Seabed backscatter data acquired by the multibeam echosounder (MBES) have been identified as a valuable indicator of sediment properties and benthic community characteristics. However, developing robust change detection models with MBES backscatter remains challenging due to the high costs and limited spatial coverage of seabed ground truth data. Lack of absolute backscatter calibration also hinders the comparison between repeated MBES measurements. To mitigate these issues, we propose an unsupervised method to detect seabed changes by fitting a Gaussian Mixture Model to the backscatter difference between two datasets. A relative calibration is conducted based on a stable reference area to eliminate the impact of possible drifts in echosounder characteristics on the backscatter difference. We then model the unchanged class as a zero-mean Gaussian distribution, with its variance constrained by the backscatter uncertainty estimated from the reference area. By processing each incident angle individually, the angular range with the greatest ability for seabed change detection can also be investigated. We demonstrate the effectiveness of the proposed method through two case studies in the Dutch North Sea. The detected changes reveal seasonal and temporal variations in benthic communities, such as sand mason worms, and are consistent with the sediment movement in one of the study areas. This research highlights the value of MBES backscatter data for seabed change detection and provides a cost-effective solution for seabed habitat monitoring with acoustic measurements.

The multibeam echosounder (MBES) has been widely used in seabed mapping, considering its ability to collect continuous and broad-scale seabed measurements efficiently. The presence of shellfish or dead shell material can alter the geophysical properties of the sediment and thus affect the MBES backscatter intensity, making acoustic surveys with the MBES a potential non-invasive solution for regularly monitoring the benthic habitats of shellfish aggregations. Although there exists an increasing interest in mapping marine benthos with MBES measurements recently, the use of multi-spectral backscatter data is still limited. Thus, this research aims to enhance the acoustic mapping of benthic habitats using multi-spectral MBES data, with a focus on a shell bed region in the Dutch North Sea. With backscatter measurements from three frequencies, 90, 300, and 450 kHz, we achieved seabed classification in two steps. First, a semi-supervised backscatter completion was conducted to generate full-coverage backscatter data for each incident angle, mitigating the limited overlap between adjacent survey lines. We then classified the multi-Angle backscatter data from each individual frequency using the Gaussian Mixture Model. Our results indicate an improved seabed classification performance compared to the classical Bayesian method. Comparisons of classification maps across frequencies also show their different abilities to distinguish the shell bed region from other coarse sediments, demonstrating the value of leveraging multi-spectral backscatter data in seabed habitat mapping.

High diversity seabed habitats, such as shellfish aggregations, play a significant role in marine ecosystem sustainability but are susceptible to bottom disturbance induced by anthropogenic activities. Regular monitoring of these habitats with effective mapping methods is therefore essential. Multibeam echosounder (MBES) has been widely used in recent decades for seabed characterization due to its non-destructive manner and extensive spatial coverage compared to traditional methods like bottom sampling. Nevertheless, bottom sampling remains essential to link ground truth with acoustic seabed classification. Using seabed samples and MBES measurements, machine learning techniques are commonly employed to model their relationships and generate classification maps of an extended seabed. However, limited ground truth data, resulting from constraints in regulations, budget, or time, may impede the development of robust machine learning models. To address this challenge, we applied a semi-supervised machine learning method to classify seabed sediments of a blue mussel (Mytilus edulis) cultivation area in the Oosterschelde, the Netherlands. We utilized nine boxcore samples to generate pseudo-labels on MBES data. These pseudo-labels enlarged the training data size, facilitated the training of three comprehensive machine learning algorithms (Gradient Boosting, Random Forest, and Support Vector Machine), and helped to classify the study site into mussel and non-mussel areas. We found the geomorphological and backscatter-related features to be complementary for mussel culture detection. Our classification results were demonstrated effective through expert knowledge of this cultivation area and brought insights for future research on natural mussel habitats.

