Table 1.

Summary of the main imaging devices developed for automatic monitoring of zooplankton. For comparison purposes, the functionalities of the GUARD1 system, object of the present paper, are reported.

Imaging System	Hosting Platform	Monitoring Target	System Functionalities
LAPIS [23]	Towed by vessel	Gelatinous zooplankton (size (1 cm–100 cm))	Imaging
			No recognition
			No classification
ZOOVIS [24]	Towed by vessel	Gelatinous zooplankton (size < 5 mm)	Imaging
			Offline recognition and classification [25]
ISIT [26]	Towed by vessel	Bioluminescent events produced by deep zooplankton	Imaging
			Offline automatic recognition
ICCD [27]	Fixed and mobile	Bioluminescent events produced by deep zooplankton	Imaging
			Offline automatic recognition
VPR [28,29,30]	Towed by vessel ROV	Zooplankton (size (1 $\mathsf{\mu }$m–10 cm))	Imaging
			Offline automatic recognition
			Offline automatic classification
			(Zooprocess [3,31])
UVP [32,33]	Towed by vessel ROV	Zooplankton (size (1 $\mathsf{\mu }$m–10 cm))	Imaging
			Offline automatic recognition
			Offline automatic classification
			(Zooprocess [3,31])
ISIIS [34]	Towed by vessel	Zooplankton (size (1 $\mathsf{\mu }$m–13 cm))	Imaging
			Offline automatic recognition
			Offline automatic classification
OPC [35]	AUV (Tested in lab)	Micro plankton (not jellies)	Imaging
			Onboard automatic particle counting
GUARD1 [36,37,38]	Fixed and mobile	Gelatinous zooplankton (size (1 mm–100 cm))	Imaging
			Onboard automatic recognition