Position | Associate professor Office phone | +34 971 171391 Email | francisco.bonin@uib.es Home page | http://dmi.uib.es/fbonin/ Research lines: Robot Vision Mobile Robot Navigation Localization Underwater Robotics

Francisco Bonin Font is an Engineer in Telecomunications by the Polytechnical University of Catalonia (Barcelona) and a PhD in Computer Science since 2012, by the University of the Balearic Islands. He worked 10 years in the Industry of Information Technology Services addressed to Bank business, before he initiated his academic activities. He has published more than 70 papers, among journals, book chapters and conference proceedings in the field of image processing and underwater robotics, during his research activities in the Systems, Robotics and Vision Group of the University of the Balearic Islands. He has participated as technician and researcher in 12 projects funded by the Spanish Scientific Council and the European Commission and he also works as a Associate Professor in the same department.

PUBLICATIONS

2025

F. Bonin-Font. AI-Driven Marine Citizen Science: SECOSTA’s Blueprint for SeabedExploration. In EGU General Assembly. Developed and Published by the Spanish Institute of Oceanography (Palma de Mallorca). Complete list of authors: Álex Herrada Mederer, Joan Puigdefàbregas, Joan Villalonga Llauguer, Damià Gomis Bosch, Francisco Bonin Font, and Gabriel Jordá Sánchez. For more information see: https://secosta-wordpress-com.translate.goog/?_x_tr_sl=ca&_x_tr_tl=en&_x_tr_hl=es, 2025.

2024

F. Bonin-Font. Microplankton discrimination in FlowCAM images using Deep Learning. In 19 th International Conference on Computer Vision, Theory and Applications. Complete List of Authors: Francisco Bonin-Font (SRV), Gorka Buenvaron (IFISC), Mary K. Kane and Idan Tuval (IMEDEA), 2024.

A. Burguera, F. Bonin-Font. Deep learning for detection and counting of Nephrops norvegicus from underwater videos, ICES Journal of Marine Science. In ICES Journal of Marine Science, Great Britain, Oxford Academic, vol. Complete Lsit of Authors: Antoni Burguera, Francisco Bonin-Font, Damianos Chatzievangelou (ICM), Maria Vigo Fernandez (ICM), Jacopo Aguzzi (ICM), no. fsae089, June, 2024.

C. Muntaner, E. Alfaro, A. Nadal, A. Martorell, M. Martín, F. Bonin-Font. Exploring deep waters: preliminary findings and design insights from a stereo vision unit deployment. In The 11th International Workshop on Marine Technology, Palma, 2024.

F. Bonin-Font, C. Muntaner, B. M. Nordfeldt-Fiol, A. Martorell. Controlling the expansion of Halimeda Incrassata in the Cabrera Natural Park using robots and photo-mosaics. In International Symposium on Monitoring Mediterranean Coastal Areas: problems and measurement techniques, Livorno, 2024.

F. Bonin-Font, A. Martorell, B. M. Nordfeldt-Fiol, C. Muntaner, M. Martín, Y. González, G. Oliver. Measuring the temporal evolution of seagrass Posidonia oceanica coverage using autonomous marine robots and Deep Learning. In Estuarine, Coastal and Shelf Science, List of complete authors: Francisco Bonin-Font, Antoni Martorell-Torres, Miguel Martin Abadal, Caterina Muntaner-González , Bo Miquel Nordfeldt-Fiol, Yolanda González-Cid , Gabriel Oliver-Codina , Julia Máñez-Crespo , Xesca Reynés , Laura Pereda , Gema Hernan , Fiona Tomás, Elsevier, vol. 312, no. 109029, November, 2024.

2023

B. M. Nordfeldt-Fiol, F. Bonin-Font, G. Oliver. Evolving Real-time Stereo Odometry for AUV Navigation in Challenging Marine Environments. In Journal of Intelligent & Robotic Systems, Springer, vol. 108, no. 83, pp. 3-20, August, 2023.

F. Bonin-Font. Towards Hash Similarity and Geometric-based Image Filtering to Lighten Underwater Photo-Mosaicing. In International WorkShop on Marine Technologies (MARTECH) - Instrumentation ViewPoint 2023 Journal - Complete list of Authors: Pol Baños Castelló, Francisco Bonin Font, 2023.

