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Publications

Publications by CRAS

2020

MARESye: A hybrid imaging system for underwater robotic applications

Authors
Pinto, AM; Matos, AC;

Publication
INFORMATION FUSION

Abstract
This article presents an innovative hybrid imaging system that provides dense and accurate 3D information from harsh underwater environments. The proposed system is called MARESye and captures the advantages of both active and passive imaging methods: multiple light stripe range (LSR) and a photometric stereo (PS) technique, respectively. This hybrid approach fuses information from these techniques through a data-driven formulation to extend the measurement range and to produce high density 3D estimations in dynamic underwater environments. This hybrid system is driven by a gating timing approach to reduce the impact of several photometric issues related to the underwater environments such as, diffuse reflection, water turbidity and non-uniform illumination. Moreover, MARESye synchronizes and matches the acquisition of images with sub-sea phenomena which leads to clear pictures (with a high signal-to-noise ratio). Results conducted in realistic environments showed that MARESye is able to provide reliable, high density and accurate 3D data. Moreover, the experiments demonstrated that the performance of MARESye is less affected by sub-sea conditions since the SSIM index was 0.655 in high turbidity waters. Conventional imaging techniques obtained 0.328 in similar testing conditions. Therefore, the proposed system represents a valuable contribution for the inspection of maritime structures as well as for the navigation procedures of autonomous underwater vehicles during close range operations.

2020

Teaching robotics with a simulator environment developed for the autonomous driving competition

Authors
Fernandes, D; Pinheiro, F; Dias, A; Martins, A; Almeida, J; Silva, E;

Publication
Advances in Intelligent Systems and Computing

Abstract
Teaching robotics based on challenge of our daily lives is always more motivating for students and teachers. Several competitions of self-driving have emerged recently, challenging students and researchers to develop solutions addressing the autonomous driving systems. The Portuguese Festival Nacional de Robótica (FNR) Autonomous Driving Competition is one of those examples. Even though the competition is an exciting challenger, it requires the development of real robots, which implies several limitations that may discourage the students and compromise a fluid teaching process. The simulation can contribute to overcome this limitation and can assume an important role as a tool, providing an effortless and costless solution, allowing students and researchers to keep their focus on the main issues. This paper presents a simulation environment for FNR, providing an overall framework able to support the exploration of robotics topics like perception, navigation, data fusion and deep learning based on the autonomous driving competition. © Springer Nature Switzerland AG 2020.

2020

Deep Learning for Underwater Visual Odometry Estimation

Authors
Teixeira, B; Silva, H; Matos, A; Silva, E;

Publication
IEEE Access

Abstract

2020

A 2020 perspective on “Online guest profiling and hotel recommendation”

Authors
Veloso, BM; Leal, F; Malheiro, B; Burguillo, JC;

Publication
Electronic Commerce Research and Applications

Abstract

2020

Airfoil Selection and Wingsail Design for an Autonomous Sailboat

Authors
Silva, MF; Malheiro, B; Guedes, P; Ferreira, P;

Publication
Advances in Intelligent Systems and Computing - Robot 2019: Fourth Iberian Robotics Conference

Abstract

2020

Smart Companion Pillow – An EPS@ISEP 2019 Project

Authors
dos Reis, AS; Gielen, E; Wopereis, K; Pasternak, M; Sooäär, V; Schneider, T; Duarte, AJ; Malheiro, B; Justo, J; Ribeiro, C; Silva, MF; Ferreira, P; Guedes, P;

Publication
Advances in Intelligent Systems and Computing - Robot 2019: Fourth Iberian Robotics Conference

Abstract

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