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@inproceedings{Nagappa2013SingleCP,
  title={Single cluster PHD SLAM: Application to autonomous underwater vehicles using stereo vision},
  author={Sharad Nagappa and Narc{\'i}s Palomeras and Chee Sing Lee and Nuno Gracias and Daniel E. Clark and Joaquim Salvi},
	Booktitle = {Proc. of the IEEE OCEANS 2013 conf.},
	Month = {June},
	Year = {2013}}


@article{Elibol19mismatched,
	Author = {Elibol, Armagan and Chong, Nak-Young and Shim, Hyunjung and Kim, Jinwhan and Gracias, Nuno and Garcia, Rafael},
	Date-Added = {2019-04-11 12:49:52 +0200},
	Date-Modified = {2019-04-11 12:51:00 +0200},
	Day = {26},
	Doi = {10.1007/s41315-019-00089-0},
	Issn = {2366-598X},
	Journal = {International Journal of Intelligent Robotics and Applications},
	Month = {March},
	Title = {Mismatched image identification using histogram of loop closure error for feature-based optical mapping},
	Url = {https://doi.org/10.1007/s41315-019-00089-0},
	Year = {2019},
	Abstract = {Image registration is one of the most fundamental steps in optical mapping from mobile platforms. Lately, image registration is performed by detecting salient points in two images and matching their descriptors. Robust methods [such as Random Sample Consensus (RANSAC)] are employed to eliminate outliers and compute the geometric transformation between the coordinate frames of images, typically a homography when the images contain views of a flat area. However, the image registration pipeline can sometimes provide a sufficient number of wrong inliers within the error bounds even when images do not overlap at all. Such mismatches occur especially when the scene has repetitive texture and shows structural similarity. Such pairs prevent the trajectory (thus, a mosaic) from being estimated accurately. In this paper, we propose to utilize closed-loop constraints for identifying mismatches. Cycles appear when the camera revisits an area that was imaged before, which is a common practice especially for mapping purposes. The proposed method exploits the fact that images forming a cycle should have an identity mapping when all the homographies between images in the cycle are multiplied. Our proposal obtains error statistics for each matched image pair extracting several cycle bases. Then, by using a previously trained classifier, it identifies image pairs by comparing error histograms. We present experimental results with different image sequences.},
	Bdsk-Url-1 = {https://doi.org/10.1007/s41315-019-00089-0}}

@inproceedings{Himri18semantic,
	Address = {Opatija, Croatia},
	Author = {K. Himri and P. Ridao and N. Gracias and A. Palomer and N. Palomeras and R. Pi},
	Booktitle = {Proc. of the 11th IFAC Conference on Control Applications in Marine Systems, Robotics, and Vehicles CAMS 2018},
	Date-Added = {2019-04-11 12:43:41 +0200},
	Date-Modified = {2019-04-11 12:50:18 +0200},
	Doi = {https://doi.org/10.1016/j.ifacol.2018.09.497},
	Issn = {2405-8963},
	Journal = {IFAC-PapersOnLine},
	Keywords = {3D object recognition, 3D global descriptor, simultaneous localization, mapping (SLAM), Viewpoint Features Histogram (VFH), Ensemble of Shape Functions (ESF), laser scanner, autonomous underwater vehicles (AUVs)},
	Month = {September},
	Note = {11th IFAC Conference on Control Applications in Marine Systems, Robotics, and Vehicles CAMS 2018},
	Number = {29},
	Pages = {360 - 365},
	Title = {Semantic SLAM for an AUV using object recognition from point clouds},
	Url = {http://www.sciencedirect.com/science/article/pii/S2405896318321864},
	Volume = {51},
	Year = {2018},
	Abstract = {This paper presents a navigation and mapping system for an autonomous underwater vehicle (AUV) while operating near a man-made underwater environment. The objective is to recognize objects (or object parts) and use these as landmarks for simultaneous localization and mapping (SLAM). This approach is intended as the first step towards autonomous object manipulation, to be carried out at a later stage. The approach contains two main components: Object recognition from range data, and feature-based semantic SLAM. For the first component we propose an automatic method for the recognition and location of 3D objects using 3D point clouds as input, extracted from a laser scanner. Since it is common in inspection maintenance and repair (IMR) applications to have access to the 3D models of the objects of interest, the proposed method assumes a priori knowledge of the 3D models of these objects. In typical man-made environments, such objects can be distinct components of a structure, such as valves, pipes and wet-mateable connectors. The object recognition is based on recently proposed global descriptors for point clouds, that allow a compact description of the object shape, which is independent of the object view point. Once an object is recognized, its pose with respect to the AUV is determined using an ICP-based method. The second component of the approach is a feature based SLAM algorithm that uses the recognized objects as landmarks to improve the AUV navigation. The paper presents preliminary results obtained with the Girona 500 AUV, equipped with a fast laser scanner recently developed at the University of Girona. Tests conducted in a controlled environment (water tank) illustrate the suitability of the approach.},
	Bdsk-Url-1 = {http://www.sciencedirect.com/science/article/pii/S2405896318321864},
	Bdsk-Url-2 = {https://doi.org/10.1016/j.ifacol.2018.09.497}}

