A5086454476- Underwater Vehicles and Communication Systems
- Robotics and Sensor-Based Localization
- Maritime Navigation and Safety
- Robotic Path Planning Algorithms
- Underwater Acoustics Research
- Coastal and Marine Management
- 3D Surveying and Cultural Heritage
- Remote Sensing and LiDAR Applications
- Computer Graphics and Visualization Techniques
- Geological and Geochemical Analysis
- Indoor and Outdoor Localization Technologies
- Advanced Image and Video Retrieval Techniques
- Optical measurement and interference techniques
- Computational Geometry and Mesh Generation
- 3D Shape Modeling and Analysis
- earthquake and tectonic studies
- Advanced Vision and Imaging
- Distributed and Parallel Computing Systems
- Scientific Computing and Data Management
- Seismic Imaging and Inversion Techniques
- Target Tracking and Data Fusion in Sensor Networks
- Advanced Measurement and Detection Methods
- Inertial Sensor and Navigation
- Image Processing Techniques and Applications
- Geological Modeling and Analysis
University of Girona
2011-2020
We present a novel method for planning coverage paths inspecting complex structures on the ocean floor using an autonomous underwater vehicle (AUV). Our initially uses 2.5-dimensional (2.5D) prior bathymetric map to plan nominal path that allows AUV pass its sensors over all points target area. The standard mowing-the-lawn pattern in effectively planar regions, while regions with substantial 3D relief it follows horizontal contours of terrain at given offset distance. then go beyond previous...
Abstract Microbathymetry data, in situ observations, and sampling along the 13°20′N oceanic core complexes (OCCs) reveal mechanisms of detachment fault denudation at seafloor, links between tectonic extension mass wasting, expose nature corrugations, ubiquitous OCCs. In initial stages faulting high‐angle fault, scarps show extensive wasting that reduces their slope. Flexural rotation further lowers scarp slope, hinders resulting morphologically complex chaotic terrain breakaway denuded...
We present an approach for navigating in unknown environments while, simultaneously, gathering information inspecting underwater structures using autonomous vehicle (AUV). To accomplish this, we first use our pipeline mapping and planning collision-free paths online, which endows AUV with the capability to autonomously acquire optical data close proximity. With that information, then propose a reconstruction create photo-realistic textured 3D model of inspected area. These models are also...
This paper describes the use of a research-driven, highly reconfigurable autonomous underwater vehicle for surveying site historical shipwreck La Lune. wreck, from XVII century, lies in 90m water near coast Toulon France. The goal this survey was to create fast but detailed map site, serve as base subsequent archaeological intervention. overviews setup and methods used generate high resolution optical map. It also highlights some important advantages that lightweight AUVs present missions...
Underwater range scanning techniques are starting to gain interest in underwater exploration, providing new tools represent the seafloor. These scans (often) acquired by robots usually result an unstructured point cloud, but given common downward-looking or forward-looking configuration of these sensors with respect scene, problem recovering a piecewise linear approximation representing scene is normally solved approximating 3D points using heightmap (2.5D). Nevertheless, this representation...
This paper describes a data set collected with an autonomous underwater vehicle testbed in the unstructured environment of cave complex. The is equipped two mechanically scanned imaging sonar sensors to simultaneously map caves horizontal and vertical surfaces, Doppler velocity log, inertial measurement units, depth sensor, vertically mounted camera sea floor for ground truth validation at specific points. July 2013, guided by human diver, sidestep navigation complex environment. For ease...
Properly assessing the extent and magnitude of fault ruptures associated with large earthquakes is critical for understanding behavior hazard. Submarine faults can trigger tsunamis, whose characteristics are defined by geometry seafloor displacement, studied primarily through indirect observations (e.g., seismic event parameters, profiles, shipboard bathymetry, coring) rather than direct ones. Using deep-sea vehicles, we identify first time a marker coseismic slip on submarine plane along...
We present a novel method for planning 3D coverage paths inspection of complex structures on the ocean floor (such as seamounts or coral reefs) using an autonomous underwater vehicle (AUV). Our initially uses priori map to plan nominal path that allows AUV pass its sensors over all points target structure. then go beyond previous approaches in literature by considering vehicle's position uncertainty rather than relying unrealistic assumption idealized execution. To this aim, we replanning...
