Online Clustering of Seafloor Imagery for Interpretation during Long-Term AUV Operations

Abstract

As long-endurance and seafloor-resident AUVs become more capable, there is an increasing need for extended, real-time interpretation of seafloor imagery to enable adaptive missions and optimise communication efficiency. Although offline image analysis methods are well established, they rely on access to complete datasets and human-labelled examples to manage the strong influence of environmental and operational conditions on seafloor image appearance-requirements that cannot be met in real-time settings. To address this, we introduce an online clustering framework (OCF) capable of interpreting seafloor imagery without supervision, which is designed to operate in real-time on continuous data streams in a scalable, adaptive, and self-consistent manner. The method enables the efficient review and consolidation of common patterns across the entire data history in constant time by identifying and maintaining a set of representative samples that capture the evolving feature distribution, supporting dynamic cluster merging and splitting without reprocessing the full image history. We evaluate the framework on three diverse seafloor image datasets, analysing the impact of different representative sampling strategies on both clustering accuracy and computational cost. The OCF achieves the highest average F1 score of 0.68 across the three datasets among all comparative online clustering approaches, with a standard deviation of 3% across three distinct survey trajectories, demonstrating its superior clustering capability and robustness to trajectory variation. In addition, it maintains consistently lower and bounded computational time as the data volume increases. These properties are beneficial for generating survey data summaries and supporting informative path planning in long-term, persistent autonomous marine exploration.