happy new year


CIRS wants to wish you Happy Holidays and Happy New Year…:) We will be closed from December the 24th to  January  the 6th  2015.   Des del CIRS us volem desitjar Bones Festes  i Feliç Any Nou 2015 i us recordem que, durant aquestes vacances (23 desembre a 6 de gener), restarem tancats.

Tali Hurtós defends her PhD thesis: “Forward-Looking Sonar Mosaicing for Underwater Environments”

Vehicle operations in underwater environments are frequently compromised by poor visibility conditions. The perception range of optical devices is heavily constrained in turbid waters, thus often complicating navigation and mapping tasks in environments such as harbors, bays, or rivers. A new generation of high-frequency forward-looking sonars that provide acoustic imagery at near-video frame rates have recently emerged as a promising alternative for working under these challenging conditions. In this thesis, we propose an end-to-end mosaicing framework tailored to the characteristics of forward-looking sonar imagery in order to build consistent overviews of planar underwater areas regardless of water visibility. Our solution...
rafael Garcia

Rafael Garcia delivers a plenary talk at INT-NAM 2014

Rafael Garcia has delivered today the plenary lecture “3-D Mapping for the Characterization of the Seafloor using an Underwater Robot” as “keynote speaker”on the 2nd International Symposium on Maritime and Naval Architecture which takes place on October 23-24 in Istanbul, Turkey. In his keynote lecture, Dr. Garcia presented the latest advances and conclusions of the MICINN MUMAP project regarding the development of systems for seafloor monitoring.


Veni, vidi, vici. Felicitats als campions de l’euRathlon!

L’equip de la Universitat de Girona amb el seu robot submarí  Sparus II AUV es proclama vencedor de la competició euRathlon   L’SPARUS II AUV, un robot autònom submarí desenvolupat al CIRS, es va proclamar campió a la competició europea en robòtica submarina euRathlon celebrada la setmana passada (29/9-3/10/14) a La Spezia, Itàlia.   euRathlon és una competició europea de robòtica submarina on hi competeixen diferents equips amateurs i on es plantegen reptes d’aplicació real del camp de la robòtica submarina. En un camp tecnològic tant innovador, existeixen poques per a valorar les capacitats d’aquests robots i, aquest tipus de…


Open PhD position in Omnidirectional Computer Vision for Underwater Robots

The Computer Vision and Robotics Group of the University of Girona (UdG), Spain, has opened a full-time PhD position in the area of Omnidirectional Computer Vision for Underwater Robots. The research will be conducted in the Computer Vision and Robotics institute of the UdG ( under the supervision of Dr. Rafael Garcia and Dr. Nuno Gracias.   The research will focus on using underwater cameras with very wide field of view (providing hemispherical coverage) to assist the operation of underwater robots. These cameras open up new unexplored capabilities of immersive telepresence, efficient optical mapping in cluttered environments and vehicle safety….

FP7 European Project MORPH: next generation of underwater robotics for ocean exploration tested in the Azores

From 8 to 18 September 2014, the Center of IMAR of the University of the Azores is hosting the sea trials of a new type of robotics-based distributed sensor system, aimed at affording marine scientists and commercial operators a revolutionary tool for marine habitat mapping in complex 3D environments. The tests are being performed in the scope of the EC research project MORPH, entitled Marine Robotic System of Self-Organising, Logically Linked Physical Nodes.   Launched in February 2012, the 4-year research project MORPH is partly funded by the European Union’s Seventh Framework Programme with a budget of 8,5 million Euros….


2a edició del campus PRESUB – robòtica submarina educativa

Del 7 al 11 de juliol va tenir lloc la segona edició del Campus PRESUB a les instal•lacions del Centre de Robòtica Submarina (Parc Científic i Tecnològic), amb la participació d’ una vintena d’estudiants de secundària de diferents centres de les comarques gironines. L’objectiu bàsic d’aquests tallers és la realització d’activitats científico-tecnològiques de caire lúdic que resultin interessants i atractives que permetin incrementar el interès de la societat, i més concretament dels estudiants de secundària, per la tecnologia i que fomentin els valors propis de l’enginyeria. Aquest objectiu és compartit pel Departament d’Arquitectura i Tecnologia de Computadors, pel Consell Social…


EU launches world’s largest civilian robotics programme – 240,000 new jobs expected

The European Commission and 180 companies and research organisations (under the umbrella of euRobotics) today launch the world’s largest civilian research and innovation programme in robotics. Covering manufacturing, agriculture, health, transport, civil security and households, the initiative – called SPARC – is the EU’s industrial policy effort to strengthen Europe’s position in the global robotics market (€60 billion a year by 2020). This initiative is expected to create over 240,000 jobs in Europe, and increase Europe’s share of the global market to 42% (a boost of €4 billion per year). The European Commission will invest €700 million and euRobotics €2.1…

3D mapping

Ricard Campos defends his PhD thesis “Surface Reconstruction Methods for Seafloor Modelling”

Underwater maps are an important source of information for the scientific community, since mapping the seafloor is the starting point for underwater exploration. The advance of range scanning methodologies, both using acoustic and optical techniques, enables the mapping of the seabed to attain increasingly larger resolutions. However, all these techniques sample the surface to reconstruct in the form of a point cloud. For the case of areas containing non-trivial 3D relief, achieving a continuous representation from this discrete sampling is a complex task. Surface reconstruction methods try to tackle this problem by recovering a continuous surface representing the object in…

Angelos Pdh

Angelos Mallios defends his PhD Thesis “Sonar Scan Matching for Simultaneous Localization and Mapping in Confined Underwater Environments”

This thesis presents the development of a localization and mapping algorithm for an autonomous underwater vehicle (AUV). It is based on probabilistic scan matching of raw sonar scans within a pose-based simultaneous localization and mapping (SLAM) framework.   To address the motion-induced distortions affecting the generation of full sector scans, an extended Kalman filter (EKF) is used to estimate the robot motion during that scan. The filter uses a constant velocity model with acceleration noise for motion prediction.Velocities from Doppler velocity log (DVL) and heading measurements from attitude and heading reference system (AHRS) are fed asynchronously and update the state….