Detecting animals in African Savanna with UAVs and the crowds

Unmanned aerial vehicles (UAVs) offer new opportunities for wildlife monitoring, with several advantages over traditional field-based methods. They have readily been used to count birds, marine mammals and large herbivores in different environments, tasks which are routinely performed through manual counting in large collections of images. In this paper, we propose a semi-automatic system able to detect large mammals in semi-arid Savanna. It relies on an animal-detection system based on machine learning, trained with crowd-sourced annotations provided by volunteers who manually interpreted sub-decimeter resolution color images. The system achieves a high recall rate and a human operator can then eliminate false detections with limited effort. Our system provides good perspectives for the development of data-driven management practices in wildlife conservation. It shows that the detection of large mammals in semi-arid Savanna can be approached by processing data provided by standard RGB cameras mounted on affordable fixed wings UAVs

Unmanned Aerial Vehicles (UAVs) in environmental biology: A Review

Acquiring information about the environment is a key step during each study in the field of environmental biology at different levels, from an individual species to community and biome. However, obtaining information about the environment is frequently difficult because of, for example, the phenological timing, spatial distribution of a species or limited accessibility of a particular area for the field survey. Moreover, remote sensing technology, which enables the observation of the Earth’s surface and is currently very common in environmental research, has many limitations such as insufficient spatial, spectral and temporal resolution and a high cost of data acquisition. Since the 1990s, researchers have been exploring the potential of different types of unmanned aerial vehicles (UAVs) for monitoring Earth’s surface. The present study reviews recent scientific literature dealing with the use of UAV in environmental biology. Amongst numerous papers, short communications and conference abstracts, we selected 110 original studies of how UAVs can be used in environmental biology and which organisms can be studied in this manner. Most of these studies concerned the use of UAV to measure the vegetation parameters such as crown height, volume, number of individuals (14 studies) and quantification of the spatio-temporal dynamics of vegetation changes (12 studies). UAVs were also frequently applied to count birds and mammals, especially those living in the water. Generally, the analytical part of the present study was divided into following sections: (1) detecting, assessing and predicting threats on vegetation, (2) measuring the biophysical parameters of vegetation, (3) quantifying the dynamics of changes in plants and habitats and (4) population and behaviour studies of animals. At the end, we also synthesised all the information showing, amongst others, the advances in environmental biology because of UAV application. Considering that 33% of studies found and included in this review were published in 2017 and 2018, it is expected that the number and variety of applications of UAVs in environmental biology will increase in the future

