F. Bonnín, A. Ortiz. A Novel Approach for Defect Detection on Vessel Structures using Saliency-related Features. In Ocean Engineering, vol. 149, pp. 397-408, 2018.

A. Ortiz, F. Bonnín, E. García, J. P. Company. The INCASS Project Approach towards Automated Visual Inspection of Vessels. In Jornadas Nacionales de Robótica (Spanish Robotics Workshop), Valencia, 2017.

E. García, J. P. Company, A. Ortiz, M. Massot, G. Oliver. Multifunctional Cooperative Marine Robots for Intervention Domains: Target Detection, Tracking and Recognition Issues. In Jornadas Nacionales de Robótica (Spanish Robotics Workshop), Valencia, 2017.

F. Bonnín, A. Ortiz. A Saliency-boosted Corrosion Detector for the Visual Inspection of Vessels. In International Conference of the Catalan Association for Artificial Intelligence (CCIA), Deltebre, Tarragona (Spain), 2017.

M. Stiven, J. Antich, A. Ortiz. iND: A significant improvement of the Nearness Diagram method for reactive mobile robot navigation. In 20th International Conference of the Catalan Association for Artificial Intelligence, Deltebre, 2017.

F. Bonnín, A. Ortiz, E. García, J. P. Company. Testing the Control Architecture of a Micro-Aerial Vehicle for Visual Inspection of Vessels. In Iberian Robotics Conference (ROBOT), 2017.

E. García, A. Ortiz, M. Massot. Vision-Based Control for an AUV in a Multi-robot Undersea Intervention Task. In Iberian Robotics Conference (ROBOT), 2017.

J. Antich, A. Ortiz. Reactive Navigation in Extremely Dense and Highly Intricate Environments. In PLOS ONE, vol. 12, no. 12, pp. 1-51, December, 2017.

E. García, A. Ortiz, M. Massot. Visual Control of an AUV for Multi-Robot Intervention Tasks. In Jornadas Automar (Marine Automation Workshop), Castelló, 2017.

E. García, A. Ortiz. Hierarchical Place Recognition for Topological Mapping. In IEEE Transactions on Robotics, IEEE Robotics and Automation Society, vol. 33, no. 5, pp. 1061-1074, 2017.

A. Ortiz, F. Bonnín, E. García, J. P. Company. Defect-level Inspection Aids for Automated Vessel Visual Inspection. In Jornadas Automar (Marine Automation Workshop), 2017.

F. Bonnín, A. Ortiz. Contributions to Robot-based Vessel Visual Inspection. University of the Balearic Islands, 2017.

A. Ortiz, F. Bonnín, E. García, J. P. Company. Towards Automatic Ship Inspection: A Visual Data-Oriented Toolbox. In International Conference on Maritime Safety and Operations, 2016.

A. Ortiz, F. Bonnín, E. García, J. P. Company. Vision-based Corrosion Detection Assisted by a Micro-Aerial Vehicle in a Vessel Inspection Application. In Sensors, Basel (Switzerland), MDPI, vol. 16(12), no. 2118, December, 2016.

E. García, A. Ortiz. Appearance-based Loop Closure Detection and its Application to Topological Mapping and Image Mosaicing. University of the Balearic Islands, 2016.

F. Bonnín, A. Ortiz. A Generic Framework for Defect Detection on Vessel Structures based on Image Saliency. In IEEE International Conference on Emerging Technologies and Factory Automation, Berlin (Germany), 2016.

F. Bonnín, A. Ortiz. A Flying Tool for Sensing Vessel Structures Defects using Image Contrast-based Saliency. In IEEE Sensors Journal, vol. 16, no. 15, pp. 6114-6121, 2016.

J. P. Company, A. Ortiz. On the use of a Hybrid Aerial and Terrestrial Platform for Visual Inspection Applications. In ERL Emergency/TRADR Workshop and Summer School on Heterogeneity in Robotic Systems, Oulu (Finland), 2016.

E. García, A. Ortiz, F. Bonnín, J. P. Company. Fast Image Mosaicing using Incremental Bags of Binary Words. In IEEE International Conference on Robotics and Automation (ICRA) , Stockholm (Sweden), pp. 1174-1180, 2016.

T. Koch, S. Natarajan, F. Bernhard, A. Ortiz, F. Bonnín, E. García, J. P. Company. Advances in Automated Ship Structure Inspection. In International Conference on Computer Applications and Information Technology in the Maritime Industries (COMPIT), Lecce (Italy), 2016.