@inproceedings{Bosch17immersive,
	Address = {Seville, Spain},
	Author = {Bosch, Josep and Gracias, Nuno and Ridao, Pere and Ribas, David and Isteni{\v{c}}, Klemen and Garcia, Rafael and Rossi, Irena Radic},
	Booktitle = {ROBOT 2017: Third Iberian Robotics Conference},
	Date-Added = {2019-04-11 12:39:27 +0200},
	Date-Modified = {2019-04-11 12:52:07 +0200},
	Editor = {Ollero, Anibal and Sanfeliu, Alberto and Montano, Luis and Lau, Nuno and Cardeira, Carlos},
	Isbn = {978-3-319-70833-1},
	Month = {November},
	Pages = {183--195},
	Publisher = {Springer International Publishing},
	Title = {Immersive Touring for Marine Archaeology. Application of a New Compact Omnidirectional Camera to Mapping the Gnali{\'{c}} shipwreck with an AUV},
	Year = {2017},
	Abstract = {This paper presents the use of omnidirectional cameras on underwater robots for the rapid high-resolution mapping of shipwrecks in marine archaeology applications. In collaboration with the University of Zadar, the methodology was recently demonstrated on the Gnali{\'{c}} shipwreck during the Breaking the Surface 2016 workshop held in Biograd na Moru (Croatia). The robot was programmed to survey the shipwreck and the data collected was used to build 360{\$}{\$}^{\backslash}circ {\$}{\$}∘panoramic videos, topological panoramic maps and 3D optical reconstructions. The paper describes a recently built multicamera system comprising 5 compact, high resolution video cameras. It outlines the methodology used, reports the results obtained, and discusses the challenges that marine archaeology poses to underwater robotics, as well as the contribution that this technology may bring to the archaeology community.}}

@article{Gintert18marked,
	Author = {Gintert, Brooke E. and Manzello, Derek P. and Enochs, Ian C. and Kolodziej, Graham and Carlton, Ren{\'e}e and Gleason, Arthur C. R. and Gracias, Nuno},
	Date-Added = {2019-04-11 12:38:18 +0200},
	Date-Modified = {2019-04-11 12:52:07 +0200},
	Day = {01},
	Doi = {10.1007/s00338-018-1678-x},
	Issn = {1432-0975},
	Journal = {Coral Reefs},
	Month = {Jun},
	Number = {2},
	Pages = {533--547},
	Title = {Marked annual coral bleaching resilience of an inshore patch reef in the Florida Keys: A nugget of hope, aberrance, or last man standing?},
	Url = {https://doi.org/10.1007/s00338-018-1678-x},
	Volume = {37},
	Year = {2018},
	Abstract = {Annual coral bleaching events, which are predicted to occur as early as the next decade in the Florida Keys, are expected to cause catastrophic coral mortality. Despite this, there is little field data on how Caribbean coral communities respond to annual thermal stress events. At Cheeca Rocks, an inshore patch reef near Islamorada, FL, the condition of 4234 coral colonies was followed over 2 yr of subsequent bleaching in 2014 and 2015, the two hottest summers on record for the Florida Keys. In 2014, this site experienced 7.7 degree heating weeks (DHW) and as a result 38.0{\%} of corals bleached and an additional 36.6{\%} were pale or partially bleached. In situ temperatures in summer of 2015 were even warmer, with the site experiencing 9.5 DHW. Despite the increased thermal stress in 2015, only 12.1{\%} of corals were bleached in 2015, which was 3.1 times less than 2014. Partial mortality dropped from 17.6{\%} of surveyed corals to 4.3{\%} between 2014 and 2015, and total colony mortality declined from 3.4 to 1.9{\%} between years. Total colony mortality was low over both years of coral bleaching with 94.7{\%} of colonies surviving from 2014 to 2016. The reduction in bleaching severity and coral mortality associated with a second stronger thermal anomaly provides evidence that the response of Caribbean coral communities to annual bleaching is not strictly temperature dose dependent and that acclimatization responses may be possible even with short recovery periods. Whether the results from Cheeca Rocks represent an aberration or a true resilience potential is the subject of ongoing research.},
	Bdsk-Url-1 = {https://doi.org/10.1007/s00338-018-1678-x}}