A. Burguera, F. Bonin-Font. Mesopelagic Crustacean Habitat Identification and Analysis Using Deep Learning. In International WorkShop on Marine Technologies (MARTECH) and Instrumentation ViewPoint 2023 Journal, 2023.

E. Guerrero, G. Oliver, F. Bonin-Font. Data-driven Exploration of Benthic Environments with Autonomous Underwater Vehicles Featuring Semantic Perception and Adaptive Navigation Intelligence. University of the Balearic Islands, Ph. D. Thesis, 2023 .

B. M. Nordfeldt-Fiol, F. Bonin-Font. Development and Testing of a Navigation Solution for Autonomous Underwater Vehicles based on Stereo Vision. In Ocean Engineering. -- Complete list of authors: Simone Tani (corresponding author), Francesco Ruscio, Matteo Bresciani, Bo Miquel Nordfeldt, Francisco Bonin-Font, Riccardo Costanzi, , vol. 280, no. 114757, May, 2023.

M. Massot, F. Bonin-Font, E. Guerrero, A. Martorell, M. Martín, C. Muntaner, B. M. Nordfeldt-Fiol, G. Oliver, J. Cappeletto, B. Thornton. Assessing benthic marine habitats colonised with posidonia oceanica using autonomous marine robots and deep learning: A eurofleets campaign. In Estuarine, Coastal and Shelf Science, Elsevier, vol. 291, no. 108438, pp. 1-16, 2023.

F. Bonin-Font, A. Burguera. Image Compression for Underwater Multi-Robot Loop Closing. In IEEE Oceans , 2023.

C. Muntaner, B. M. Nordfeldt-Fiol, M. Martín, A. Martorell, F. Bonin-Font, F. Molina, R. Marín, G. Oliver, P. J. Sanz. Towards Underwater Robust Image Transmission Using Acoustic Communications. In IEEE Oceans, 2023.

2022

A. Burguera, F. Bonin-Font, E. Guerrero, A. Martorell. Combining Deep Learning and Robust Estimation for Outlier-Resilient Underwater Visual Graph SLAM. In Journal of Marine Science and Engineering, Special Issue Advances in Autonomous Underwater Robotics Based on Machine Learning, MDPI, vol. 10, no. 4:511, pp. 30, april, 2022.

B. M. Nordfeldt-Fiol, F. Bonin-Font, Y. González, G. Oliver. Evolving Visual Odometry for Autonomous Underwater Vehicles. In 14th IFAC Conference on Control Applications in Marine Systems, Robotics and Vehicles, Lyngby, Denmark, pp. 381-386, 2022.

A. Burguera, F. Bonin-Font. Progressive Hierarchical Encoding for Image Transmission in Underwater Environments. In Oceans, Hampton Roads (USA, Virtual), 2022.

2021

Y. González, F. Bonin-Font, E. Guerrero, A. Martorell, M. Martín, G. Oliver, H. Hinz, L. Pereda-Briones, F. Tomàs. Autonomous Marine Vehicles and CNN: Tech Tools for Posidonia Meadows Monitoring. In IEEE Oceans , Sant Diego/Virtual, 2021.

F. Bonin-Font, M. Martín, E. Guerrero, A. Martorell, B. M. Nordfeldt-Fiol, Y. González, J. Máñez, F. Tomás. AUVs for Control of Marine Alien Invasive Species. In IEEE Oceans , Sant Diego/Virtual, 2021.

E. Guerrero, F. Bonin-Font, G. Oliver. Adaptive Visual Information Gathering for Autonomous Exploration of Underwater Environments. In IEEE Access, vol. 9, pp. 136487 - 136506, 2021.

E. Guerrero, F. Bonin-Font, G. Oliver. Decision-time Adaptive Replanning (DAR) Behavior for Benthic Environment Monitoring using AUVs. In IEEE ICRA (International Conference on Robotics and Automation) 2021, 1st Advanced Marine Robotics Tc WorkShop: Active Perception, 2021.

M. Bresciani, F. Ruscio, S. Tani, G. Peralta, A. Timperi, E. Guerrero, F. Bonin-Font, A. Caiti, R. Costanzi. Path Planning for Underwater Information Gathering Based on Genetic Algorithms and Data Stochastic Models. In Journal of Marine Science and Engineering, MDPI, vol. 9, no. 11, pp. 1183, October, 2021.

