Journals | Systems, Robotics & Vision Group

Optical Sensors and Methods for Underwater 3D Reconstruction

This paper presents a survey on optical sensors and methods for 3D reconstruction in underwater environments. The techniques to obtain range data have been listed and explained, together with the different sensor hardware that makes them possible. The literature has...

Intervention AUVs: The Next Challenge

While commercially available AUVs are routinely used in survey missions, a new set of applications exist which clearly demand intervention capabilities. The maintenance of: permanent underwater observatories, submerged oil wells, cabled sensor networks, pipes and the...

Global Image Signature for Visual Loop-Closure Detection

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...

Quantitative characterization of the reliability of simplex buses and stars to compare their benefits in fieldbuses

Fieldbuses targeted to highly dependable distributed embedded systems are shifting from bus to star topologies. Surprisingly, despite the efforts into this direction, engineers lack of analyses that quantitatively characterize the system reliability achievable by...

Vision-Based Topological Mapping and Localization by means of Local Invariant Features and Map Refinement

We propose an appearance-based approach for topological visual mapping and localization using local invariant features. To optimize running times, matchings between the current image and previously visited places are determined using an index based on a set of...

Vision-Based Topological Mapping and Localization Methods: A Survey

Topological maps model the environment as a graph, where nodes are distinctive places of the environment and edges indicate topological relationships between them. They represent an interesting alternative to the classic metric maps, due to their simplicity and...

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