@article{Panieri17integrated,
	Author = {Giuliana Panieri and Stefan B{\"u}nz and Daniel J. Fornari and Javier Escartin and Pavel Serov and P{\"a}r Jansson and Marta E. Torres and Joel E. Johnson and WeiLi Hong and Simone Sauer and Rafael Garcia and Nuno Gracias},
	Date-Added = {2017-07-11 10:53:23 +0000},
	Date-Modified = {2019-04-11 12:52:07 +0200},
	Doi = {https://doi.org/10.1016/j.margeo.2017.06.006},
	Issn = {0025-3227},
	Journal = {Marine Geology},
	Keywords = {Arctic Ocean},
	Month = {July},
	Pages = {-},
	Title = {An integrated view of the methane system in the pockmarks at Vestnesa Ridge, 79$\,^{\circ}$N},
	Url = {http://www.sciencedirect.com/science/article/pii/S0025322717303080},
	Year = {2017},
	Abstract = {Abstract The Vestnesa Ridge is a NW-SE trending, ~ 100 km-long, 1--2 km-thick contourite sediment section located in the Arctic Ocean, west of Svalbard, at 79$\,^{\circ}$N. Pockmarks align along the ridge summit at water depths of ~ 1200 m; they are ~ 700 m in diameter and ~ 10 m deep relative to the surrounding seafloor. Observations of methane seepage in this area have been reported since 2008. Here we summarize and integrate the available information to date and report on the first detailed seafloor imaging and camera-guided multicore sampling at two of the most active pockmarks along Vestnesa Ridge, named Lomvi and Lunde. We correlate seafloor images with seismically defined subseafloor structures, providing a geological and ecological context to better understand pockmark formation and water column observations. Subbottom and seismic surveys, water column imaging, geochemical data and seafloor observations indicate ongoing fluid flow at these pockmarks. Visual inspection and sampling using a high-resolution deep-sea camera and multicorer system show exposed gas hydrate and authigenic carbonate in association with biota within two of these pockmarks. Distributed methane venting at both Lomvi and Lunde supports extensive chemosynthetic communities that include filamentous sulfide-oxidizing bacteria and Siboglinid tubeworms, all of which utilize chemical energy provided by the seeping fluids. Focused venting forms shallow gas hydrate, and sustains localized gas discharge from 50-m wide pits within the pockmarks. Cycles of carbonate precipitation and/or exhumation of carbonate deposits are indicated by scattered blocks of various size, pavements, and massive carbonate blocks up to 3 m. Consistent with other observations along continental margin settings, we show that the extensive authigenic carbonate deposits in the Vestnesa pockmarks represent an important and prolonged methane sink that prevents much of the upwardly flowing methane from reaching the overlying ocean. },
	Bdsk-Url-1 = {http://www.sciencedirect.com/science/article/pii/S0025322717303080},
	Bdsk-Url-2 = {https://doi.org/10.1016/j.margeo.2017.06.006}}

@inproceedings{Istenic17mission,
	Address = {Aberdeen, UK},
	Author = {K. Isteni{\v c} and V. Ila and L. Polok and N. Gracias and R. Garc{\'\i}a},
	Booktitle = {Proc. of the MTS/IEEE OCEANS 2017 Conference},
	Date-Added = {2017-05-29 14:24:01 +0000},
	Date-Modified = {2017-05-29 19:53:04 +0000},
	Month = {June},
	Organization = {MTS/IEEE},
	Title = {Mission-time 3D Reconstruction with Quality Estimation},
	Year = {2017}}

@inproceedings{Prados17real,
	Address = {Aberdeen, UK},
	Author = {R. Prados and R. Garcia and N. Gracias and L. Neumann and H. V{\aa}gst{\o}l},
	Booktitle = {Proc. of the MTS/IEEE OCEANS 2017 Conference},
	Date-Added = {2017-05-29 13:54:44 +0000},
	Date-Modified = {2017-05-29 19:53:26 +0000},
	Month = {June},
	Organization = {MTS/IEEE},
	Title = {Real-time Fish Detection in Trawl Nets},
	Year = {2017}}

@inproceedings{Gracias16,
	Address = {Barcelona, Spain},
	Author = {N. Gracias and R. Garcia and R. Campos and R. Prados and J. Bosch and A. Elibol and T. Nicosevici and L. Neumann and J. Quintana},
	Booktitle = {Proc. of the 7th International Workshop on Marine Technology (MARTECH), Instrumentation Viewpoint 19},
	Date-Added = {2017-05-04 08:08:58 +0000},
	Date-Modified = {2017-05-04 08:12:22 +0000},
	Month = {November},
	Title = {Omnidirectional Underwater Surveying and Telepresence},
	Url = {http://users.isr.ist.utl.pt/~ngracias/publications/Gracias16_martech_omnius.pdf},
	Year = {2016},
	Bdsk-Url-1 = {http://users.isr.ist.utl.pt/~ngracias/publications/Gracias16_martech_omnius.pdf}}