B. M. Nordfeldt-Fiol, F. Bonin-Font, Y. González, G. Oliver. Improving Visual Odometry for AUV Navigation in Marine Environments. In MARTECH - THE 9TH INTERNATIONAL WORKSHOP ON MARINE TECHNOLOGY, 2021.

F. Bonin-Font, A. Burguera, G. Oliver. Image Hashing for Loop Closing in Underwater Visual SLAM. In MARTECH - THE 9TH INTERNATIONAL WORKSHOP ON MARINE TECHNOLOGY, 2021.

E. Guerrero, F. Bonin-Font, G. Oliver, Y. González, M. Martín. Sparse Gaussian Process for Online Seagrass Semantic Mapping. In Expert Systems with Applications, Elsevier, vol. 170, pp. 114478, May, 2021.

2020

F. Bonin-Font, A. Burguera. Towards Multi-Robot Visual Graph-SLAM for Autonomous Marine Vehicles. In Journal of Marine Science and Engineering, MDPI, Special Issue Localization, Mapping and SLAM in Marine and Underwater Environments, vol. 8, no. 437, 2020.

A. Burguera, F. Bonin-Font. Visual Loop Detection in Underwater Robotics: An Unsupervised Deep Learning Approach. In Proceedings of the IFAC World Congress, Berlin - Virtual, 2020.

A. Burguera, F. Bonin-Font. On-Line Multi-Class Segmentation of Side-Scan Sonar Imagery Using an Autonomous Underwater Vehicle. In Journal of Marine Science and Engineering, MDPI, Special Issue Localization, Mapping and SLAM in Marine and Underwater Environments, MDPI, vol. 8, no. 557, July, 2020.

A. Burguera, F. Bonin-Font. An Unsupervised Neural Network for Loop Detection in Underwater Visual SLAM. In Journal of Intelligent & Robotic Systems, Springer, 2020.

F. Bonin-Font, A. Burguera. NetHALOC: A learned global image descriptor for loop closing in underwater visual SLAM. In Expert Systems, Wiley On Line Library, John Wiley & Sons Ltd, pp. 23, 2020.

A. Burguera, F. Bonin-Font. Towards Visual Loop Detection in Underwater Robotics using a Deep Neural Network. In Intenational Conference on Computer Vision Theory and Applications (VISAPP), Valetta (Malta), 2020.

F. Bonin-Font, Y. González. MapPos – online sparse 3D reconstruction of Posidonia oceanica meadows. .

F. Bonin-Font, Y. González. MapPos – Posidonia oceanica meadow 3D reconstruction. .

2019

F. Bonin-Font. Real-time Hash-based Loop Closure Detection in Underwater Multi-Session Visual SLAM. In IEEE Oceans, Marseille, 2019.

A. Burguera, F. Bonin-Font. A Trajectory-Based Approach to Multi-Session Underwater Visual SLAM Using Global Image Signatures. In Journal of Marine Science and Engineering, MDPI, vol. 7, no. 8, August, 2019.

E. Guerrero, M. Martín, F. Bonin-Font, Y. González, G. Oliver. Uncertainty estimation for online seagrass semantic mapping using AUVs (Video).

2018

N. Muntaner, F. Bonin-Font, J. J. Segura, A. Jimenez, P. L. Negre, M. Massot, F. X. Gonzalez, G. Oliver. Towards a Pre-diagnose of Surgical Wounds Through the Analysis of Visual 3D Reconstructions.. In International Conference on Computer Vision Theory and Applications (VISSAP), 2018.

A. Burguera, F. Bonin-Font. Towards Multi Session Visual SLAM in Underwater Environments Colonized with Posidonia Oceanica. In IEEE OES Autonomous Underwater Vehicle Symposium, Porto, 2018.

M. Martín, E. Guerrero, F. Bonin-Font, Y. González. Deep Semantic Segmentation in an AUV for Online Posidonia Oceanica Meadows Identification. In IEEE Access, 2018.

F. Bonin-Font, J. Lalucat, G. Oliver, M. Massot, E. Guerrero, P. L. Negre. Evaluating the Impact of Sewage Discharges on the Marine Environment with a Lightweight AUV. In Marine Pollution Bulletin, Elsevier, vol. 135, pp. 714-722, October, 2018.