A. Ortiz, F. Bonnín, E. García, J. P. Company. Saliency-driven Visual Inspection of Vessels by means of a Multirotor. In Workshop on Vision-based Control and Navigation of Small Lightweight UAVs (IEEE/RSJ Intl. Conf. on Intell. Robots and Systems, IROS), Hamburg (Germany), 2015.

A. Ortiz, F. Bonnín, E. García, J. P. Company. Visual Inspection of Vessels by means of a Micro-Aerial Vehicle: an Artificial Neural Network Approach for Corrosion Detection. In Iberian Robotics Conference (ROBOT), Lisbon (Portugal), 2015.

E. García, A. Ortiz, F. Bonnín, J. P. Company. A Multi-Threaded Architecture for Fast Topology Estimation in Image Mosaicing. 2015.

E. García, A. Ortiz, F. Bonnín, J. P. Company. A Mosaicing Approach for Vessel Visual Inspection using a Micro-Aerial Vehicle. In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Hamburg (Germany), 2015.

F. Bonnín, A. Ortiz, E. García, J. P. Company. Micro Aerial Platform for Vessel Visual Inspection based on Supervised Autonomy. In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Hamburg (Germany), 2015.

E. García, A. Ortiz. Vision-Based Topological Mapping and Localization Methods: A Survey. In Robotics and Autonomous Systems, Elsevier, vol. 64, pp. 1-20, February, 2015.

E. García, A. Ortiz. Vision-Based Topological Mapping and Localization by means of Local Invariant Features and Map Refinement. In Robotica, Cambridge Journals online, vol. 33, no. 7, pp. 1446-1470, 2015.

F. Bonnín, A. Ortiz, E. García, J. P. Company. A Micro-Aerial Vehicle based on Supervised Autonomy for Vessel Visual Inspection. March, 2015.

E. García, A. Ortiz, F. Bonnín, J. P. Company. Vessel Visual Inspection: A Mosaicing Approach. March, 2015.

F. Bonnín, A. Ortiz. Detection of Defects on Vessel Structures using Saliency-related Features. 2015.

F. Bonnín, A. Ortiz. Corrosion Detection for Automated Visual Inspection. In Developments in Corrosion Protection, InTech, pp. 619-632, 2014.

F. Bonnín, A. Ortiz. A Probabilistic Approach for Defect Detection based on Saliency Mechanisms. In Proceedings of the XIX IEEE International Conference on Emerging Technologies and Factory Automation (ETFA), Barcelona (Spain), 2014.

A. Ortiz, F. Bonnín, E. García. Vessel Inspection: A Micro-Aerial Vehicle-based Approach. In Journal of Intelligent & Robotic Systems, Springer Netherlands, vol. 76, no. 1, pp. 151-167, September, 2014.

F. Bonin-Font, J. Antich, A. Ortiz, G. Oliver. Vision-based Mobile Robot Motion Control Combining T2 and ND Approaches. In Robotica, Cambridge University Press, vol. 32, no. 4, pp. 591–609, July, 2014.

M. Eich, F. Bonnín, E. García, A. Ortiz, G. Bruzzone, Y. Koveos, F. Kirchner. A Robot Application for Marine Vessel Inspection. In Journal of Field Robotics, Wiley, vol. 31, no. 2, pp. 319–341, 2014.

J. Antich, A. Ortiz. Navegación Reactiva en Entornos Estrechos e Intrincados. In XXXV Jornadas de Automática, Valencia, 2014.

J. P. Company, A. Ortiz. Diseño de una plataforma híbrida aéreo-terrestre para aplicaciones de inspección visual. In CEA - Jornadas de Automática (Automation Workshop - Automation Spanish Council), Valencia, pp. 822-829, 2014.

J. P. Company, A. Ortiz. Diseño y modelización de una plataforma híbrida aéreo-terrestre para aplicaciones de inspección visual (Technical Report A-03-2014). In Technical Report A-03-2014, Dep. Mathematics and Computer Science (UIB), 2014.

E. García, A. Ortiz. Indexing Invariant Features for Topological Mapping and Localization. In euRathlon/ARCAS Workshop on Field Robotics, Seville (Spain), 2014.

E. García, A. Ortiz. State-of-the-Art in Vision-Based Topological Mapping and Localization Methods. April, 2014.

E. García, A. Ortiz. On the Use of Binary Feature Descriptors for Loop Closure Detection. In IEEE International Conference on Emerging Technologies and Factory Automation, Barcelona (Spain), 2014.