@inproceedings{Vallicrosa16homing,
	Address = {Trondheim, Norway},
	Author = {G. Vallicrosa and J. Bosch and N. Palomeras and P. Ridao and M. Carreras and N. Gracias},
	Booktitle = {Proc. of 10th IFAC Conference on Control Applications in Marine Systems},
	Date-Added = {2016-10-05 21:55:55 +0000},
	Date-Modified = {2016-10-05 21:58:00 +0000},
	Month = {September},
	Organization = {IFAC},
	Title = {Autonomous homing and docking for AUVs using Range-Only Localization and Light Beacons},
	Url = {http://users.isr.ist.utl.pt/~ngracias/publications/Vallicrosa16_autonomous_homing_and_docking.pdf},
	Year = {2016},
	Bdsk-Url-1 = {http://users.isr.ist.utl.pt/~ngracias/publications/Vallicrosa16_autonomous_homing_and_docking.pdf}}

@article{Bosch16lightbeacons,
	Author = {Bosch, Josep and Gracias, Nuno and Ridao, Pere and Isteni{\v c}, Klemen and Ribas, David},
	Date-Added = {2016-10-05 21:54:58 +0000},
	Date-Modified = {2016-10-05 21:55:25 +0000},
	Doi = {10.3390/s16040429},
	Issn = {1424-8220},
	Journal = {Sensors},
	Number = {4},
	Pages = {429},
	Title = {Close-Range Tracking of Underwater Vehicles Using Light Beacons},
	Url = {http://www.mdpi.com/1424-8220/16/4/429},
	Volume = {16},
	Year = {2016},
	Abstract = {This paper presents a new tracking system for autonomous underwater vehicles (AUVs) navigating in a close formation, based on computer vision and the use of active light markers. While acoustic localization can be very effective from medium to long distances, it is not so advantageous in short distances when the safety of the vehicles requires higher accuracy and update rates. The proposed system allows the estimation of the pose of a target vehicle at short ranges, with high accuracy and execution speed. To extend the field of view, an omnidirectional camera is used. This camera provides a full coverage of the lower hemisphere and enables the concurrent tracking of multiple vehicles in different positions. The system was evaluated in real sea conditions by tracking vehicles in mapping missions, where it demonstrated robust operation during extended periods of time.},
	Bdsk-Url-1 = {http://www.mdpi.com/1424-8220/16/4/429},
	Bdsk-Url-2 = {http://dx.doi.org/10.3390/s16040429}}

@article{Campos16multivehicle,
	Author = {Campos, Ricard and Gracias, Nuno and Ridao, Pere},
	Date-Added = {2016-10-05 21:53:51 +0000},
	Date-Modified = {2016-10-05 21:54:24 +0000},
	Doi = {10.3390/s16030387},
	Issn = {1424-8220},
	Journal = {Sensors},
	Number = {3},
	Pages = {387},
	Title = {Underwater Multi-Vehicle Trajectory Alignment and Mapping Using Acoustic and Optical Constraints},
	Url = {http://www.mdpi.com/1424-8220/16/3/387},
	Volume = {16},
	Year = {2016},
	Abstract = {Multi-robot formations are an important advance in recent robotic developments, as they allow a group of robots to merge their capacities and perform surveys in a more convenient way. With the aim of keeping the costs and acoustic communications to a minimum, cooperative navigation of multiple underwater vehicles is usually performed at the control level. In order to maintain the desired formation, individual robots just react to simple control directives extracted from range measurements or ultra-short baseline (USBL) systems. Thus, the robots are unaware of their global positioning, which presents a problem for the further processing of the collected data. The aim of this paper is two-fold. First, we present a global alignment method to correct the dead reckoning trajectories of multiple vehicles to resemble the paths followed during the mission using the acoustic messages passed between vehicles. Second, we focus on the optical mapping application of these types of formations and extend the optimization framework to allow for multi-vehicle geo-referenced optical 3D mapping using monocular cameras. The inclusion of optical constraints is not performed using the common bundle adjustment techniques, but in a form improving the computational efficiency of the resulting optimization problem and presenting a generic process to fuse optical reconstructions with navigation data. We show the performance of the proposed method on real datasets collected within the Morph EU-FP7 project.},
	Bdsk-Url-1 = {http://www.mdpi.com/1424-8220/16/3/387},
	Bdsk-Url-2 = {http://dx.doi.org/10.3390/s16030387}}

@article{Elibol2016submapping,
	Author = {Elibol, Armagan and Kim, Jinwhan and Gracias, Nuno and Garcia, Rafael},
	Da = {2016//},
	Date-Added = {2016-10-05 21:46:57 +0000},
	Date-Modified = {2016-10-05 21:47:19 +0000},
	Doi = {10.1007/s10846-016-0380-x},
	Id = {Elibol2016},
	Isbn = {1573-0409},
	Journal = {Journal of Intelligent \& Robotic Systems},
	Pages = {1--21},
	Title = {Fast Underwater Image Mosaicing through Submapping},
	Ty = {JOUR},
	Url = {http://dx.doi.org/10.1007/s10846-016-0380-x},
	Year = {2016},
	Abstract = {One of the most important features of mobile robots is their capability to gather data from areas beyond human reach. This capability has increased the demand for the use of robots undertaking exploration tasks, which has naturally led to the need for efficient methods to process the obtained data. Image mosaicing is a useful tool for obtaining a high-resolution visual representation of a large area that has been explored using optical sensors. In this paper, we present an efficient image mosaicing approach that utilizes submapping methods to obtain a map of a surveyed area with reduced computational effort. The approach uses a modified agglomerative hierarchical clustering method to form submaps according to similarity information obtained through feature descriptor matching, and takes advantage of this submapping to reduce the computation and time costs. Comparative results on real challenging underwater datasets are presented.},
	Bdsk-Url-1 = {http://dx.doi.org/10.1007/s10846-016-0380-x}}

