CRAS - Indexed Articles in Journals
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Browsing CRAS - Indexed Articles in Journals by Author "5446"
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ItemMARESye: A hybrid imaging system for underwater robotic applications( 2020) Aníbal Matos ; Andry Maykol Pinto ; 5446 ; 5158This 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.
ItemA Safety Monitoring Model for a Faulty Mobile Robot( 2018) Andry Maykol Pinto ; Leite,A ; Aníbal Matos ; 5158 ; 5446The continued development of mobile robots (MR) must be accompanied by an increase in robotics' safety measures. Not only must MR be capable of detecting and diagnosing faults, they should also be capable of understanding when the dangers of a mission, to themselves and the surrounding environment, warrant the abandonment of their endeavors. Analysis of fault detection and diagnosis techniques helps shed light on the challenges of the robotic field, while also showing a lack of research in autonomous decision-making tools. This paper proposes a new skill-based architecture for mobile robots, together with a novel risk assessment and decision-making model to overcome the difficulties currently felt in autonomous robot design.
ItemUrban@CRAS dataset: Benchmarking of visual odometry and SLAM techniques( 2018) Ana Gaspar ; Aníbal Matos ; Andry Maykol Pinto ; Alexandra Nunes ; 6868 ; 5446 ; 5158 ; 6869