Journals

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...

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...

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...

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...

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...

We present a new vision-based localization system applied to an autonomous underwater vehicle (AUV) with limited sensing and computation capabilities. The traditional EKF-SLAM approaches are usually expensive in terms of execution time; the approach presented in this...