@article{Elibol2016gaps,
	Author = {Elibol, Armagan and Shim, Hyunjung and Hong, Seonghun and Kim, Jinwhan and Gracias, Nuno and Garcia, Rafael},
	Da = {2016//},
	Date-Added = {2016-10-05 21:45:31 +0000},
	Date-Modified = {2016-10-05 21:46:15 +0000},
	Doi = {10.1007/s11370-016-0195-4},
	Id = {Elibol2016},
	Isbn = {1861-2784},
	Journal = {Intelligent Service Robotics},
	Number = {3},
	Pages = {217--229},
	Title = {Online underwater optical mapping for trajectories with gaps},
	Ty = {JOUR},
	Url = {http://dx.doi.org/10.1007/s11370-016-0195-4},
	Volume = {9},
	Year = {2016},
	Abstract = {This paper proposes a vision-only online mosaicing method for underwater surveys. Our method tackles a common problem in low-cost imaging platforms, where complementary navigation sensors produce imprecise or even missing measurements. Under these circumstances, the success of the optical mapping depends on the continuity of the acquired video stream. However, this continuity cannot be always guaranteed due to the motion blurs or lack of texture, common in underwater scenarios. Such temporal gaps hinder the extraction of reliable motion estimates from visual odometry, and compromise the ability to infer the presence of loops for producing an adequate optical map. Unlike traditional underwater mosaicing methods, our proposal can handle camera trajectories with gaps between time-consecutive images. This is achieved by constructing minimum spanning tree which verifies whether the current topology is connected or not. To do so, we embed a trajectory estimate correction step based on graph theory algorithms. The proposed method was tested with several different underwater image sequences and results were presented to illustrate the performance.},
	Bdsk-Url-1 = {http://dx.doi.org/10.1007/s11370-016-0195-4}}

@article{Escartin16first,
	Author = {Escart{\'\i}n, Javier and Leclerc, Fr{\'e}d{\'e}rique and Olive, Jean-Arthur and Mevel, Catherine and Cannat, Mathilde and Petersen, Sven and Augustin, Nico and Feuillet, Nathalie and Deplus, Christine and Bezos, Antoine and Bonnemains, Diane and Chavagnac, Val{\'e}rie and Choi, Yujin and Godard, Marguerite and Haaga, Kristian A. and Hamelin, C{\'e}dric and Ildefonse, Benoit and Jamieson, John W. and John, Barbara E. and Leleu, Thomas and MacLeod, Christopher J. and Massot-Campos, Miquel and Nomikou, Paraskevi and Paquet, Marine and Rommevaux-Jestin, C{\'e}line and Rothenbeck, Marcel and Steinf{\"u}hrer, Anja and Tominaga, Masako and Triebe, Lars and Campos, Ricard and Gracias, Nuno and Garcia, Rafael and Andreani, Muriel and Vilaseca, G{\'e}raud},
	Date = {2016/9/15/},
	Date-Added = {2016-10-05 21:43:34 +0000},
	Date-Modified = {2016-10-05 21:44:27 +0000},
	Day = {15},
	Doi = {http://dx.doi.org/10.1016/j.epsl.2016.06.024},
	Isbn = {0012-821X},
	Journal = {Earth and Planetary Science Letters},
	Keywords = {submarine fault; surface rupture; earthquake; fault slip; neotectonics; microbathymetry},
	Month = {9},
	Pages = {96--107},
	Title = {First direct observation of coseismic slip and seafloor rupture along a submarine normal fault and implications for fault slip history},
	Ty = {JOUR},
	Url = {http://www.sciencedirect.com/science/article/pii/S0012821X16303119},
	Volume = {450},
	Year = {2016},
	Bdsk-Url-1 = {http://www.sciencedirect.com/science/article/pii/S0012821X16303119},
	Bdsk-Url-2 = {http://dx.doi.org/10.1016/j.epsl.2016.06.024}}

@inproceedings{Bosch16towards,
	Address = {Madrid, Spain},
	Author = {J. Bosch and P. Ridao and R. Garcia and N. Gracias},
	Booktitle = {Proc. of the XXXVII Jornadas de Autom{\'a}tica - 2016 conference},
	Date-Added = {2016-10-05 21:35:47 +0000},
	Date-Modified = {2019-04-11 12:29:58 +0200},
	Month = {September},
	Title = {Towards omnidirectional immersion for ROV teleoperation},
	Url = {http://users.isr.ist.utl.pt/~ngracias/publications/Bosch16_towards_omni_ROV_teleoperation.pdf},
	Year = {2016},
	Bdsk-Url-1 = {http://users.isr.ist.utl.pt/~ngracias/publications/Bosch16_towards_omni_ROV_teleoperation.pdf}}