F. Bonin-Font, A. Burguera, A. Ortiz, G. Oliver. A Monocular Mobile Robot Reactive Navigation Approach Based on the Inverse Perspective Transformation. In Robotica, Cambridge University Press, vol. 31, no. 2, pp. 225-249, 03, 2013.

E. García, A. Ortiz. A Solution for Bayesian Visual Loop Closure Detection Based on Local Invariant Features. March, 2013.

A. Ortiz, F. Bonnín, E. García. Vessel Inspection Assistance by means of a Micro-Aerial Vehicle: Control Architecture and Self-Localization Issues. March, 2013.

E. García, A. Ortiz. Probabilistic Appearance-Based Mapping and Localization Using Visual Features. In Proceedings of VI Iberian Conference on Pattern Recognition and Image Analysis, Funchal (Portugal), pp. 277-285, 2013.

E. García, A. Ortiz. Vision-Based Topological Mapping and Localization by means of Local Invariant Features and Map Refinement. July, 2013.

M. Prats, D. Ribas, N. Palomeras, J. Carlos, V. Nannen, S. Wirth, J. Javier, J. P. Beltran, R. Campos, P. Ridao, P. J. Sanz, G. Oliver, M. Carreras, N. Gracias, R. Marín, A. Ortiz. Reconfigurable AUV for intervention missions: a case study on underwater object recovery. In Intelligent Service Robotics, Springer, vol. 5, pp. 19--31, 2012 .

F. Bonin-Font, A. Burguera, A. Ortiz, G. Oliver. Combining Obstacle Avoidance with Robocentric Localization in a Reactive Visual Navigation Task. In Proceedings of the International Conference on Industrial Technology (ICIT 2012), Athens, 2012.

F. Bonin-Font, A. Burguera, A. Ortiz, G. Oliver. Concurrent Visual Navigation and Localization using the Inverse Perspective Transformation. In IET Electronic Letters, IET (The Institution of _Engineering and Technology), vol. 48, no. 5, pp. 264–266, 2012.

A. Ortiz, E. García, F. Bonnín. A Micro Aerial Vehicle for Vessel Visual Inspection Assistance. In Proceedings of XI International Conference on Computer and IT Applications in the Maritime Industries (COMPIT), Liège (Belgium), pp. 146-159, 2012.

E. García, F. Bonnín, A. Ortiz. A Control Architecture for a Micro Aerial Vehicle Intended for Vessel Visual Inspection. In Proceedings of III Jornadas de Computación Empotrada (JCE), Elche (Spain), pp. 4-9, 2012.

F. Bonnín, E. García, A. Ortiz. Semi-Autonomous Visual Inspection of Vessels Assisted by an Unmanned Micro Aerial Vehicle. In XXV IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Vilamoura, Algarve (Portugal), pp. 3955-3961, 2012.

F. Bonin-Font, A. Ortiz, G. Oliver. An Inverse-Perspective-based Approach to Monocular Mobile Robot Navigation. Universitat de les Illes Balears, 2012.

J. Antich, A. Ortiz. New Reactive and Path-Planning Methods for Mobile Robot Navigation. Universitat de les Illes Balears, 2012.

E. García, A. Ortiz. Experimental Assessment of Different Image Descriptors for Topological Map-Building and Scene Recognition. Universitat de les Illes Balears, 2011.

A. Ortiz, F. Bonnín, E. García, J. P. Beltran. A Control Software Architecture for Autonomous Unmanned Vehicles inspired in Generic Components. In Proceedings of the XIX Mediterranean Conference on Control and Automation (MED), Corfu (Greece), pp. 1217-1222, 2011.

A. Ortiz, F. Bonnín, E. García. On the Use of UAVs for Vessel Inspection Assistance. In Proceedings of the I Workshop on Research, Development and Education on Unmanned Aerial Systems (RED-UAS), Seville (Spain), pp. 71-80, 2011.

F. Bonnín, A. Ortiz. An AdaBoost-based Approach for Coating Breakdown Detection in Metallic Surfaces. In Proceedings of the XIX Mediterranean Conference on Control and Automation (MED), Corfu (Greece), pp. 1206-1211, 2011.

A. Ortiz, J. Antich, G. Oliver. A Particle Filter based Approach for Tracking Undersea Narrow Telecommunication Cables. In International Journal of Machine Vision and Applications, Springer, vol. 22, no. 2, pp. 283-302, February, 2011.

E. Hernández, M. Carreras, J. Antich, P. Ridao, A. Ortiz. A Topologically Guided Path Planner for an AUV Using Homotopy Classes. In Proceedings of the International Conference on Robotics and Automation, Shanghai (China), 2011.