M. Martín, E. Guerrero, F. Bonin-Font, Y. González. Deep Semantic Segmentation for Posidonia Meadows Identification.

F. Bonin-Font, M. Massot, A. Burguera. ARSEA: A Virtual Reality Subsea Exploration Assistant. In 11th IFAC Conference on Control Applications in Marine Systems, Robotics, and Vehicles, 2018.

2017

Y. González, A. Burguera, F. Bonin-Font, A. Matamoros. Machine Learning and Deep Learning Strategies to Identify Posidonia Meadows in Underwater Images. In MTS/IEEE OCEANS17 Aberdeen , Aberdeen, Scotland, 2017.

E. Guerrero, F. Bonin-Font, P. L. Negre, M. Massot, G. Oliver. USBL Integration and Assessment in a Multisensor Navigation Approach for AUVs. In The 20th World Congress of the International Federation of Automatic Control (IFAC World Congress), Toulouse, 2017.

F. Bonin-Font, M. Massot, P. L. Negre, G. Oliver, E. Guerrero, E. García. Towards a new Methodology to Evaluate the Environmental Impact of a Marine Outfall Using a Lightweight AUV. In MTS/IEEE Oceans , Aberdeen, 2017.

A. Burguera, F. Bonin-Font, E. García. Building Large-Scale Coverage Maps of Posidonia Oceanica using an Autonomous Underwater Vehicle. In MTS/IEEE Oceans, Aberdeen, Scotland, 2017.

N. Muntaner, A. Jimenez, F. Bonin-Font. Reconstrucción Visual 3D para el prediagnóstico de heridas post-operatorias. In XV Reunión de Salut Conectada, Hospital Clínico Universitario Lozano Blesa, Zaragoza, 2017.

F. Bonin-Font, G. Oliver. Hacia la Navegación Visual de un Vehı́culo Autónomo Submarino en Areas con Posidonia Oceanica. In Revista Iberoamericana de Automática e Informática Industrial, Elsevier, vol. 15, no. 1, 2017.

F. Bonin-Font, A. Burguera, J. Luís. Visual Discrimination and Large Area Mapping of Posidonia Oceanica Using a Lightweight AUV. In IEEE Access, IEEE, vol. 5, no. 1, pp. 24479-24494, 2017.

2016

M. Massot, F. Bonin-Font, P. L. Negre, E. Guerrero, A. Martorell, G. Oliver. A 3D Mapping, Obstacle Avoidance and Acoustic Communication Payload for the AUV SPARUS II. In 7th International Workshop on Marine Technology (MARTECH), Barcelona, Spain, 2016.

A. Burguera, F. Bonin-Font, J. Luís, A. Belén. Towards Automatic Visual Sea Grass Detection in Underwater Areas of Ecological Interest. In IEEE International Conference on Emerging Technologies and Factory Automation, Berlin, 2016.

E. Guerrero, M. Massot, P. L. Negre, F. Bonin-Font, G. Oliver. An USBL-Aided Multisensor Navigation System for Field AUVs. In IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI ) , Baden-Baden, pp. 430-435, 2016.

M. Solbach, F. Bonin-Font, A. Burguera, G. Oliver. Robust WorldCentric Stereo EKF Localization with Active Loop Closing for AUVs. In Pattern Recognition and Image Analysis, Rusia, Pleiades Publishing - SPRINGER, Yuri I. Zhuravlev, vol. 26, no. 1, pp. 205-215, 2016.

F. Bonin-Font, M. Massot, G. Oliver. Towards Visual Detection, Mapping and Quantification of Posidonia Oceanica using a Lightweight AUV. In IFAC International Conference on Control Applications in Marine Systems, Trondheim, pp. 500-505, 2016.

P. L. Negre, F. Bonin-Font, G. Oliver. Global Image Signature for Visual Loop-Closure Detection. In Autonomous Robots, Springer, vol. 40, pp. 1403-1417, December, 2016.

P. L. Negre, F. Bonin-Font, G. Oliver. Cluster-Based Loop Closing Detection for Underwater SLAM in Feature-Poor Regions. In IEEE International Conference on Robotics and Automation (ICRA), Stockholm (Sweeden), 2016.

