yt:channel:UC6pq8AtdqwFzTnmuH3R3iYA UC6pq8AtdqwFzTnmuH3R3iYA CIRS UdG https://www.youtube.com/channel/UC6pq8AtdqwFzTnmuH3R3iYA 2011-11-04T16:06:31+00:00 yt:video:2ovr0HW_5MU 2ovr0HW_5MU UC6pq8AtdqwFzTnmuH3R3iYA CIRS UdG https://www.youtube.com/channel/UC6pq8AtdqwFzTnmuH3R3iYA 2017-06-09T09:26:26+00:00 2017-06-12T08:34:19+00:00 AUV Online Mission Replanning for Gap Filling and Target Inspection yt:video:KnMd8WjBWDY KnMd8WjBWDY UC6pq8AtdqwFzTnmuH3R3iYA CIRS UdG https://www.youtube.com/channel/UC6pq8AtdqwFzTnmuH3R3iYA 2016-09-30T09:58:19+00:00 2017-02-01T18:24:02+00:00 Autonomous Underwater Navigation and Optical Mapping in Unknown Natural Environments We present an approach for navigating in unknown environments while, simultaneously, gathering information for inspecting underwater structures using an autonomous underwater vehicle (AUV). To accomplish this, we first use our pipeline for mapping and planning collision-free paths online, which endows an AUV with the capability to autonomously acquire optical data in close proximity. With that information, we then propose a reconstruction pipeline to create a photo-realistic textured 3D model of the inspected area. These 3D models are also of particular interest to other fields of study in marine sciences, since they can serve as base maps for environmental monitoring, thus allowing change detection of biological communities and their environment over time. Finally, we evaluate our approach using the Sparus II, a torpedo-shaped AUV, conducting inspection missions in a challenging, real-world and natural scenario. J.D. Hernández, K. istenič, N. Gracias, N. Palomeras, R. Campos, E. Vidal, R. García, and M. Carreras, "Autonomous Underwater Navigation and Optical Mapping in Unknown Natural Environments," Sensors, vol. 16, no. 8, p. 1174, Jul. 2016. http://www.mdpi.com/1424-8220/16/8/1174 yt:video:ptkhwTPFvjk ptkhwTPFvjk UC6pq8AtdqwFzTnmuH3R3iYA CIRS UdG https://www.youtube.com/channel/UC6pq8AtdqwFzTnmuH3R3iYA 2016-09-22T10:48:00+00:00 2017-04-15T20:20:44+00:00 Dive into Boreas 360º BOREAS is a II WW shipwreck in Costa Brava area. It was submerged on purpose in Palamós with the intention of creating an artificial habitat for marine life. Our team decided to visit the area in order to collect data to test their latest improvements in 3D #reconstruction techniques and panoramic #imaging. It’s worth to see the results of their work, enjoy! El passat 16 de juny, l'SPARUS 2 vehicle autònom subaquàtic acompanyat de dos submarinistes del grup va realitzar una immersió al BOREAS, un remolcador alemany que va participar en la segona guerra mundial i després d'una llarga trajectòria finalment al 1989 va ser enfonsat a propòsit a la costa de Palamós per formar un escull artificial que servis per protegir la fauna de la zona i promoure el submarinisme. El propòsit de la missió era recopilar dades per avançar en el desenvolupament de noves tècniques de #reconstrucció 3D i d’imatges #panoràmiques. I el resultat val la pena de veure. Disfruteu de les vistes!!! yt:video:DW4GjjiJd2I DW4GjjiJd2I UC6pq8AtdqwFzTnmuH3R3iYA CIRS UdG https://www.youtube.com/channel/UC6pq8AtdqwFzTnmuH3R3iYA 2016-01-20T14:34:29+00:00 2016-01-20T14:34:29+00:00 Morph Fp7- 360º video of horizontal survey Experiments in the framework of the MORPH FP7 project carried out in Horta, Azores Islands in September 2015. yt:video:SCHDMbRr3WI SCHDMbRr3WI UC6pq8AtdqwFzTnmuH3R3iYA CIRS UdG https://www.youtube.com/channel/UC6pq8AtdqwFzTnmuH3R3iYA 2016-01-20T14:34:13+00:00 2016-09-14T08:33:46+00:00 Morph Fp7- 360º video of wall following. Experiments in the framework of the MORPH FP7 project carried out in Horta, Azores Islands in September 