Acoustic classification using single-beam and multi-beam echosounders has been widely applied in characterizing seabed sediments. Although previous studies have shown a better discrimination of fine and coarse sediments using multi-spectral echosounder data, analysis regarding comprehensive seabed sediment properties is still needed. In this study, we used single-beam data of 24 kHz, as well as multi-beam data of 90 and 300 kHz to investigate the benefits of multi-spectral backscatter data in describing sediment properties including median grain size; weight percentages of gravel, sand, and mud; volume percentages of stones, shell fragments, and living bivalves; as well as density of acoustically hard animals (molluscs and the tube-building worm Lanice conchilega). We classified data of each frequency in an unsupervised manner, using K-means clustering for the single-beam echo time series and Bayesian classification for the multi-beam backscatter. Compared with the top-layer sediment properties, we found classification of 90 and 300 kHz consistent with variations of median grain size and L. conchilega density, whereas classification of 24 kHz can also be related to the percentages of shell fragments and stones. In addition, one acoustic class of 24 kHz might indicate a higher gravel content in the subsurface of the study area. Although quantitative relationships between backscatter and sediment properties are still difficult to achieve given a limited number of samples, using multi-spectral backscatter data is a potential approach to characterize seabed sediments from various perspectives.

Detailed knowledge of both the sedimentological and ecological characteristics of the seafloor is essential when undertaking bottom-disturbing activities, but can be a challenge to obtain. Through backscatter data at different frequencies, collected with a multi-spectral multi-beam sonar, information on the structure of both the sediment surface and subsurface, and potentially also on the presence and distribution of benthic organisms, can be derived. We conducted two surveys at sea in summer 2021, in which we used an R2Sonic 2026 multi-spectral multi-beam sonar in the southern North Sea. Boxcore samples were taken to gather information on macrobenthos densities and sediment characteristics. The two studied areas were found to differ in seafloor morphology and correspondingly in the composition of the sediment composition and benthos distribution. Backscatter strength was used to classify the seafloor via the Bayesian method and via hierarchical clustering of angular variation. Relationships between the classification results for three frequencies and sediment and ecological variables were studied through redundancy analysis (RDA), for which hierarchical clustering of the angular variation in backscatter strength showed a higher model fit than Bayesian classification. We found that the density of the sand mason worm Lanice conchilega and percentages of dead shells, gravel and sand contributed most to the backscatter-based classification, with lower contributions of the percentages of mud and living bivalves. Our results suggest that acoustic backscatter can be used to delineate distinct seafloor regions, corresponding with concurrent gradients in ecological and sedimentological variables.

Functional classification of the road is important to the construction of sustainable transport systems and proper design of facilities. Mobile laser scanning (MLS) point clouds provide accurate and dense 3D measurements of road scenes, while their massive data volume and lack of structure also bring difficulties in processing. 3D point cloud understanding through deep neural networks achieves breakthroughs since PointNet and arouses wide attention in recent years. In this paper, we study the automatic road type classification of MLS point clouds by employing a point-wise neural network, RandLA-Net, which is designed for consuming large-scale point clouds. An effective local feature aggregation (LFA) module in RandLA-Net preserves the local geometry in point clouds by formulating an enhanced geometric feature vector and learning different point weights in a local neighborhood. Based on this method, we also investigate possible feature combinations to calculate neighboring weights. We train on a colorized point cloud from the city of Hannover, Germany, and classify road points into 7 classes that reveal detailed functions, i.e., sidewalk, cycling path, rail track, parking area, motorway, green area, and island without traffic. Also, three feature combinations inside the LFA module are examined, including the geometric feature vector only, the geometric feature vector combined with additional features (e.g., color), and the geometric feature vector combined with local differences of additional features. We achieve the best overall accuracy (86.23%) and mean IoU (69.41%) by adopting the second and third combinations respectively, with additional features including Red, Green, Blue, and intensity. The evaluation results demonstrate the effectiveness of our method, but we also observe that different road types benefit the most from different feature settings.