@conference {283, title = {A benchmarking study on single image dehazing techniques for underwater autonomous vehicles}, booktitle = {OCEANS 2017 - Aberdeen}, year = {2017}, month = {10/2017}, publisher = {IEEE}, organization = {IEEE}, address = {Aberdeen (UK)}, abstract = {

Enhancing the underwater images is of utmost importance for autonomous underwater vehicles. This kind of robots usually have to deal with highly degraded images from which it is extremely difficult to accurately find, recognise or manipulate targets of interest. For this reason, a single image dehazing fast enough to run in a real time system would be an important tool facilitating image processing. In this paper, an study of different dehazing techniques is presented, experimenting with the most suitable algorithms for this context. A benchmark is described testing dark channel prior based methodologies establishing an objective evaluation of these techniques from a real time application perspective.

}, keywords = {Atmospheric modeling, autonomous underwater vehicles, Cameras, Estimation, Image color analysis, image dehazing techniques, image denoising, image processing, Image restoration, Mathematical model, Scattering, underwater images}, isbn = {978-1-5090-5278-3 }, doi = {10.1109/OCEANSE.2017.8084771}, url = {https://doi.org/10.1109/OCEANSE.2017.8084771}, author = {P{\'e}rez, Javier and Sanz, Pedro J. and M. Bryson and S. B. Williams} } @conference {280, title = {Benchmarking water turbidity effect on tracking algorithms}, booktitle = {20th IFAC World Congress}, year = {2017}, month = {07/2017}, publisher = {IFAC-PapersOnLine}, organization = {IFAC-PapersOnLine}, address = {Toulouse (France)}, abstract = {

Field experiments in underwater robotics research require a big amount of resources in order to be able to test the system in sea conditions. Moreover, sea conditions are constantly changing making impossible to reproduce specific situations. For these reasons, testing, comparing and evaluating different algorithms in similar conditions is an utopic situation. In order to deal with this, a framework that mixes real experiments and a simulated environment is proposed to allow objective comparison of algorithms in an scenario as close as possible to field experiments. This is possible using real sensors in a controllable environment, for instance a water tank, adding simulated hostile conditions difficult to reproduce in a controlled environment such as water turbidity, composing a Hardware In the Loop (HIL) framework. This framework is formed by UWSim, an underwater simulator, and a benchmarking module able to measure the performance of external software. This setup is used in a search and recovery use case to compare different tracking algorithms, predicting the effect of water turbidity in them. The results allow to choose the best option without the need of dealing with field experiments.

}, keywords = {Underwater simulator Benchmarking Underwater intervention Robotics Dehazing}, doi = {https://doi.org/10.1016/j.ifacol.2017.08.1243}, author = {P{\'e}rez, Javier and Sales, Jorge and Pe{\~n}alver, Antonio and Fern{\'a}ndez, Jos{\'e} Javier and Fornas, David and Garc{\'\i}a, Juan Carlos and Mar{\'\i}n, Ra{\'u}l and Sanz, Pedro J.} } @conference {243, title = {A benchmarking perspective of underwater intervention systems}, booktitle = {IFAC Workshop on Navigation, Guidance and Control of Underwater Vehicles}, year = {2015}, month = {04/2015}, address = {Girona (Spain)}, doi = {10.1016/j.ifacol.2015.06.002}, author = {Sanz, Pedro J. and Javier P{\'e}rez and Sales, Jorge and Pe{\~n}alver, Antonio and Fern{\'a}ndez, Jos{\'e} Javier and Fornas, David and Mar{\'\i}n, Ra{\'u}l and Garc{\'\i}a, Juan Carlos} } @conference {233, title = {Benchmarking using UWSim, Simurv and ROS: An autonomous free floating dredging intervention case study}, booktitle = {Oceans{\textquoteright}15 MTS/IEEE Genova}, year = {2015}, month = {09/2015}, publisher = {IEEE}, organization = {IEEE}, address = {Genova (Italy)}, abstract = {

This paper proposes the use of UWSim (an underwater simulator) in combination with Simurv (a kinematic and dynamic library for Underwater Vehicle-Manipulator Systems control algorithms) and ROS (a well-known robotics framework) in order to simulate the dynamics of an Intervention Autonomous Underwater Vehicle and its application to the benchmarking of autonomous control algorithms in the field of archaeology dredging.

}, keywords = {benchmarking, free floating control, I-AUV, simulation, underwater autonomous intervention, UWSim}, isbn = {978-1-4799-8736-8}, doi = {10.1109/OCEANS-Genova.2015.7271514}, url = {https://doi.org/10.1109/OCEANS-Genova.2015.7271514}, author = {Fern{\'a}ndez, Jos{\'e} Javier and Javier P{\'e}rez and Pe{\~n}alver, Antonio and Sales, Jorge and Fornas, David and Sanz, Pedro J.} } @conference {149, title = {Benchmarking on UWSim, an open source tool for developing and evaluating underwater robots experiments}, booktitle = {Workshop on Human Robot Interaction (HRI), 2013 IEEE International Conference on Robotics and Automation (ICRA{\textquoteright}13)}, year = {2013}, month = {05/2013}, address = {Karlsruhe, Germany}, author = {Javier P{\'e}rez and Sales, Jorge and Prats, Mario and Mar{\'\i}n, Ra{\'u}l and Sanz, Pedro J.} } @article {126, title = {Bidirectional Transport Protocol for Teleoperated Robots}, journal = {IEE Transactions on Industrial Electronics}, volume = {56}, year = {2009}, month = {10/2009}, pages = {10}, chapter = {3772}, doi = {10.1109/TIE.2009.2025291}, author = {Wirz, Raul and Mar{\'\i}n, Ra{\'u}l and Ferre, Manuel and Barrio, Jorge and Claver, Jos{\'e} M. and Ortego, Javier} }