The article discusses the main methodologies and key technologies behind ROBUST project, funded by European Union within Horizon 2020 framework, whose goal is development of an autonomous underwater vehicle manipulator system for deep sea mining exploration. This focuses on developed control perception framework related mechatronics, presents experimental results from trials in Sardinia, Italy, supporting proposed methodologies.
Multi-robot formations are an important advance in recent robotic developments, as they allow a group of robots to merge their capacities and perform surveys more convenient way. With the aim keeping costs acoustic communications minimum, cooperative navigation multiple underwater vehicles is usually performed at control level. In order maintain desired formation, individual just react simple directives extracted from range measurements or ultra-short baseline (USBL) systems. Thus, unaware...
Total body photography is used for early detection of malignant melanoma, primarily as a means temporal skin surface monitoring. In prior work, we presented scanner with set algorithms to map and detect changes in pigmented lesions, thus demonstrating that it possible fully automate the process total image acquisition processing. The key procedure these lesion matching determines whether two images depict same real lesion. this paper, aim improve respect false positive negative outcomes. To...
Abstract Natural CO 2 releases from shallow marine hydrothermal vents are assumed to mix into the water column and not accumulate stratified seafloor pools. We present newly discovered subsea pools located within Santorini volcanic caldera of Southern Aegean Sea, Greece, that emissions geologic reservoirs. This type pool, containing highly concentrated , provides direct evidence benthic accumulations originating sub-seafloor releases. Samples taken these acidic devoid calcifying organisms...
3D models of seafloor interest areas having a strong relief are rich source information for scientists. In the recent years, computer vision community has been developing techniques to achieve discrete reconstruction these from set images. However, methods output point cloud as representation shape observed object/area. This lacks connectivity information, and surface that describes underlying object is needed both performing computations on its correct visualization. this article we aim...
Deep sea exploration, requires the use of underwater vehicles. Initially, such vehicles were operated by a pilot while carrying one or more scientists. These limitations have led to development unmanned (UUVs), which represent safer alternative since no human personnel need dive into ocean. UUVs can be classified remotely (ROVs) and autonomous (AUVs). Acquiring optical images with an AUV is even dangerous endeavor robot needs get very close seafloor, may lead accidents that range from...
This paper tackles the problem of generating world-scale multi-resolution triangulated irregular networks optimized for web-based visualization. Starting with a large-scale high-resolution regularly gridded terrain, we create pyramid representing distinct levels detail, where each level detail is composed small tiles fixed size. The main contribution this to redefine three different state-of-the-art 3D simplification methods efficiently work at tile level, thus rendering process highly...
This paper presents the control and perception framework used in ROBUST EU Horizon 2020 project, aimed at integrate different technologies for developing an underwater autonomous robotic system exploring deep-sea mining sites. The vehicle firstly collects data of initial zone interest it selects a sub area which is most probable to contain manganese nodule field; then carries out low altitude survey. When possible detected by cameras, lands on seafloor, allowing following fixed based...
Distributing the mapping problem over several vehicles provides ability to survey an area in fewer time than with a single one. However, communications required maintain formation underwater are highly complex. We present global alignment method for multi-AUV trajectory optimization. take advantage of acoustic messages passed between as well further constraints posed by optical matches images some formation, both within robot and from different ones. By merging all these constraints, we can...
Abstract Technologies that can efficiently and objectively detect, identify, map underwater military munitions are needed. The knowledge of benthic environments adjacent to is crucial for remediation decisions. When attempting identify from optical imagery, tridimensional structure information obtained the surveyed area complement texture available in images. In this work, we use a fusion two-dimensional (2D) two-and-a-half-dimensional (2.5D) features classify on seabed sequence images an...
This paper reports a navigation and mapping data-set collected in the Croatian Kornati Archipelago during "Breaking Surface 2010" International Interdisciplinary Field Training of Marine Robotics Applications event. A sensor ridge including suite, to be later installed GIRONA500 AUV being developed university Girona, was attached motor boat collect geo-referenced data. The suite includes Multibeam sonar profiler, an AHRS, DGPS, sound-speed profiler depth cell, video camera mechanical...
Abstract NEANIAS is a research and innovation action project funded by the European Union under Horizon 2020 program. The addresses challenge of prototyping novel solutions for underwater, atmospheric space communities, creating collaborative ecosystem, contributing to effective materialization Open Science Cloud (EOSC). drives co-design, implementation, delivery, integration into EOSC innovative thematic core services, derived from state-of-the-art assets practices in target scientific...