무인비행체 탑재 열화상 및 실화상 이미지를 활용한 야생동물 탐지 가능성 연구

학위논문(석사) -- 서울대학교대학원 : 환경대학원 환경조경학과, 2022.2. 송영근.야생동물의 탐지와 모니터링을 위해, 현장 직접 관찰, 포획-재포획과 같은 전통적 조사 방법이 다양한 목적으로 수행되어왔다. 하지만, 이러한 방법들은 많은 시간과 상대적으로 비싼 비용이 필요하며, 신뢰 가능한 탐지 결과를 얻기 위해선 숙련된 현장 전문가가 필요하다. 게다가, 전통적인 현장 조사 방법은 현장에서 야생동물을 마주치는 등 위험한 상황에 처할 수 있다. 이에 따라, 카메라 트래핑, GPS 추적, eDNA 샘플링과 같은 원격 조사 방법이 기존의 전통적 조사방법을 대체하며 더욱 빈번히 사용되기 시작했다. 하지만, 이러한 방법들은 여전히 목표로 하는 대상의 전체 면적과, 개별 개체를 탐지할 수 없다는 한계를 가지고 있다. 이러한 한계를 극복하기 위해, 무인비행체 (UAV, Unmanned Aerial Vehicle)가 야생동물 탐지의 대중적인 도구로 자리매김하고 있다. UAV의 가장 큰 장점은, 선명하고 촘촘한 공간 및 시간해상도와 함께 전체 연구 지역에 대한 동물 탐지가 가능하다는 것이다. 이에 더해, UAV를 사용함으로써, 접근하기 어려운 지역이나 위험한 곳에 대한 조사가 가능해진다. 하지만, 이러한 이점 외에, UAV의 단점도 명확히 존재한다. 대상지, 비행 속도 및 높이 등과 같이 UAV를 사용하는 환경에 따라, 작은 동물, 울창한 숲속에 있는 개체, 빠르게 움직이는 동물을 탐지하는 것이 제한된다. 또한, 기상환경에 따라서도 비행이 불가할 수 있고, 배터리 용량으로 인한 비행시간의 제한도 존재한다. 하지만, 정밀한 탐지가 불가능하더라도, 이와 관련 연구가 꾸준히 수행되고 있으며, 선행연구들은 육상 및 해상 포유류, 조류, 그리고 파충류 등을 탐지하는 데에 성공하였다. UAV를 통해 얻어지는 가장 대표적인 데이터는 실화상 이미지이다. 이를 사용해 머신러닝 및 딥러닝 (ML-DL, Machine Learning and Deep Learning) 방법이 주로 사용되고 있다. 이러한 방법은 상대적으로 정확한 탐지 결과를 보여주지만, 특정 종을 탐지할 수 있는 모델의 개발을 위해선 최소한 천 장의 이미지가 필요하다. 실화상 이미지 외에도, 열화상 이미지 또한 UAV를 통해 획득 될 수 있다. 열화상 센서 기술의 개발과 센서 가격의 하락은 많은 야생동물 연구자들의 관심을 사로잡았다. 열화상 카메라를 사용하면 동물의 체온과 주변환경과의 온도 차이를 통해 정온동물을 탐지하는 것이 가능하다. 하지만, 새로운 데이터가 사용되더라도, 여전히 ML-DL 방법이 동물 탐지에 주로 사용되고 있으며, 이러한 방법은 UAV를 활용한 야생동물의 실시간 탐지를 제한한다. 따라서, 본 연구는 열화상과 실화상 이미지를 활용한 동물 자동 탐지 방법의 개발과, 개발된 방법이 이전 방법들의 평균 이상의 정확도와 함께 현장에서 실시간으로 사용될 수 있도록 하는 것을 목표로 한다.For wildlife detection and monitoring, traditional methods such as direct observation and capture-recapture have been carried out for diverse purposes. However, these methods require a large amount of time, considerable expense, and field-skilled experts to obtain reliable results. Furthermore, performing a traditional field survey can result in dangerous situations, such as an encounter with wild animals. Remote monitoring methods, such as those based on camera trapping, GPS collars, and environmental DNA sampling, have been used more frequently, mostly replacing traditional survey methods, as the technologies have developed. But these methods still have limitations, such as the lack of ability to cover an entire region or detect individual targets. To overcome those limitations, the unmanned aerial vehicle (UAV) is becoming a popular tool for conducting a wildlife census. The main benefits of UAVs are able to detect animals remotely covering a wider region with clear and fine spatial and temporal resolutions. In addition, by operating UAVs investigate hard to access or dangerous areas become possible. However, besides these advantages, the limitations of UAVs clearly exist. By UAV operating environments such as study site, flying height or speed, the ability to detect small animals, targets in the dense forest, tracking fast-moving animals can be limited. And by the weather, operating UAV is unable, and the flight time is limited by the battery matters. Although detailed detection is unavailable, related researches are developing and previous studies used UAV to detect terrestrial and marine mammals, avian and reptile species. The most common type of data acquired by UAVs is RGB images. Using these images, machine-learning and deep-learning (ML–DL) methods were mainly used for wildlife detection. ML–DL methods provide relatively accurate results, but at least 1,000 images are required to develop a proper detection model for specific species. Instead of RGB images, thermal images can be acquired by a UAV. The development of thermal sensor technology and sensor price reduction has attracted the interest of wildlife researchers. Using a thermal camera, homeothermic animals can be detected based on the temperature difference between their bodies and the surrounding environment. Although the technology and data are new, the same ML–DL methods were typically used for animal detection. These ML-DL methods limit the use of UAVs for real-time wildlife detection in the field. Therefore, this paper aims to develop an automated animal detection method with thermal and RGB image datasets and to utilize it under in situ conditions in real-time while ensuring the average-above detection ability of previous methods.Abstract I Contents IV List of Tables VII List of Figures VIII Chapter 1. Introduction 1 1.1 Research background 1 1.2 Research goals and objectives 10 1.2.1 Research goals 10 1.2.2 Research objectives 11 1.3 Theoretical background 13 1.3.1 Concept of the UAV 13 1.3.2 Concept of the thermal camera 13 Chapter 2. Methods 15 2.1 Study site 15 2.2 Data acquisition and preprocessing 16 2.2.1 Data acquisition 16 2.2.2 RGB lens distortion correction and clipping 19 2.2.3 Thermal image correction by fur color 21 2.2.4 Unnatural object removal 22 2.3 Animal detection 24 2.3.1 Sobel edge creation and contour generation 24 2.3.2 Object detection and sorting 26 Chapter 3. Results 30 3.1 Number of counted objects 31 3.2 Time costs of image types 33 Chapter 4. Discussion 36 4.1 Reference comparison 36 4.2 Instant detection 40 4.3 Supplemental usage 41 4.4 Utility of thermal sensors 42 4.5 Applications in other fields 43 Chapter 5. Conclusions 47 References 49 Appendix: Glossary 61 초록 62석

