Thesis

DOCTORAL THESIS: Online 3D View Planning for Autonomous Underwater Exploration

By Eduard Vidal Garcia Supervised by Dr. Marc Carreras / Dr. Narcís Palomeras   Abstract Autonomous underwater vehicles (AUVs) are currently used in many different applications, such as near-bottom mapping, manipulation or inspection. Most of the time, these tasks are planned in advance using prior information about the environment where the robot will operate. When this prior information does not exist, robotic exploration algorithms can be used so that the robot…

DOCTORAL THESIS: Computer Aided Detection for Breast Lesion in Ultrasound and Mammography

By Richa Agarwal Supervised by Dr. Robert Martí Marly  /  Dr. Oliver Fernando Diaz Montesdeoca   / Dr. Xavier Lladó Bardera Abstract In the field of breast cancer imaging, traditional Computer Aided Detection (CAD) systems were designed using limited computing resources and used scanned films (poor image quality), resulting in less robust application process. Currently, with the advancements in technologies, it is possible to perform 3D imaging and also acquire high quality…

DOCTORAL THESIS: Advanced Underwater Vehicle Manipulation through Real-Time Motion Planning

By Dina Nagui Youakim Isaac Supervised by Dr. Pere Ridao     Abstract A key challenge in autonomous mobile manipulation is the ability to determine in real-time how to safely execute complex tasks when placed in an unknown world. Motion Planning has been widely used in terrestrial and aerial robots to cope with such challenges, while it stayed unexplored for underwater intervention. In the last few years, Intervention Autonomous Underwater Vehicles…

DOCTORAL THESIS: Automated brain structure segmentation in magnetic resonance images of multiple sclerosis patients.

By Sandra González Villà Supervised by Dr. Xavier Lladó Bardera  / Dr.  Arnau Oliver Malagelada   Abstract This thesis is focused on the automated segmentation of the brain structures in magnetic resonance images, applied to multiple sclerosis (MS) patients. This disease is characterized by the presence of demyelinating lesions in the brain, that appear as focal low signal intensity areas in the T1-weighted sequence, which is the most frequently used…

DOCTORAL THESIS: 3D Underwater SLAM Using Sonar and Laser Sensors

By Albert Palomer Vila Supervised by Dr. Pere Ridao, Dr. Josep Forest i Dr. David Ribas   Abstract The 3D perception and mapping problem are very closely related with the robot localization and has not been yet solved up to a degree that allow AUVs to interact with complex environments safely. By providing AUVs with better 3D perception and improving their localization the usage of AUVs in tasks such as…

DOCTORAL THESIS: Motion Annotation in complex video datasets

By Mahmood Muhammad Habib Supervised by Dr. Arnau Oliver Malagelada   Abstract An in-depth analysis of computer vision methodologies is greatly dependent on the benchmarks they are tested upon. Any dataset is as good as the diversity of the true nature of the problem enclosed in it. Motion segmentation is a preprocessing step in computer vision whose publicly available datasets have certain limitations. Some databases are not up-to-date with modern…

DOCTORAL THESIS: Online Acoustic Localization Methods for Autonomous Underwater Vehicles

By Guillem Vallicrosa Massaguer Supervised by Dr. Pere Ridao   Abstract Autonomous Underwater Vehicles (AUVs) true autonomy capabilities in complex poten-tially unknown environments, have not yet been fully achieved because of the lack of online algorithms that can solve fundamental problems such as localization, mapping and path-planning on-board the AUV and consequently react according to their outputs. These algorithms can empower them for new capabilities such as long-term deployments, au-tonomous…

DOCTORAL THESIS: Underwater Navigation and Mapping with an Omnidirectional Optical Sensor

Underwater Navigation and Mapping with an Omnidirectional Optical Sensor By Josep Bosch Alay Supervised by Dr. Nuno Gràcias / Dr. Pere Ridao Abstract Omnidirectional vision has received increasing interest during the last decade from the computer vision community. A large number of camera models have reached the market to meet the increasing demand for panoramic imagery. However, the use of omnidirectional cameras underwater is still very limited. In this thesis...