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Visual-based autonomous robotic exploration of unstructured and highly dynamic environments is a complex task. We present an approach to carry out an attention-driven exploration of underwater environments. This work is aimed to grant autonomy to an exploring agent in terms of deciding where to move in function of relevant visual information. This way we could obtain close video-observations of regions...
The virtual reconstruction of underwater environments in 3 dimensions can be of great utility for scientific or industrials applications, being the use of Autonomous Underwater Vehicles (AUVs) equipped with cameras an invaluable tool with progressive improvements. However, a highly accurate vehicle localization process is fundamental to place every portion of that 3D model in its real position with...
This study develops an underwater visual simultaneous localization and mapping (SLAM) algorithm using a monocular vision as a major measurement sensor, focusing in particular on the loop-closure problem. Although most vision-based loop-closure approaches have been implemented by feature-based pairwise image matching, matching underwater images is generally a challenging task due to the limited number...
Use of visual sensing techniques to detect low visibility conditions may have a number of advantages when combined with other methods, such as satellite based remote sensing, as data can be collected and processed in real or near real time. Camera-enabled visual sensing can provide direct confirmation of modelling and forecasting results. Indeed, fog detection, modelling and prediction are a priority...
One of the main issues for using autonomous underwater vehicles in fish pen inspections is the pose estimation of the vehicle with respect to the fishnets. In this paper, a novel X-junction detector (Fast-Cross) is proposed, which is able to detect fishnet knots and their topology in camera images. The detected knots are used for estimating the pose of a camera relative to fishnets. This avoids the...
This work presents an automatic calibration method for a vision based external underwater ground-truth positioning system. These systems are a relevant tool in benchmarking and assessing the quality of research in underwater robotics applications. A stereo vision system can in suitable environments such as test tanks or in clear water conditions provide accurate position with low cost and flexible...
We present a novel software approach for the interactive and integrated visual exploration of sensor data acquired by profiling platforms. The solution combines decent web-technologies and linked interactive 2D and 3D data presentations utilizing a direct-touch interaction metaphor. The user can point with his finger on specific data points and slide through the depth profiles and the time scale....
The Environmental Impact Assessment (EIA) is an environmental management instrument implemented worldwide. In the last years the development of Wave Energy Converter (WEC) influenced environmental research to quantify impacts on marine life. In this paper we present a case study of EIA: a real application and study of device installed in Tirren Sea (near Castellammare — Sicily).
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