E. Hernández, M. Carreras, P. Ridao, J. Antich, A. Ortiz. Guiding a Path Planning Algorithm with Topological Constraints: Application to an AUV. In Proceedings of the IFAC World Congress, Milano (Italy), 2011.

J. Antich, A. Ortiz. A Rapid Anytime Path Planner with Incorporated Range Sensing to Improve Control on Solution Quality. In International Conference on Intelligent Autonomous Systems (IAS), Ottawa (Canada), 2010.

F. Bonin-Font, A. Burguera, A. Ortiz, G. Oliver. Towards Monocular Localization Using Ground Points. In Proceedings of IEEE International Conference on Emerging Technologies and Factory Automation (ETFA), 2010.

F. Bonin-Font, A. Ortiz, G. Oliver. Experimental Assessment of Different Feature Tracking Strategies for an IPT-based Navigation Task. In IFAC Symposium on Intelligent Autonomous Vehicles (IAV), Lecce (Italy), 2010.

F. Bonin-Font, A. Burguera, A. Ortiz, G. Oliver. Visual Localization using Ground Points. In Artificial Intelligence Research and Development, pp. 301--310, 2010.

M. Caccia, R. Robino, W. Bateman, M. Eich, A. Ortiz, L. Drikos, A. Todorova, I. Gaviotis, F. Spadoni, V. Apostolopoulou. MINOAS, a Marine INspection rObotic Assistant: system requirements and design. In IFAC Symposium on Intelligent Autonomous Vehicles (IAV), Lecce (Italy), 2010.

M. Bibuli, M. Caccia, R. Robino, W. Bateman, T. Vögele, A. Ortiz, L. Drikos, A. Todorova, I. Gaviotis, F. Spadoni, V. Apostolopoulou. Robotic Tools to Assist Marine Inspection: The MINOAS Approach. In International Conference on Computer Applications and Information Technology in the Maritime Industries (COMPIT), Gubbio (Italy), 2010.

P. J. Sanz, M. Prats, P. Ridao, D. Ribas, G. Oliver, A. Ortiz. Recent Progress in the RAUVI Project: A Reconfigurable Autonomous Underwater Vehicle for Intervention. In International Symposium ELMAR-2010, Zadar (Croatia), 2010.

F. Bonin-Font, A. Ortiz, G. Oliver. A Visual Navigation Strategy Based on Inverse Perspective Transformation. In Robot Vision, InTech, Ales Ude, pp. 61 – 84, 2010.

A. Ortiz, F. Bonnín, A. Gibbins, P. Apostolopoulou, W. Bateman, M. Eich, F. Spadoni, M. Caccia, L. Drikos. First Steps Towards a Roboticized Visual Inspection System for Vessels. In Proceedings of the XV IEEE International Conference on Emerging Technologies and Factory Automation (ETFA), Bilbao (Spain), 2010.

F. Bonnín, A. Ortiz. Combination of Weak Classifiers for Metallic Corrosion Detection and Guided Crack Location. In Proceedings of the XV IEEE International Conference on Emerging Technologies and Factory Automation (ETFA), Bilbao (Spain), 2010.

F. Bonnín, A. Ortiz. Detection of Cracks and Corrosion for Automated Vessels Visual Inspection. In Proceedings of the International Conference of the Catalan Association for Artificial Intelligence (CCIA), Espluga de Francolí, Tarragona (Spain), 2010.

A. Ortiz, G. Oliver. Analysis of Colour Channel Coupling from a Physics-based Viewpoint: Application to Colour Edge Detection. In Pattern Recognition (PR), vol. 43, no. 7, pp. 2507--2520, July, 2010 .

M. A. Nieto, B. Garau, S. Balle, G. Simarro, G. A. Zarruk, A. Ortiz, J. Tintore, A. Orfila. An Open Source, Low Cost Video-Based Coastal Monitoring System. In Earth Surface Processes and Landforms (ESPL), vol. 35, no. 14, pp. 1712--1719, 2010.

F. Bonin-Font, A. Ortiz, G. Oliver. A Novel Inverse Perspective Transformation-based Reactive Navigation Strategy. In European Conference on Mobile Robots (ECMR), Mlini/Dubrovnik (Croatia), 2009.

J. Antich, A. Ortiz, J. Mínguez. ABUG: A Fast Bug-derivative Anytime Path Planner with Provable Suboptimality Bounds. In IEEE International Conference on Advanced Robotics (ICAR), Munich (Germany), 2009.

