Coral Grow-out Robotic Assessment System (CGRAS): Scaling Coral Recruit Monitoring Through Robotics and Computer Vision

Dorian Tsai; Scarlett Raine; Emilio Olivastri; Riki Lamont; Andrew Lui; Timothy Morris; Joshua Esplin; Christopher A. Brunner; F. Mikaela Nordborg; Reginald Wardleworth; Garima Samvedi; Karen Jackel; Matthew Dunbabin; Tobias Fischer; Andrea Severati

arXiv · 2609.38846

Coral Grow-out Robotic Assessment System (CGRAS): Scaling Coral Recruit Monitoring Through Robotics and Computer Vision

Dorian Tsai·Scarlett Raine·Emilio Olivastri·Riki Lamont·Andrew Lui·Timothy Morris·Joshua Esplin·Christopher A. Brunner·F. Mikaela Nordborg·Reginald Wardleworth·Garima Samvedi·Karen Jackel·Matthew Dunbabin·Tobias Fischer·Andrea Severati

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Abstract

Climate change is the largest threat to coral reefs, with increasing global impacts accelerating the need for scalable reef restoration technologies. Large-scale reef restoration depends on the mass production of corals, such as through coral aquaculture. Coral seeding with recruits grown in aquaculture facilities is a feasible restoration approach, but effective production requires consistent, high-frequency monitoring of tens of thousands of macroscopic (0.5-2mm diameter) recruits, making conventional manual assessment prohibitively labor-intensive. To address this monitoring bottleneck, we introduce the Coral Grow-out Robotic Assessment System (CGRAS) which combines robotic imaging and computer vision to automate data acquisition, perform multi-species detection and counting of corals, and evaluate coral health. CGRAS automatically extracts coral growth, survival and spatial distribution metrics, with the aim of providing timely feedback to operators for optimizing production, grow-out and deployment workflow processes. We demonstrate CGRAS in a large aquaculture facility on standardized coral settlement tiles, reducing the time and labor costs by a factor of 9.6 as compared to manual monitoring, whilst achieving 96.4% agreement for Acropora kenti corals relative to expert counts.

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Dorian Tsai, Scarlett Raine, Emilio Olivastri, Riki Lamont, Andrew Lui, Timothy Morris, Joshua Esplin, Christopher A. Brunner, F. Mikaela Nordborg, Reginald Wardleworth, Garima Samvedi, Karen Jackel, Matthew Dunbabin, Tobias Fischer, Andrea Severati. 2026-09-30. Coral Grow-out Robotic Assessment System (CGRAS): Scaling Coral Recruit Monitoring Through Robotics and Computer Vision. https://arxiv.org/abs/2609.38846

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