@article{Hernandez16,
	Author = {Hern{\'a}ndez, Juan David and Isteni{\v c}, Klemen and Gracias, Nuno and Palomeras, Narc{\'\i}s and Campos, Ricard and Vidal, Eduard and Garc{\'\i}a, Rafael and Carreras, Marc},
	Date-Added = {2016-10-05 21:31:32 +0000},
	Date-Modified = {2016-10-05 21:32:34 +0000},
	Doi = {10.3390/s16081174},
	Issn = {1424-8220},
	Journal = {Sensors},
	Number = {8},
	Pages = {1174},
	Title = {Autonomous Underwater Navigation and Optical Mapping in Unknown Natural Environments},
	Url = {http://www.mdpi.com/1424-8220/16/8/1174},
	Volume = {16},
	Year = {2016},
	Abstract = {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.},
	Bdsk-Url-1 = {http://www.mdpi.com/1424-8220/16/8/1174},
	Bdsk-Url-2 = {http://dx.doi.org/10.3390/s16081174}}

@inproceedings{Gracias13,
	Author = {N. Gracias and P. Ridao and R. Garcia and J. Escart\'in and M. L'Hour and F. Cibecchini and R. Campos and M. Carreras and D. Ribas and N. Palomeras and L. Magi and A. Palomer and T. Nicosevici and R. Prados and R. Heged\"us and L. Neumann and F. de Filippo and A. Mallios},
	Booktitle = {Proc. of the IEEE OCEANS 2013 conf.},
	Date-Added = {2013-08-28 12:37:45 +0000},
	Date-Modified = {2013-08-28 12:45:09 +0000},
	Location = {Bergen, Norway},
	Month = {June},
	Title = {Mapping the {Moon}: {U}sing a lightweight {AUV} to survey the site of the 17th Century ship `{La Lune}'},
	Url = {http://users.isr.ist.utl.pt/~ngracias/publications/Gracias13_oceans_130118-160.pdf},
	Year = {2013},
	Bdsk-Url-1 = {http://users.isr.ist.utl.pt/~ngracias/publications/Gracias13_oceans_130118-160.pdf}}

@incollection{elibol2013feature,
	Author = {Elibol, Arma{\u{g}}an and Gracias, Nuno and Garcia, Rafael},
	Booktitle = {Efficient Topology Estimation for Large Scale Optical Mapping},
	Date-Added = {2013-08-25 23:24:25 +0000},
	Date-Modified = {2013-08-25 23:24:25 +0000},
	Pages = {9--23},
	Publisher = {Springer Berlin Heidelberg},
	Title = {Feature-Based Image Mosaicing},
	Year = {2013}}

@incollection{elibol2013topology,
	Author = {Elibol, Armagan and Gracias, Nuno and Garcia, Rafael},
	Booktitle = {Efficient Topology Estimation for Large Scale Optical Mapping},
	Date-Added = {2013-08-25 23:24:25 +0000},
	Date-Modified = {2013-08-29 11:08:43 +0000},
	Pages = {61--76},
	Publisher = {Springer Berlin Heidelberg},
	Title = {Topology Estimation Using Bundle Adjustment},
	Year = {2013}}

@inproceedings{Gracias2013edulearn,
	Address = {Barcelona, Spain},
	Author = {N. Gracias and R. Garcia},
	Booktitle = {Proceeding of the EDULEARN13 Conference},
	Date-Added = {2013-08-25 23:24:25 +0000},
	Date-Modified = {2013-08-28 12:41:34 +0000},
	Month = {July},
	Pages = {1319--1325},
	Publisher = {IATED},
	Title = {Can We Trust Peer Grading In Oral Presentations? {T}owards Optimizing A Critical Resource Nowadays: {T}eacher's Time},
	Year = {2013}}

@article{shihavuddin2013image,
	Author = {Shihavuddin, ASM and Gracias, Nuno and Garcia, Rafael and Gleason, Arthur CR and Gintert, Brooke},
	Date-Added = {2013-08-25 23:24:25 +0000},
	Date-Modified = {2013-08-25 23:24:25 +0000},
	Journal = {Remote Sensing},
	Number = {4},
	Pages = {1809--1841},
	Publisher = {Multidisciplinary Digital Publishing Institute},
	Title = {Image-Based Coral Reef Classification and Thematic Mapping},
	Volume = {5},
	Year = {2013}}