J. Antich, A. Ortiz, J. Mínguez. A Bug-Inspired Algorithm for Efficient Anytime Path Planning. In IEEE International Conference on Intelligent Robots and Systems (IROS), St. Louis (USA), 2009.

F. Bonin-Font, A. Ortiz, G. Oliver. A novel Vision-Based Reactive Navigation Strategy Based on Inverse Perspective Transformation. In IEEE/IFAC International Conference on Informatics in Control, Automation and Robotics (ICINCO), Milan (Italy), 2009.

A. Ortiz, J. Antich, G. Oliver. Experimental Evaluation of a Particle Filter-based Approach for Visually Tracking Undersea Cables. In IFAC Conference on Manoeuvring and Control of Marine Craft (MCMC), Guarujà (Brazil), 2009.

F. Bonin-Font, A. Ortiz. Building a Qualitative Local Occupancy Grid in a new Vision-based Reactive Navigation Strategy for Mobile Robots. In IEEE International Conference on Emerging Technologies and Factory Automation (ETFA), Palma de Mallorca (Spain), 2009.

A. Ortiz, J. Antich, G. Oliver. A Bayesian Approach for Tracking Undersea Narrow Telecommunication Cables. In MTS/IEEE Oceans, Bremen (Germany), 2009.

A. Ortiz, J. Antich. Bayesian Visual Tracking for Inspection of Undersea Power and Telecommunication Cables. In Journal of Maritime Research (JMR), vol. 6, no. 2, pp. 83--98, 2009.

F. Bonin-Font, A. Ortiz, G. Oliver. A Novel Image Feature Classifier based on Inverse Perspective Transformation. 2008.

S. Wirth, A. Ortiz, D. Paulus, G. Oliver. Using Particle Filters for Autonomous Underwater Cable Tracking. In IFAC Workshop on Navigation, Guidance and Control of Underwater Vehicles (NGCUV), Killaloe (Ireland), 2008.

A. El-Fakdi, M. Carreras, J. Antich, A. Ortiz. Learning by Example: Reinforcement Learning Techniques for Real Autonomous Underwater Cable Tracking. In IEEE/IFAC International Conference on Informatics in Control, Automation and Robotics (ICINCO), Funchal, Madeira (Portugal), 2008.

J. Antich, A. Ortiz. A Convergent Dynamic Window Approach with Minimal Computational Requeriments. In International Conference on Intelligent Autonomous Systems (IAS), Baden Baden (Germany), 2008.

F. Bonin-Font, A. Ortiz, G. Oliver. Visual Navigation for Mobile Robots: a Survey. In Journal of Intelligent & Robotic Systems, vol. 53, no. 3, pp. 263--296, 2008 .

G. Oliver, A. Ortiz, F. Bonin-Font. RAO-II: an AUV for Underwater Inspection. In Instrumentation Viewpoint, vol. , no. 6, pp. 50--51, 2007.

J. Antich, A. Ortiz. Reactive Navigation in Troublesome Environments: T2 Strategies. In Instrumentation Viewpoint, vol. , no. 6, pp. 51--52, 2007.

J. Antich, A. Ortiz. A Dynamic Window Approach to Navigate in Complex Scenarios using Low-Cost Sensors for Obstacle Detection. In Technical Report A-04-2007, Dep. Mathematics and Computer Science (UIB), 2007.

Y. COMAS, G. Oliver, A. Ortiz. Modificaciones eléctricas y mecánicas para la mejora de autonomía de un vehículo submarino. Universitat de les Illes Balears, 2007.

E. García, A. Ortiz, J. Antich. Implantación de un sensor sónar para el control de la navegación de un vehículo submarino. Universitat de les Illes Balears, 2007.

J. Antich, A. Ortiz. A Goal-directed Reactive Obstacle Avoidance Strategy with Global Proofs. In IFAC Symposium on Intelligent Autonomous Vehicles (IAV), Toulouse (France), 2007.

A. Ortiz, G. Oliver. On the Use of the Overlapping Area Matrix for Image Segmentation Evaluation: a Survey and New Performance Measures. In Pattern Recognition Letters, vol. 27, no. 16, pp. 1916--1926, 2006.

J. Antich, A. Ortiz. Bug-based T2: A New Globally Convergent Potential Field Approach to Obstacle Avoidance. In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Beijing (China), 2006.

