Manganese crusts (Mn-crusts) are a type of mineral deposit that exists on the surface of seamounts and guyots at depths of >800 m. We have developed a method to efficiently map their distribution using data collected by autonomous underwater vehicles and remotely operated vehicles. Volumetric measurements of Mn-crusts are made using a high-frequency subsurface sonar and a 3-D visual mapping instrument mounted on these vehicles. We developed an algorithm to estimate Mn-crust distribution by combining continuous subsurface thickness measurements with the exposed surface area identified in 3-D maps. This is applied to data collected from three expeditions at Takuyo Daigo seamount at depths of ∼1400 m. The transects add to ∼11 km in length with 12 510 m2 mapped. The results show that 52% of the surveyed area is covered by Mn-crusts with a mean thickness of 69.6 mm. The mean Mn-crust occurrence is 69.6 kg/m2 with a maximum of 204 kg/m2 in the mapped region. The results are consistent with estimates made from samples retrieved from the area, showing more detailed distribution patterns and having significantly lower uncertainty bounds for regional-scale Mn-crust inventory estimation.

中文翻译：

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锰结壳分布区域尺度估计的深海机器人勘测和数据处理方法

锰结壳（Mn-crusts）是一种存在于海山和盖奥特表面深度>800 m 的矿床。我们开发了一种方法，可以使用自主水下航行器和遥控潜水器收集的数据有效地绘制它们的分布图。Mn 地壳的体积测量是使用高频地下声纳和安装在这些车辆上的 3-D 视觉测绘仪器进行的。我们开发了一种算法，通过将连续地下厚度测量值与 3-D 地图中确定的暴露表面积相结合，来估计锰地壳分布。这适用于从 Takuy​​o Daigo 海山的三个探险队收集的数据，深度约为 1400 m。横断面长度增加到 11 公里，绘制了 12 510 平方米。结果表明，52%的调查区域被锰结壳覆盖，平均厚度为69.6 mm。平均 Mn 结壳出现量为 69.6 kg/m2，最大为 204 kg/m2。结果与从该地区取回的样本所做的估计一致，显示出更详细的分布模式，并且区域尺度锰壳清单估计的不确定性界限显着降低。