2015. yt:video:xY96VEJuN0U xY96VEJuN0U UC6pq8AtdqwFzTnmuH3R3iYA CIRS UdG https://www.youtube.com/channel/UC6pq8AtdqwFzTnmuH3R3iYA 2016-01-20T14:33:58+00:00 2016-01-20T14:33:58+00:00 Morph Fp7- 360º video of horizontal survey Experiments in the framework of the MORPH FP7 project carried out in Horta, Azores Islands in September 2015. yt:video:YY9i1_bAX88 YY9i1_bAX88 UC6pq8AtdqwFzTnmuH3R3iYA CIRS UdG https://www.youtube.com/channel/UC6pq8AtdqwFzTnmuH3R3iYA 2016-01-20T14:33:41+00:00 2016-01-20T14:33:41+00:00 Morph Fp7- 360º video of wall following. Experiments in the framework of the MORPH FP7 project carried out in Horta, Azores Islands in September 2015. yt:video:gPiQeoPv7r0 gPiQeoPv7r0 UC6pq8AtdqwFzTnmuH3R3iYA CIRS UdG https://www.youtube.com/channel/UC6pq8AtdqwFzTnmuH3R3iYA 2015-09-08T23:40:18+00:00 2016-03-29T08:49:13+00:00 Porto pim mapping with Sparus2 AUV Sparus 2 AUV (http://cirs.udg.edu/auvs-technology/auvs/sparus-ii-auv/) mapping at Porto Pim in the MORPH final field trials. yt:video:EXLPwXKjQg8 EXLPwXKjQg8 UC6pq8AtdqwFzTnmuH3R3iYA CIRS UdG https://www.youtube.com/channel/UC6pq8AtdqwFzTnmuH3R3iYA 2015-09-08T23:38:22+00:00 2015-10-27T21:09:46+00:00 Porto Pim mapping with Sparus2 AUV Sparus 2 AUV (http://cirs.udg.edu/auvs-technology/auvs/sparus-ii-auv/) mapping at Porto Pim in the MORPH final field trials. yt:video:Qvlp-xTaTgI Qvlp-xTaTgI UC6pq8AtdqwFzTnmuH3R3iYA CIRS UdG https://www.youtube.com/channel/UC6pq8AtdqwFzTnmuH3R3iYA 2015-07-28T17:25:03+00:00 2016-04-18T19:26:00+00:00 3D cave visualization. Supplementary matterial for the manuscript: Mallios A., Ridao P., Ribas D., Carreras M., Camilli R. Towards autonomous exploration in confined underwater environments, Journal of Field Robotics, 2015, submitted. yt:video:qPZEXX1N8rw qPZEXX1N8rw UC6pq8AtdqwFzTnmuH3R3iYA CIRS UdG https://www.youtube.com/channel/UC6pq8AtdqwFzTnmuH3R3iYA 2015-07-28T13:48:16+00:00 2015-07-28T13:48:17+00:00 SLAM algorithm visulaization in the cave dataset Supplementary matterial for the manuscript: Mallios A., Ridao P., Ribas D., Carreras M., Camilli R. Towards autonomous exploration in confined underwater environments, Journal of Field Robotics, 2015, submitted. yt:video:klHBFiwgOZY klHBFiwgOZY UC6pq8AtdqwFzTnmuH3R3iYA CIRS UdG https://www.youtube.com/channel/UC6pq8AtdqwFzTnmuH3R3iYA 2015-07-27T14:25:08+00:00 2016-04-13T05:53:00+00:00 Long-Term Autonomous Underwater Valve Panel Intervention yt:video:jSr8IMsRJ58 jSr8IMsRJ58 UC6pq8AtdqwFzTnmuH3R3iYA CIRS UdG https://www.youtube.com/channel/UC6pq8AtdqwFzTnmuH3R3iYA 2015-07-27T13:38:45+00:00 2015-11-08T22:53:07+00:00 Horizontal Chain Search & Following with Forward-Looking Sonar Experiments conducted in the harbor of Sant Feliu de Guíxols (Girona) with Girona 500 AUV, in which a chain deployed horizontally on the sea floor is autonomously located and followed using forward-looking sonar (ARIS). yt:video:6xAE-FP1LUA 6xAE-FP1LUA UC6pq8AtdqwFzTnmuH3R3iYA CIRS UdG https://www.youtube.com/channel/UC6pq8AtdqwFzTnmuH3R3iYA 2015-07-27T13:38:44+00:00 2015-11-10T00:08:24+00:00 Vertical Chain Search & Following with FLS and multibeam sonars Experiments conducted in the harbor of Sant Feliu de Guíxols (Girona) with Girona 500 AUV, in which a chain deployed vertically in the water column is autonomously located and followed using multibeam sonar and forward-looking sonar (ARIS). yt:video:XIMBAReG9E4 XIMBAReG9E4 UC6pq8AtdqwFzTnmuH3R3iYA CIRS UdG https://www.youtube.com/channel/UC6pq8AtdqwFzTnmuH3R3iYA 2015-06-26T10:51:45+00:00 2015-11-09T05:59:57+00:00 Docking & Intervention (Sea Trials) Autonomous AUV docking and Intervention. Valve turning and connector Plug/Unplug. Experiment performed at Sant Feliu Harbour.