2015

F. Bonin-Font, M. Massot, P. L. Negre, G. Oliver, J. P. Beltran. Inertial Sensor Self-Calibration in a Visually-Aided Navigation Approach for a Micro-AUV. In Sensors, MDPI, vol. 15, no. 1, pp. 1825-1860, 2015.

A. Burguera, F. Bonin-Font, G. Oliver. Trajectory-Based Visual Localization in Underwater Surveying Missions. In Sensors, MDPI, vol. 15, no. 1, pp. 1708-1735, 2015 .

F. Bonin-Font, P. L. Negre, , G. Oliver. Stereo SLAM for Robust Dense 3D Reconstruction of Underwater Environments. In MTS/IEEE Oceans, Genoa, 2015.

P. L. Negre, F. Bonin-Font, M. Massot, G. Oliver. Stereo-Vision Graph-SLAM for Robust Navigation of the AUV SPARUS II. In IFAC Workshop on Navigation, Guidance and Control of Underwater Vehicles (NGCUV), Girona, 2015.

F. Bonin-Font, , M. Massot, G. Oliver. Visual Characterization and Automatic Detection of Posidonia Oceanica for Meadows Mapping using an AUV. In INTERNATIONAL WORKSHOP ON MARINE TECHNOLOGY, Cartagena, 2015.

F. Bonin-Font, G. Oliver, S. Wirth, M. Massot, P. L. Negre, J. P. Beltran. Visual Sensing for Autonomous Underwater Exploration and Intervention Tasks. In Ocean Engineering,, vol. 93, pp. 25-44, January, 2015.

M. Massot, G. Oliver, H. Kemal, Y. Petillot, F. Bonin-Font. Structured light and stereo vision for underwater 3D reconstruction. In MTS/IEEE Oceans, Genova, Italy, 2015.

P. L. Negre, F. Bonin-Font, G. Oliver. [Report] Hash-based Loop-Closure Detection. 2015.

2014

, F. Bonin-Font, A. Burguera. 6DOF EKF SLAM in Underwater Environments. University of the Balearic Islands, 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.

A. Burguera, F. Bonin-Font, G. Oliver. Towards Robust Image Registration for Underwater Visual SLAM. In Proceedings of the International Conference on Computer Vision, Theory and Applications (VISSAP), Lisbon, pp. 539-544, 2014.

F. Bonin-Font, A. Burguera, G. Oliver. Underwater Visual SLAM using a Bottom-Looking Camera. March, 2014.

P. L. Negre, F. Bonin-Font, G. Oliver. Stereo Graph-SLAM for Autonomous Underwater Vehicles. In Intelligent Autonomous Systems 13 (Proceedings of the 13th International Conference on Intelligent Autonomous Systems IAS13), Padova/Venice, pp. 351-360, 2014 .

, F. Bonin-Font, A. Burguera, G. Oliver, D. Paulus. Stereo EKF Pose-based SLAM for AUVs. In Open German-Russian Workshop on PATTERN RECOGNITION and IMAGE UNDERSTANDING, Koblenz, 2014.

A. Burguera, F. Bonin-Font, G. Oliver. Reducing the computational cost of underwater visual SLAM using dynamic adjustment of overlap detection. In Proceedings of IEEE International Conference on Emerging Technologies and Factory Automation, Barcelona, 2014.

F. Bonin-Font, P. L. Negre, A. Burguera, G. Oliver. LSH for Loop Closing Detection in Underwater Visual SLAM. In Proceedings of IEEE International Conference on Emerging Technologies and Factory Automation, Barcelona, 2014.

2013

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.

F. Bonin-Font, A. Burguera, G. Oliver. New Solutions in Underwater Imaging and Vision Systems. In Imaging Marine Life, Wiley VCH GmbH, Dr Emmanuel G. Reynaud, 2013.

F. Bonin-Font, J. P. Beltran, G. Oliver. Multisensor Aided Inertial Navigation in 6DOF AUVs using a Multiplicative Error State Kalman Filter. In Proceedings of the IEEE/MTS Oceans Conference, Bergen, Norway, 2013.

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.

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

2011

F. Bonin-Font, A. Burguera, G. Oliver. Imaging Systems for Advanced Underwater Vehicles. In Journal Of Maritime Research, Spanish Society of Maritime Research (SEECMAR), vol. 8, no. 1, pp. 65-86, September, 2011.

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.

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.

2009

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.

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.

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.

2008

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

2007

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