J. Antich, A. Ortiz, G. Oliver. A Control Strategy for Fast Obstacle Avoidance in Troublesome Scenarios: Application in Underwater Cable Tracking. In IFAC Conference on Manoeuvring and Control of Marine Craft (MCMC), Lisbon (Portugal), 2006.

T. COSTA, A. Ortiz. Implementación y comparación de algoritmos de segmentación basados en modelos físicos de formación de imágenes. Universitat de les Illes Balears, 2006.

J. Antich, A. Ortiz. Traversabillity and tenacity: Two new concepts improving the navigation capabilities of reactive control systems. In Robotics and Automation in the Maritime Industries, pp. 133--154, 2006.

J. Antich, A. Ortiz, G. Oliver. Reactive control of a visually guided underwater cable tracker. In Robotics and Automation in the Maritime Industries, pp. 111—132, 2006.

A. Ortiz, G. Oliver. Radiometric Calibration of Vision Cameras and Intensity Uncertainty Estimation. In Image and Vision Computing, vol. 24, no. 10, pp. 1137--1145, 2006.

A. Ortiz, G. Oliver. R2CIU: Robust Radiometric Calibration and Intensity Uncertainty estimation. In Technical Report A-01-2005, Dep. Mathematics and Computer Science (UIB), 2005.

A. Ortiz, G. Oliver. New Performance Measures Using the Overlapping Area Matrix for Image Segmentation Evaluation. In Technical Report A-04-2005, Dep. Mathematics and Computer Science (UIB), 2005.

A. Ortiz, G. Oliver. New Segmentation and Edge Detection Methods Using Physics-Based Models of Image Formation. Universitat de les Illes Balears, 2005.

J. Antich, A. Ortiz. Extending the Potential Fields Approach to Avoid Trapping Situations. In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Edmonton (Canada), 2005.

A. Ortiz, G. Oliver. A Novel Segmentation Strategy Based on Colour Channels Coupling. In IAPR International Conference on Image Analysis and Processing (ICIAP, LNCS 3617), Cagliary (Italy), 2005.

J. Antich, A. Ortiz. Bug-based T2: A New Globally Convergent Approach to Reactive Navigation. In Catalan Conference on Artificial Intelligence (CCIA, Artificial Intelligence Research and Development, vol. 131 - IOS Press), Alguero (Sardinia, Italy), 2005.

A. Ortiz, G. Oliver. Estimation of Intensity Uncertainties for Computer Vision Applications. In IEEE Advanced Concepts for Intelligent Vision Systems (ACIVS, LNCS 3708), Antwerp (Belgium), 2005.

D. GRACIA, J. Antich, A. Ortiz. Estudio comparativo de estrategias de navegación reactivas para vehículos submarinos autónomos. Universitat de les Illes Balears, 2005.

J. OSCA, J. Antich, A. Ortiz. Integración y Test de Nuevas Estrategias de Navegación para Vehículos Autónomos en MissionLab. Universitat de les Illes Balears, 2005.

J. Antich, A. Ortiz, G. Oliver. A PFM-based Control Architecture for a Visually Guided Underwater Cable Tracker to Achieve Navigation in Troublesome Scenarios. In Journal of Maritime Research, vol. 2, no. 1, pp. 33--50, 2005 .

J. Antich, A. Ortiz. Development of the Control Architecture of a Vision-guided Underwater Cable Tracker. In International Journal of Intelligent Systems, vol. 20, no. 5, pp. 477--498, 2005.

G. Oliver, J. Antich, A. Ortiz. Pipe and cable inspection in the AIRSUB project context. In Instrumentation Viewpoint, vol. , no. 4, pp. 28--29, 2005.

J. Antich, A. Ortiz. T2: An Approach to Robotic Navigation in Unknown and Dynamic Enviroments. In Technical Report A-03-2004, Dep. Mathematics and Computer Science (UIB), 2004.

J. Antich, A. Ortiz, M. Carreras, P. Ridao. Testing the Control Architecture of a Visually Guided Underwater Cable Tracker by using a UUV Prototype. In IFAC Symposium on Intelligent Autonomous Vehicles (IAV), Lisbon (Portugal), 2004.

A. Ortiz, G. Oliver. Radiometric Calibration of CCD Sensors: Dark Current and Fixed Pattern Noise Estimation. In IEEE International Conference on Robotics and Automation (ICRA), New Orleans (USA), 2004.

A. Ortiz, G. Oliver. A Physics-Based Colour Edge Detector. In Catalan Conference on Artificial Intelligence (CCIA, Artificial Intelligence Research and Development, vol. 113 - IOS Press), Barcelona (Spain), 2004.

