Natàlia Hurtós

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— This paper presents a method to build large-scale mosaics adapted to sonar imagery. By assuming a simplified imaging model, we propose the use of Fourier-based methods to address the registrations between images which, unlike feature-based methods, prove to handle well the low resolution, noise, occlusions and moving shadows characteristic of(More)
— Two-dimensional forward-looking sonars such as Blueview or DIDSON are becoming a standard sensor in both remotely-operated and autonomous underwater vehicles. Registration of imagery obtained from this sensors is of great interest since it constitutes a key step in several applications like the generation of acoustic mosaics or the extraction of vehicle(More)
The Robot Operating System (ROS) is a set of software libraries and tools used to build robotic systems. ROS is known for a distributed and modular design. Given a model of the environment, task planning is concerned with the assembly of actions into a structure that is predicted to achieve goals. This can be done in a way that minimises costs, such as time(More)
—High-resolution forward-looking sonars are becoming a tool of choice for exploring underwater environments under low visibility conditions. Their imagery can be mosaiced to obtain a global overview of submerged areas of interest and the spatial arrangement of different target features. However, in order to achieve an informative and smooth image(More)
— Tracking an underwater chain using an autonomous vehicle can be a first step towards more efficient solutions for cleaning and inspecting mooring chains. We propose to use a forward looking sonar as a primary perception sensor to enable the vehicle operation in limited visibility conditions and overcome the turbidity arisen during marine growth removal.(More)