Josep Amat

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Mosaics have been commonly used as visual maps for undersea exploration and navigation. The position and orientation of an underwater vehicle can be calculated by integrating the apparent motion of the images which form the mosaic. A feature-based mosaicking method is proposed in this paper. The creation of the mosaic is accomplished in four stages: feature(More)
In this work we introduce a new silhouette normalization method, which is robust with respect to deformations and enables the use of image domain based similarity measures for recognition applications. It is shown that a template matching operation can provide an accurate shortlist of candidates suitable for a more exact matching engine in spite of(More)
A robotic arm automatically guidedto handle the camera in laparoscopic surgery is presented. The goal of this work is to generate the adequate camera control strategies to track the working scene during a surgical procedure. The system is based on the computer vision analysis of the laparoscopic image that allows to identi& either a scene's relevant point,(More)
In this paper we present some results obtained with a troupe of low-cost robots designed to cooperatively explore unknown structured orthogonal environments. In order to improve the covering of the explored zone the robots show different behaviours (routine, normal and anxious) and cooperate by transferring each other the perceived environment when they(More)
In this paper we present the first results of a kind of small autonomous vehicles dessigned to cooperatively explore unkown environments. In order to improve the covering of the explored zone the vehicles show different behaviours. The host that controls the troup of vehicles generates the most plausible map of the environment from the information obtained(More)
I n this article, we present a new reconfigurable parallel architecture oriented to video-rate computer vision applications. This architecture is structured with a two-dimensional (2D) array of FPGA/DSP-based reprogrammable processors P ij. These processors are interconnected by means of a systolic 2D array of FPGA-based video-addressing units which allow(More)
This paper presents the Distributed Environment for Virtual and/or Real Experiments for Underwater Robots (DEVRE). This environment is composed of a set of processes running on a local area network composed of three sites: (1) the onboard AUV computer, (2) a Surface computer used as human machine interface (HMI) and (3) a computer used for simulating the(More)