J. Antich, A. Ortiz. An Underwater Simulation Environment for Testing Autonomous Robot Control Architectures. In IFAC Conference on Control Applications in Marine Systems (CAMS), Ancona (Italy), 2004.

A. Ortiz, G. Oliver. Estimation of Directional and Ambient Illumination Parameters by means of a Calibration Object. In IAPR International Conference on Image Analysis and Recognition (ICIAR, LNCS 3211), Porto (Portugal), 2004.

J. Batlle, P. Ridao, R. Garcia, M. Carreras, X. Cufi, A. El-Fakdi, D. Ribas, T. Nicosevici, E. Batlle, G. Oliver, A. Ortiz, J. Antich. URIS: Underwater Robotic Intelligent System. In Automation for the Maritime Industries, pp. 177--203, 2004.

A. Ortiz, G. Oliver. Scene Lighting Parameters Estimation and Radiometric Camera Calibration. In Technical Report A-02-2003, Dep. Mathematics and Computer Science (UIB), 2003.

A. Ortiz, G. Oliver. Segmentation of Images based on the Detection of Reflectance Transitions. In Technical Report A-03-2003, Dep. Mathematics and Computer Science (UIB), 2003.

J. Antich, A. Ortiz. Behaviour-based Control of an Underwater Cable Tracker. In Technical Report A-04-2003, Dep. Mathematics and Computer Science (UIB), 2003.

A. Ortiz, G. Oliver. Detection of Colour Channels Uncoupling for Curvature-Insensitive Segmentation. In First Iberian Conference on Pattern Recognition and Image Analysis (IbPRIA, LNCS 2652), Port d'Andratx (Spain), 2003.

J. Antich, A. Ortiz. Evolutionary Tuning of the Control Architecture of an Underwater Cable Tracker. In Catalan Conference on Artificial Intelligence (CCIA, Artificial Intelligence Research and Development, vol. 100 - IOS Press), Palma de Mallorca (Spain), 2003.

A. Ortiz, G. Oliver. Estimation of Scene Lighting Parameters and Camera Dark Current. In Catalan Conference on Artificial Intelligence (CCIA, Artificial Intelligence Research and Development, vol. 100 - IOS Press), Palma de Mallorca (Spain), 2003.

J. Antich, A. Ortiz. A Behaviour-based Control Architecture for Visually Guiding an Underwater Cable Tracker. In First IFAC Workshop on Guidance and Control of Underwater Vehicles (GCUV), Newport, South Wales (UK), 2003.

J. Antich, A. Ortiz. Experimental Evaluation of the Control Architecture of an Underwater Cable Tracker. In IFAC Conference on Manoeuvring and Control of Marine Craft (MCMC), Girona (Spain), 2003.

J. Antich, A. Ortiz. Underwater Cable Tracking by Visual Feedback. In First Iberian Conference on Pattern Recognition and Image Analysis (IbPRIA, LNCS 2652), Port d'Andratx (Spain), 2003.

A. Ortiz, G. Oliver. Albedo-based Segmentation prior to estimating Shape from Shading in multi-albedo scenes. In Technical Report A-01-2008, Dep. Mathematics and Computer Science (UIB), 2002.

A. Ortiz, G. Oliver. Image Segmentation through Physics-based Quality Maps. In Technical Report A-02-2002, Dep. Mathematics and Computer Science (UIB), 2002.

A. RODRÍGUEZ, G. Oliver, A. Ortiz. Sistema de comunicaciones internas para un robot. Universitat de les Illes Balears, 2002.

J. Guerrero, G. Oliver, A. Ortiz. Experiments design using a mobile robots simulator. In IEEE-TTTC International Conference on Automation, Quality and Testing Robotics (AQTR), Cluj-Napoca (Romania), 2002.

A. Ortiz, G. Oliver. A method to discount ambient lighting and albedo variation before estimating shape from image shading. In Workshop on Advanced Concepts for Intelligent Vision Systems (ACIVS), Ghent (Belgium), 2002.

A. Ortiz, G. Oliver. A qualitative approach to physics-based image segmentation. In Workshop on Advanced Concepts for Intelligent Vision Systems (ACIVS), Ghent (Belgium), 2002.

A. Ortiz, M. Simó, G. Oliver. A Vision System for an Underwater Cable Tracker. In International Journal of Machine Vision and Applications, vol. 13, no. 3, pp. 129—140, 2002.