@inproceedings{Elibol13oceans,
	Author = {A. Elibol and J. Kim and S--C. Yu and N. Gracias and R. Garcia},
	Booktitle = {Proc. of the IEEE OCEANS 2013 conf.},
	Date-Modified = {2013-08-28 12:40:10 +0000},
	Location = {Bergen, Norway},
	Month = {June},
	Title = {Match Elimination using Cycle Basis in Underwater Optical Mapping},
	Year = {2013}}

@inproceedings{Palomeras13,
	Author = {N. Palomeras and S. Nagappa and D. Ribas and N. Gracias and M. Carreras},
	Booktitle = {Proc. of the IEEE OCEANS 2013 conf.},
	Location = {Bergen, Norway},
	Month = {June},
	Title = {Vision-based localization and mapping system for AUV intervention},
	Year = {2013}}

@inproceedings{Gracias97,
	Address = {Stockholm, Sweden},
	Author = {N. Gracias and J. Santos--Victor},
	Booktitle = {Proc. of the International Symposium on Intelligent Robotic Systems},
	Month = {July},
	Title = {Robust Estimation of the Fundamental Matrix and Stereo Correspondences},
	Year = {1997}}

@mastersthesis{GraciasMSc,
	Address = {Lisbon, Portugal},
	Author = {N. Gracias},
	Month = {April},
	School = {Instituto Superior T{\'e}cnico},
	Title = {Application of Robust Estimation to Computer Vision: Video mosaics and {3--D} Reconstruction},
	Url = {vislab.isr.ist.utl.pt},
	Year = {1998},
	Bdsk-Url-1 = {vislab.isr.ist.utl.pt}}

@inproceedings{Gracias98,
	Address = {Nice, France},
	Author = {N. Gracias and J. Santos--Victor},
	Booktitle = {Proc. of the IEEE Oceans 98 Conference},
	Month = {September},
	Title = {Automatic Mosaic Creation of the Ocean Floor},
	Year = {1998}}

@inproceedings{Gracias99,
	Address = {Coimbra, Portugal},
	Author = {N. Gracias and J. Santos--Victor},
	Booktitle = {Proc. of the 7th Int. Symp. on Intelligent Robotic Systems SIRS99},
	Month = {July},
	Title = {Trajectory reconstruction using mosaic registration},
	Year = {1999}}

@article{Gracias00,
	Author = {N. Gracias and J. Santos--Victor},
	Journal = {Computer Vision and Image Understanding},
	Month = {July},
	Number = 1,
	Pages = {66--91},
	Title = {Underwater Video Mosaics as Visual Navigation Maps},
	Volume = 79,
	Year = 2000}

@article{Gracias01a,
	Author = {N. Gracias and J. Santos--Victor},
	Journal = {Robotics and Autonomous Systems},
	Month = {July},
	Pages = {163--177},
	Title = {Trajectory reconstruction with uncertainty estimation using mosaic registration},
	Volume = 35,
	Year = 2001}

@inproceedings{Gracias01b,
	Address = {Honolulu, Hawaii, U.S.A.},
	Author = {N. Gracias and J. Santos--Victor},
	Booktitle = {Proc. of the Oceans 2001 Conference},
	Month = {November},
	Pages = {2557--2563},
	Title = {Underwater mosaicing and trajectory reconstruction using global alignment},
	Year = {2001}}

@inproceedings{Gracias01c,
	Address = {Rio de Janeiro, Brasil},
	Author = {J. Santos--Victor and N. Gracias and S. Zwaan},
	Booktitle = {Proc. of the 1st Int.l Workshop on Underwater robotics for Sea Exploitation and Environ. Monitoring},
	Month = {October},
	Title = {Using Vision for Underwater Robotics: {V}ideo Mosaics and Station Keeping},
	Year = {2001}}

@article{Gracias02a,
	Author = {N. Gracias and S. Zwaan and A. Bernardino and J. Santos--Victor},
	Journal = {Submitted to International Journal of Robotics Research},
	Title = {A framework for {M}osaic Based {V}isual {S}ervoing: Application to underwater vehicles and aerial blimps},
	Year = 2002}

@inproceedings{Gracias02c,
	Address = {Biloxi, Mississippi, U.S.A.},
	Author = {N. Gracias and S. Zwaan and A. Bernardino and J. Santos--Victor},
	Booktitle = {Proc. of the Oceans 2002 Conference},
	Month = {October},
	Title = {Results on {U}nderwater {M}osaic--based {N}avigation},
	Year = {2002}}

@phdthesis{GraciasPhD,
	Address = {Lisbon, Portugal},
	Author = {N. Gracias},
	Month = {June},
	School = {Instituto Superior T{\'e}cnico},
	Title = {Mosaic--based {V}isual {N}avigation for {A}utonomous {U}nderwater {V}ehicles},
	Url = {vislab.isr.ist.utl.pt},
	Year = {2003},
	Bdsk-Url-1 = {vislab.isr.ist.utl.pt}}

