Pep Lluis Negre

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While commercially available autonomous underwater vehicles (AUVs) are routinely used in survey missions, a new set of applications exist which clearly demand intervention capabilities: the maintenance of permanent underwater structures as well as the recovery of benthic stations or black-boxes are a few of them. These tasks are addressed nowadays using(More)
This work details a new method for loop-closure detection based on using multiple orthogonal projections to generate a global signature for each image of a video sequence. The new multi-projection function permits the detection of images corresponding to the same scene, but taken from different point of views. The signature generation process preserves(More)
This paper presents a new solution for underwater observation, image recording, mapping and 3D reconstruction in shallow waters. The platform, designed as a research and testing tool, is based on a small underwater robot equipped with a MEMS-based IMU, two stereo cameras and a pressure sensor. The data given by the sensors are fused, adjusted and corrected(More)
The future of wind energy passes through the installation of offshore wind farms. In such locations a non-planned maintenance is highly costly. Therefore, a fault-tolerant control system that is able to maintain the wind turbine connected after the occurrence of certain faults can avoid major economic losses. The purpose of this paper is to design a Fault(More)
This paper presents the integration of an Ultra Short Base Line (USBL) acoustic modem and positioning device in a two-parallel Extended Kalman Filter (EKF) multisensor navigation schema for an Autonomous Underwater Vehicle (AUV). The system consists of a first odometric EKF position estimator fed with the measurements provided by an Inertial Measurement(More)
This paper reports on a novel technique to visually detect loop closings in feature-poor underwater environments in order to increase the accuracy of vision-based localization systems. The main problem of the classical visual Simultaneous Localization and Mapping (SLAM) for underwater vehicles is the lack of robust, stable and matchable features in certain(More)
Effectiveness in loop closing detection is crucial to increase accuracy in SLAM (Simultaneous Localization and Mapping) for mobile robots. The most representative approaches to visual loop closing detection are based on feature matching or BOW (Bag of Words), being slow and needing a lot of memory resources or a previously defined vocabulary, which(More)
The use of commercially available autonomous underwater vehicles (AUVs) has increased during the last fifteen years. While they are mainly used for routine survey missions, there is a set of applications that nowadays can be only addressed by manned submersibles or work-class remotely operated vehicles (ROVs) equipped with teleoperated arms: the(More)
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