J. Guerrero, G. Oliver, A. Ortiz. On Simulating Behaviour-based Robot Colonies in the Classroom. In First EURON Workshop on Robotics Education and Training (RET), Weigarten (Germany), 2001.

J. Guerrero, G. Oliver, A. Ortiz. ROBOCOT: una eina de simulació per a l’anàlisi de models de comportament de colònies de robots mòbils. Universitat de les Illes Balears, 2001.

J. Antich, A. Ortiz. Estudio y aplicación de técnicas de visión por computador al mantenimiento de una instalación submarina. Universitat de les Illes Balears, 2001.

S. Campins, G. Oliver, A. Ortiz. Obtenció de mapes de l’entorn mitjançant ultrasons per a la navegació de robots mòbils. Universitat de les Illes Balears, 2001.

J. Guerrero, A. Ortiz, G. Oliver. RoboCoT: Simulador de colonias de robots móviles. In Jornadas de Enseñanza Universitaria de Informática (JENUI), 2001.

A. Burguera, G. Oliver, A. Ortiz. Una herramienta para la experimentación con una celda robótica realimentada por visión. In Jornadas de Enseñanza Universitaria de Informática (JENUI), 2001.

J. Proenza, A. Ortiz, F. Prats, B. Santandreu, G. Oliver. Incorporating A Safety Hardware Module On A Low-Cost AUV. In International Symposium on Robotics and Automation (ISRA), Monterrey (Mexico), 2000.

D. Avià, M. D. Diego, G. Oliver, A. Ortiz, J. Proenza. RAO: A Low-Cost AUV for Testing. In MTS/IEEE Oceans, Providence-RI (USA), 2000.

A. Ortiz, J. Proenza, G. Oliver. Automatic Inspection of Underwater Environments by Means of a Fleet of Submersible Agents. In Pattern Recognition Advances in Iberoamerica, Barcelona (Spain), 2000.

A. Ortiz, M. Simó, G. Oliver. Image Sequence Analysis for Real-Time Underwater Cable Tracking. In Workshop on Applications of Computer Vision (WACV), Palm Springs-CA (USA), 2000.

M. Simó, A. Ortiz, G. Oliver. Optimized Image Sequence Analysis for Real-Time Underwater Cable Tracking. In MTS/IEEE Oceans, Providence-RI (USA), 2000.

A. Ortiz, G. Oliver. Shape from Shading for Multiple Albedo Images. In International Conference on Pattern Recognition (ICPR), Barcelona (Spain), 2000.

A. Ortiz, G. Oliver. An Adaptation for SFS Algorithms to Deal with Multiple Albedo Images. In Technical Report A-01-2000, Dep. Mathematics and Computer Science (UIB), 2000.

A. Ortiz, M. Simó, G. Oliver. Real-Time Image Sequence Analysis for Tracking an Underwater Power Cable. In Technical Report A-02-2000, Dep. Mathematics and Computer Science (UIB), 2000.

M. SIMÓ, A. Ortiz. Avaluació, implementació i adaptació a l’entorn d’operació d’un sistema d’inspecció submarina. Universitat de les Illes Balears, 2000.

A. Burguera, G. Oliver, A. Ortiz. Guiatge visual d’un braç robot. Universitat de les Illes Balears, 2000.

F. Navarro, J. Proenza, A. Ortiz. Disseny i implementació d’un sistema tolerant a fallades emprant el bus CAN. Universitat de les Illes Balears, 2000.

J. Proenza, A. Ortiz, G. Bernat, G. Oliver. A Cost-Effective Hardware Architecture for Fail-Safe Autonomous Underwater Vehicles. In IEEE International Conference on Electronics, Circuits and Systems (ICECS), Paphos (Cyprus), 1999.

A. Ortiz, J. Proenza, G. Bernat, G. Oliver. Improving the Safety of AUVs. In MTS/IEEE Oceans, Seattle-WA (USA), 1999.

A. Ortiz, G. Oliver. A Physics-Based Segmentation Technique For Lambertian Scenes. In Technical Report A-02-1999, Dep. Mathematics and Computer Science (UIB), 1999.

A. Ortiz. Aplicacion de técnicas de visión por computador a entornos submarinos. 1998.

A. Ortiz, G. Oliver, J. Frau. A Vision System for Underwater Real-Time Control Tasks. In MTS/IEEE Oceans, Halifax (Canada), 1997.

G. Oliver, A. Ortiz, J. Frau. An Underwater Vision System for Real-Time Tracking Purposes. In Symposium on Intelligent Robotic Systems (SIRS), Stockholm (Sweden), 1997.