Underwater Television (UWTV) surveys provide fishery-independent stock size estimations of the Norway lobster (Nephrops norvegicus), based directly on burrow counting using the survey assumption of “one animal = one burrow”. However, stock size may be uncertain depending on true rates of burrow occupation. For the first time, 3055 video transects carried out in several Functional Units (FUs) around Ireland were used to investigate this uncertainty. This paper deals with the discrimination of burrow emergence and door-keeping diel behaviour in Nephrops norvegicus, which is one of the most commercially important fisheries in Europe. Comparisons of burrow densities with densities of visible animals engaged in door-keeping (i.e. animals waiting at the tunnel entrance) behaviour and animals in full emergence, were analysed at time windows of expected maximum population emergence. Timing of maximum emergence was determined using wave-form analysis and GAM modelling. The results showed an average level of 1 visible Nephrops individual per 10 burrow systems, depending on sampling time and depth. This calls into question the current burrow occupancy assumption which may not hold true in all FUs. This is discussed in relation to limitations of sampling methodologies and new autonomous robotic technological solutions for monitoring.