an approach, non-iterative, using another polynomial expression, able to be deduced from the first one, can actually be interesting in terms of performance, reuse of existing software, or bridging between different existing software tools that do not consider distortion from the same point of view.

Abstract Background Infectious diseases are emerging across temperate regions of the world, and, for some, links have been made between landscapes and emergence dynamics. For tick-borne diseases, public parks may be important exposure sites for people living in urbanized areas of North America and Europe. In most cases, we know more about the ecological processes that determine the hazard posed by ticks as disease vectors than we do about how human population exposure varies in urban natural parks. Methods In this study, infrared counters were used to monitor visitor use of a public natural park in southern Quebec, Canada. A risk index representing the probability of encounters between humans and infected vectors was constructed. This was done by combining the intensity of visitor trail use and the density of infected nymphs obtained from field surveillance. Patterns of risk were examined using spatial cluster analysis. Digital forest data and park infrastructure data were then integrated using spatially explicit models to test whether encounter risk levels and its components vary with forest fragmentation indicators and proximity to park infrastructure. Results Results suggest that, even at a very fine scales, certain landscape features and infrastructure can be predictors of risk levels. Both visitors and Borrelia burgdorferi-infected ticks concentrated in areas where forest cover was dominant, so there was a positive association between forest cover and the risk index. However, there were no associations between indicators of forest fragmentation and risk levels. Some high-risk clusters contributed disproportionately to the risk distribution in the park relative to their size. There were also two high-risk periods, one in early summer coinciding with peak nymphal activity, and one in early fall when park visitation was highest. Conclusions Here, we demonstrate the importance of integrating indicators of human behaviour visitation with tick distribution data to characterize risk patterns for tick-borne diseases in public natural areas. Indeed, understanding the environmental determinants of human-tick interactions will allow organisations to deploy more effective risk reduction interventions targeted at key locations and times, and improve the management of public health risks associated with tick-borne diseases in public spaces.

IntroductionIn eastern Canada, the boreal forest is associated with an important latitudinal shift in forest composition and structure, which occurs in the transition between the mixed southern boreal forest and the coniferous northern boreal forest. Along this transition, upland mixedwood stands with large deciduous trees (important for cavity-dependent vertebrate species) are gradually replaced by forests with smaller conifer trees, primarily black spruce (Picea mariana). Concomitantly, the availability of lowland forests flooded by the American beaver (Castor canadensis), which can provide adequate conditions for tree-cavity users, is also decreasing.MethodsWe hypothesized that this latitudinal gradient would bring important changes in the functional diversity and network structure of vertebrate cavity-using communities. Along this latitudinal gradient we used a nest web approach to analyze the structure and robustness of networks of cavity users in upland forests and in lowland forests flooded by beavers.ResultsDespite their low availability in the northern forest region, we found that mixedwood stands persisted throughout the boreal forest in being the main drivers of nest webs network structure of upland forests whereas old black spruce stands contribution was low. In lowland forests, beaver ponds harbored nest webs with a rich and complex structure in both forest regions. Species removal simulations revealed that across our latitudinal gradient upland and lowland forest nest webs responded differently. In upland forests, the removal of trembling aspen and the Pileated Woodpecker (Dryocopus pileatus) caused the highest proportions of secondary extinctions, showing low robustness of nest webs given that these two species were highly connected to the other species. Contrastingly, nest webs in beaver ponds were more robust mainly because excavator species used a higher diversity of tree species despite the removal of the Northern Flicker (Colaptes auratus) which induced numerous secondary extinctions. The Pileated Woodpecker remained the pivotal species across the two forest regions in upland forests whereas the Northern Flicker became the main large cavity provider in beaver ponds across the latitudinal gradient.DiscussionWe discuss how mixedwood forests and beaver ponds, which are key habitat types for the cavity-using vertebrate community across our latitudinal gradient, should be maintained and protected in landscapes under industrial timber harvesting.