Fusion of visible and thermal images improves automated detection and classification of animals for drone surveys

Visible and thermal images acquired from drones (unoccupied aircraft systems) have substantially improved animal monitoring. Combining complementary information from both image types provides a powerful approach for automating detection and classification of multiple animal species to augment drone surveys. We compared eight image fusion methods using thermal and visible drone images combined with two supervised deep learning models, to evaluate the detection and classification of white-tailed deer (Odocoileus virginianus), domestic cow (Bos taurus), and domestic horse (Equus caballus). We classified visible and thermal images separately and compared them with the results of image fusion. Fused images provided minimal improvement for cows and horses compared to visible images alone, likely because the size, shape, and color of these species made them conspicuous against the background. For white-tailed deer, which were typically cryptic against their backgrounds and often in shadows in visible images, the added information from thermal images improved detection and classification in fusion methods from 15 to 85%. Our results suggest that image fusion is ideal for surveying animals inconspicuous from their backgrounds, and our approach uses few image pairs to train compared to typical machine-learning methods. We discuss computational and field considerations to improve drone surveys using our fusion approach. Supplemental files attached below

Modelagem de abundância com drones : detectabilidade, desenho amostral e revisão automática de imagens em um estudo com cervos-do-pantanal

Entender como a abundância de uma espécie se distribui no espaço e/ou no tempo é uma questão fundamental em ecologia e conservação e ajuda, por exemplo, a elucidar relações entre a heterogeneidade de paisagens e populações ou compreender influência de predação na distribuição de indivíduos. Informações de tamanho populacional também são essenciais para avaliar risco de extinção, monitorar populações ameaçadas e planejar ações de conservação. Modelar a abundância de cervos-do-pantanal (Blastocerus dichotomus), sendo um grande herbívoro da América do Sul, pode ser importante para entender relações da espécie com a variação espacial da produtividade primária, das áreas úmidas que a espécie ocupa e do seu principal predador, a onça- pintada. Além disso, por estar ameaçado de extinção, estimar a abundância de cervos pode contribuir para avaliar populações relictuais da espécie, assim como monitorar populações após grandes eventos, como os incêndios de 2020 no Pantanal. Porém, acessar estimativas de abundância confiáveis de maneira eficiente requer métodos robustos que levem em conta os possíveis erros nas contagens e que forneçam as estimativas em tempo hábil, além de um desenho amostral otimizado para aproveitar os recursos geralmente escassos. Os drones tem aparecido como uma ferramenta versátil e custo-efetiva para amostragem de populações animais e vêm sendo aplicados para várias espécies diferentes nos mais variados contextos ecológicos. Como um método emergente, o uso de drones na ecologia fornece oportunidades para explorar novas possibilidades de amostragem e análise de dados, ao mesmo tempo em que pode apresentar novos desafios. Nesta tese, i) exploro oportunidade e desafios na utilização de drones para modelagem de abundância de animais, abordando questões de erros de detecção, desenho amostral e como lidar com os grandes bancos de imagens gerados; e ii) aplico os métodos desenvolvidos para estudar a variação na abundância de cervo-do- pantanal, assim como estabelecer uma abordagem para monitoramento robusto e efetivo dessa espécie. Assim, no primeiro capítulo, conduzo uma revisão na literatura descrevendo os potenciais erros de detecção que podem enviesar estimativas de abundância com drones, buscando soluções atuais para lidar com esses erros e identificando lacunas que precisam de desenvolvimento. Nessa revisão, destaco o potencial dos modelos hierárquicos para estimar abundância em amostragens com drone. No segundo capítulo, aplico amostragens espaço-temporalmente replicadas com drone, analisadas com modelos hierárquicos N-mixture, para entender o efeito de processos topo-base (distribuição de onças-pintadas) e base-topo (disponibilidade de forragem de qualidade e corpos d’água) na distribuição da abundância de cervos-do- pantanal. Nesse estudo, encontrei que, na época seca, os cervos se concentram em áreas de alta qualidade (maior disponibilidade de forragem e próximas a corpos d’água), mesmo sendo a região em que é esperado maior efeito da predação. No capítulo 3, em um estudo com simulações, avalio o desempenho de modelos N-mixture para