Automated detection, morphometric measurement, and size-class determination of harbor seals (Phoca vitulina) from UAV orthomosaics: a cascaded deep-learning pipeline with stratified validation across platforms, sensors, altitudes, and substrates

Reliable demographic data are critical for seal population assessment and management, yet remain challenging to obtain from drone surveys without automated tools. Using data from harbor seal (Phoca vitulina) haulout surveys conducted in British Columbia, Canada, in 2023-2024, we developed and tested an automated pipeline that integrates detection, morphometric extraction, and size-class classification of seals into a single system. The pipeline combines cascaded DeepLabV3+ segmentation (water removal, colony-level seal detection, and individual body-contour refinement), principal component analysis (PCA)-based extraction of body length and maximum width, and three-class size-class determination based on body length (pups, juveniles, subadults/adults). We evaluated the pipeline on 2,483 manually annotated seals across four drone platforms (DJI Mavic 3 Thermal, Mavic 2 Pro, Mini 3 Pro and Mini 2), five substrate types, and two sensor modalities (RGB, thermal infrared). Aggregate detection F1 was 0.914. Orthomosaic geometric accuracy, quantified as the RMSE of calibration-rod length on the orthomosaic, ranged from 1.0 cm to 18.0 cm depending on the platform-altitude-substrate combination, a spread that aggregate metrics would mask. Relative to manual annotation on the same orthomosaics, automated RGB body lengths showed near-zero bias (-0.6 cm; RMSE = 12.5 cm), whereas automated thermal lengths were systematically shorter (bias -19.9 cm, RMSE = 24.1 cm), establishing the unsuitability of thermal imagery for automated quantitative pinniped morphometry. For RGB imagery, threshold classification by body length reached an overall accuracy (OA) of 78.7%; for individuals outside the uncertainty zones (defined as {+/-}2 x the geometric RMSE on calibration rods around each class boundary), OA reached 90.9%. Within the RGB subset, OA was 78.9% at 20 m altitude, declining to 75.0% at 40 m where geometric error dominated. The pipeline enables automated demographic monitoring of pinniped haulouts with quantitatively characterized uncertainty across survey conditions.