PhD Thesis

10 February

In News, PhD Thesis by cirs

DOCTORAL THESIS: UNDERWATER 3D SENSING USING STRUCTURED LIGHT: DEVELOPMENT OF AN UNDERWATER LASER SCANNER AND A NON-RIGID POINT CLOUD REGISTRATION METHOD

By Miguel Castillón Sánchez Supervised by Dr.Pere Ridao Rodríguez / Dr. Josep Forest Collado ABSTRACT Accurate underwater 3D perception is essential to advance towards the automation of expensive, dangerous and/or time-consuming tasks, such as the inspection, maintenance and repair of off-shore industrial sites. Accurate underwater 3D sensors can potentially have a large positive…

10 December

In News, PhD Thesis by cirs

DOCTORAL THESIS: Automated 3D object recognition in underwater scenarios for manipulation

By Khadidja Himri Supervised by Dr.Pere Ridao / Dr.Nuno Gracias Abstract In recent decades, the rapid development of intelligent vehicle and 3D scanning technologies has led to a growing interest in applications based on 3D point data processing, with many applications such as augmented reality or robot manipulation and obstacle…

25 March

In News, PhD Thesis by cirs

DOCTORAL THESIS: Underwater Image-Based 3D Reconstruction With Quality Estimation

By Klemen Istenic Supervised by Dr.Rafael García Campos/ Dr.Ricardo Estrela Gracias Abstract Despite the undeniable importance of the marine ecosystem, vast areas of the seabed remain largely unexplored. Accurate and detailed 3D models of the environment yield high added value to any marine survey, as such results convey immense information…

25 February

In News, PhD Thesis by cirs

FPU grant awarded to the new researcher Pau Vial

This year Pau Vial begins his doctoral thesis in the Underwater Robotics LAB, in the CIRS facilities. In 2018 he was graduated in Industrial Technology Engineering in the Universitat de Girona, obtaining the Extraordinary Award of his degree for being the student with the best academic record. In 2020 he finished the…

28 November

In News, PhD Thesis by cirs

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…

21 June

In News, PhD Thesis by cirs

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…

26 November

In News, PhD Thesis by cirs

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…

15 November

In PhD Thesis by cirs

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…

18 October

In News, PhD Thesis by cirs

DOCTORAL THESIS: 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…

26 October

In News, PhD Thesis by cirs

Online Path Planning for Autonomous Underwater Vehicles under Motion Constraints

Doctoral thesis “Online Path Planning for Autonomous Underwater Vehicles under Motion Constraints” By Juan David Hernández Vega Supervised by Dr. Marc Carreras Abstract Thesis submitted to the University of Girona in fulfillment of the requirements for the degree of Doctor of PhilosophySince their beginning in the late 1950s, the…

DOCTORAL THESIS: UNDERWATER 3D SENSING USING STRUCTURED LIGHT: DEVELOPMENT OF AN UNDERWATER LASER SCANNER AND A NON-RIGID POINT CLOUD REGISTRATION METHOD

DOCTORAL THESIS: Automated 3D object recognition in underwater scenarios for manipulation

DOCTORAL THESIS: Underwater Image-Based 3D Reconstruction With Quality Estimation

FPU grant awarded to the new researcher Pau Vial

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

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

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

DOCTORAL THESIS: Online Acoustic Localization Methods for Autonomous Underwater Vehicles

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

Online Path Planning for Autonomous Underwater Vehicles under Motion Constraints

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