estimativas de abundância a partir de amostragens espaço-temporalmente replicadas, explorando otimização de esforço amostral e o impacto de um protocolo com observadores duplos na acurácia das estimativas. No capítulo 4, desenvolvo uma abordagem para estimar abundância com drone usando observadores múltiplos na revisão das imagens, sendo um dos observadores baseado em um processamento semiautomático usando algoritmos de inteligência artificial. Nesse estudo, exploro técnicas de aprendizado profundo de máquina, com redes neurais convolucionais, acessíveis para ecólogos, treinando algoritmos para detectar cervos nas imagens de drone. Além de ajudar a elucidar questões sobre as relações do cervo-do-pantanal com aspectos diferentes da paisagem do Pantanal, as abordagens exploradas e desenvolvidas aqui têm um grande potencial de aplicação, ajudando a estabelecer os drones como uma ferramenta eficiente para modelagem e monitoramento populacional de diversas espécies animais, e particularmente de cervos.Understanding how abundance distributes in space and/or time is a fundamental question in ecology and conservation, and it helps, for example, to elucidate relationships between landscape heterogeneity or predation and populations. Information on the population size also is essential to evaluate extinction risk, monitor threatened species and plan conservation actions. Abundance modeling of marsh deer (Blastocerus dichotomus), as a large herbivore of South America, may be important to understand the relationships of this species with spatial variation in primary productivity, in the availability of wetlands that the species inhabits, and in the distribution of its main predator, the jaguar. Moreover, since marsh deer threatened to extinction, estimating its abundance can be contribute in assessments of relictual populations, as well as in monitoring the species after big events, such as the Pantanal 2020 megafires. However, efficiently assessing reliable abundance estimates require robust methods that account for possible sources of error in counts while providing the estimates timely. An optimized sampling design is also important, in order to make the best use of the usual scarce resources. Drones have raised as a versatile and cost- effective tool for sampling animal populations, and they have been applied for several species in a wide variety of ecological contexts. As being an emergent method, the use of drones in ecology provides opportunities to explore novel possibilities of sampling and analyzing data, while potentially presenting new challenges. In this thesis I: i) explore opportunities and challenges in the use of drones for animal abundance modeling, approaching issues about detection errors, sampling design and how to deal with the huge image sets generated from drone flights; and ii) apply the developed methods to study the spatial variation in marsh deer abundance and to establish an approach to monitor this species robustly and efficiently. Thus, in the first chapter, I carry on a literature review describing potential sources of errors that may bias abundance estimation with drones and the current solutions to address them, identifying gaps that need development. In this review, I highlight the potential of hierarchical models for abundance estimations from drone-based surveys. In the second chapter, I apply spatiotemporally replicated drone surveys, analyzed with N-mixture models, to understand the influence of bottom-up (forage and water) and top-down (jaguar density) variables on the spatial variation of marsh deer local abundance. In such study, I found that, in the dry season, the deer concentrate in high quality areas (high-quality forage available and close to water bodies), even these regions being expected to present higher predation risks. In chapter 3, in a simulation study, I evaluate the performance of N- mixture models for abundance estimation from spatiotemporally replicated surveys, exploring optimization of sampling effort and the impact of a double-observer protocol on estimation accuracy. In chapter 4, I develop a pipeline to estimate abundance from drone-based surveys using a multiple-observer protocol in which one of the observer is a semiautomated procedure based on deep learning algorithms. In such study, I explore deep learning techniques with convolutional neural networks that are accessible for ecologists, and train algorithms to detect marsh deer in drone imagery. Besides helping to elucidate questions about the relationships of marsh deer with landscape variables in Pantanal, the approaches explored and developed here have a great potential of application in order to establish drones as an efficient technique for population modeling and monitoring of several wildlife species, and particularly the marsh deer

