Several acoustic and optical techniques have been used for characterizing natural and anthropogenic gas leaks (carbon dioxide, methane) from the ocean floor. Here, single-camera based methods for bubble stream observation have become an important tool, as they help estimating flux and bubble sizes under certain assumptions. However, they record only a projection of a bubble into the camera and therefore cannot capture the full 3D shape, which is particularly important for larger, non-spherical bubbles. The unknown distance of the bubble to the camera (making it appear larger or smaller than expected) as well as refraction at the camera interface introduce extra uncertainties. In this article, we introduce our wide baseline stereo-camera deep-sea sensor bubble box that overcomes these limitations, as it observes bubbles from two orthogonal directions using calibrated cameras. Besides the setup and the hardware of the system, we discuss appropriate calibration and the different automated processing steps deblurring, detection, tracking, and 3D fitting that are crucial to arrive at a 3D ellipsoidal shape and rise speed of each bubble. The obtained values for single bubbles can be aggregated into statistical bubble size distributions or fluxes for extrapolation based on diffusion and dissolution models and large scale acoustic surveys. We demonstrate and evaluate the wide baseline stereo measurement model using a controlled test setup with ground truth information.

Injurious pecking against conspecifics is a serious problem in turkey husbandry. Bloody injuries act as a trigger mechanism to induce further pecking, and timely detection and intervention can prevent massive animal welfare impairments and costly losses. Thus, the overarching aim is to develop a camera-based system to monitor the flock and detect injuries using neural networks. In a preliminary study, images of turkeys were annotated by labelling potential injuries. These were used to train a network for injury detection. Here, we applied a keypoint detection model to provide more information on animal position and indicate injury location. Therefore, seven turkey keypoints were defined, and 244 images (showing 7660 birds) were manually annotated. Two state-of-the-art approaches for pose estimation were adjusted, and their results were compared. Subsequently, a better keypoint detection model (HRNet-W48) was combined with the segmentation model for injury detection. For example, individual injuries were classified using “near tail” or “near head” labels. Summarizing, the keypoint detection showed good results and could clearly differentiate between individual animals even in crowded situations.

This study aimed to develop a camera-based system using artificial intelligence for automated detection of pecking injuries in turkeys. Videos were recorded and split into individual images for further processing. Using specifically developed software, the injuries visible on these images were marked by humans, and a neural network was trained with these annotations. Due to unacceptable agreement between the annotations of humans and the network, several work steps were initiated to improve the training data. First, a costly work step was used to create high-quality annotations (HQA) for which multiple observers evaluated already annotated injuries. Therefore, each labeled detection had to be validated by three observers before it was saved as “finished”, and for each image, all detections had to be verified three times. Then, a network was trained with these HQA to assist observers in annotating more data. Finally, the benefit of the work step generating HQA was tested, and it was shown that the value of the agreement between the annotations of humans and the network could be doubled. Although the system is not yet capable of ensuring adequate detection of pecking injuries, the study demonstrated the importance of such validation steps in order to obtain good training data.