VICOROB

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...