Perspectives in machine learning for wildlife conservation

Data acquisition in animal ecology is rapidly accelerating due to inexpensive and accessible sensors such as smartphones, drones, satellites, audio recorders and bio-logging devices. These new technologies and the data they generate hold great potential for large-scale environmental monitoring and understanding, but are limited by current data processing approaches which are inefficient in how they ingest, digest, and distill data into relevant information. We argue that machine learning, and especially deep learning approaches, can meet this analytic challenge to enhance our understanding, monitoring capacity, and conservation of wildlife species. Incorporating machine learning into ecological workflows could improve inputs for population and behavior models and eventually lead to integrated hybrid modeling tools, with ecological models acting as constraints for machine learning models and the latter providing data-supported insights. In essence, by combining new machine learning approaches with ecological domain knowledge, animal ecologists can capitalize on the abundance of data generated by modern sensor technologies in order to reliably estimate population abundances, study animal behavior and mitigate human/wildlife conflicts. To succeed, this approach will require close collaboration and cross-disciplinary education between the computer science and animal ecology communities in order to ensure the quality of machine learning approaches and train a new generation of data scientists in ecology and conservation

Terrestrial Megafauna Response to Drone Noise Levels in Ex Situ Areas

Drone use has significantly grown in recent years, and there is a knowledge gap on how the noise produced by these systems may affect animals. We investigated how 18 species of megafauna reacted to drone sound pressure levels at different frequencies. The sound pressure level on the low frequency generated by the drone did not change the studied species’ behavior, except for the Asian elephant. All other studied species showed higher noise sensitivity at medium and high frequencies. The Asian elephant was the most sensitive species to drone noise, mainly at low frequencies. Felines supported the highest sound pressure level before showing behavioral reactions. Our results suggest that drone sound pressure levels in different frequencies cause behavioral changes that differ among species, which is relevant to assessing drone disturbances in ex situ environments. The findings presented here can help to reduce drone impact for target species and serve as an experimental study for future drone use guidelines.M.M.P. contract is funded by the European Union “NextGenerationEU” Programa María Zambrano, Ministerio de Universidades, Spain. Fundación Barcelona Zoo, 310557 Project (Ayuntamiento de Barcelona)

Design and Development of a Remote-Control Test Bench for Remote Piloted Aircraft\u27s Brushless Motors

The present paper is focused on designing and manufacturing a remote-control test bench for RPA\u27s brushless motors. The main components of the testing bench (structural, mechanical and electric components) are presented, how they are coupled, and the operating principle. The test bench is characterized by five emergency systems, one manual and four automated emergency systems that can stop the test under different conditions to avoid damaging the motor. To validate the testing bench, a SK3-5045 660 kV electric motor was selected along with a carbon fibre reinforced composite propeller. It was experimentally demonstrated that the test bench was fully automated, there were measured the propulsion force, current intensity, voltage, but also the consumed power of a motor intended for an RPA. The test results were used to determine the motorization performance and power consumption of an RPA designed with four electric motors (quadcopter type)

Rapid literature mapping on the recent use of machine learning for wildlife imagery

Machine (especially deep) learning algorithms are changing the way wildlife imagery is processed. They dramatically speed up the time to detect, count, and classify animals and their behaviours. Yet, we currently have very few systematic literature surveys on its use in wildlife imagery. Through a literature survey (a ‘rapid’ review) and bibliometric mapping, we explored its use across: 1) species (vertebrates), 2) image types (e.g., camera traps, or drones), 3) study locations, 4) alternative machine learning algorithms, 5) outcomes (e.g., recognition, classification, or tracking), 6) reporting quality and openness, 7) author affiliation, and 8) publication journal types. We found that an increasing number of studies used convolutional neural networks (i.e., deep learning). Typically, studies have focused on large charismatic or iconic mammalian species. An increasing number of studies have been published in ecology-specific journals indicating the uptake of deep learning to transform the detection, classification and tracking of wildlife. Sharing of code was limited, with only 20% of studies providing links to analysis code. Much of the published research and focus on animals came from India, China, Australia, or the USA. There were relatively few collaborations across countries. Given the power of machine learning, we recommend increasing collaboration and sharing approaches to utilise increasing amounts of wildlife imagery more rapidly and transform and improve understanding of wildlife behaviour and conservation. Our survey, augmented with bibliometric analyses, provides valuable signposts for future studies to resolve and address shortcomings, gaps, and biases