@article{Gracias02b,
	Author = {N. Gracias and S. Zwaan and A. Bernardino and J. Santos--Victor},
	Journal = {Accepted for publication in {J}ournal of {O}ceanic {E}ngineering},
	Title = {{M}osaic Based {N}avigation for {A}utonomous {U}nderwater {V}ehicles},
	Year = 2003}

@article{Gracias03,
	Author = {N. Gracias and S. Zwaan and A. Bernardino and J. Santos--Victor},
	Journal = {{J}ournal of {O}ceanic {E}ngineering},
	Month = {October},
	Number = 4,
	Pages = {609--624},
	Title = {{M}osaic Based {N}avigation for {A}utonomous {U}nderwater {V}ehicles},
	Volume = 28,
	Year = 2003}

@inproceedings{Gracias04,
	Address = {Lisbon, Portugal},
	Author = {N. Gracias and J.P. Costeira and J. Santos--Victor},
	Booktitle = {Proc. of the 4th IFAC/EURON Symposium on Autonomous Vehicles, IAV04},
	Month = {July},
	Title = {Linear Global Mosaics for Underwater Surveying},
	Year = {2004}}

@inproceedings{Reid04,
	Address = {Washington, DC},
	Author = {P. Reid and N. Gracias and S. Negahdaripour and D. Lirman and P. Kramer and K. Voss},
	Booktitle = {{SERDP} -- Partners in Environmental Technology Technical Symposium \& Workshop},
	Month = {November},
	Title = {Application of {ROV}--based Video Technology to Complement Coral Reef Resource Mapping and Monitoring},
	Year = {2004}}

@misc{Gracias05a,
	Author = {N. Gracias},
	Date-Modified = {2013-08-25 19:10:43 +0000},
	Howpublished = {Available at http://users.isr.ist.utl.pt/~ngracias/publications/ekfnotes.pdf},
	Institution = {Universitat de Girona},
	Title = {Preliminary work on image mosaicing using {EKF}},
	Year = 2005}

@inproceedings{Gracias05,
	Address = {Washington, D.C., U.S.A.},
	Author = {N. Gracias and S. Negahdaripour},
	Booktitle = {Proc. of the MTS/IEEE Oceans 2005 Conference},
	Month = {September},
	Title = {Underwater Mosaic Creation using Video sequences from Different Altitudes},
	Year = {2005}}

@inproceedings{Gracias06remove,
	Address = {New York City, U.S.A.},
	Author = {N. Gracias and A. Gleason and S. Negahdaripour and M. Mahoor},
	Booktitle = {Submitted to Int. Conf. Computer Vision and Pattern Recognition (CVPR06)},
	Month = {June},
	Title = {Efficient Image Blending using Watersheds and Graph Cuts},
	Year = {2006}}

@inproceedings{Gracias06a,
	Address = {Edinburgh, U.K.},
	Author = {N. Gracias and A. Gleason and S. Negahdaripour and M. Mahoor},
	Booktitle = {Proc. of the British Machine Vision Conference (BMVC06)},
	Month = {September},
	Title = {Fast Image Blending using Watersheds and Graph Cuts},
	Year = {2006}}

@inproceedings{Nicosevici07,
	Address = {Vilanova i la Geltru, Spain},
	Author = {T. Nicosevici and R. Garcia and N. Gracias},
	Booktitle = {Proc. of the International Workshop on Marine Technology - Martech'07},
	Month = {November},
	Title = {Identification of geometrically consistent interest points for 3D scene reconstruction},
	Year = {2007}}

@inproceedings{Ferrer07a,
	Address = {Vilanova i la Geltru, Spain},
	Author = {J. Ferrer and N. Gracias and O. Delaunoy and R. Garcia},
	Booktitle = {Proc. of the International Workshop on Marine Technology - Martech'07},
	Month = {November},
	Title = {Creating Large and Accurate Mosaics of the Mid--Atlantic Ridge},
	Year = {2007}}

@article{Lirman07,
	Author = {D. Lirman and N. Gracias and B. Gintert and A. Gleason and R. P. Reid and S. Negahdaripour and P. Kramer},
	Journal = {Environmental Monitoring and Assessment},
	Pages = {59--73},
	Title = {Development and Application of a Video--Mosaic Survey Technology to Document the Status of Coral Reef Communities},
	Volume = 159,
	Year = 2007}

@article{Gleason07,
	Author = {A. Gleason and D. Lirman and D. Williams and N. Gracias and B. Gintert and H. Madjidi and R.P. Reid and G.C. Boynton and S. Negahdaripour and M. Miller and P. Kramer},
	Journal = {Marine Ecology},
	Month = {June},
	Number = {2},
	Pages = {254-258},
	Title = {Documenting hurricane impacts on coral reefs using two--dimensional video--mosaic technology},
	Volume = {28},
	Year = 2007}

@inproceedings{Gracias08a,
	Address = {Quebec City, Canada},
	Author = {N. Gracias and S. Negahdaripour and L. Neumann and R. Prados and R. Garcia},
	Booktitle = {Proc. of the MTS/IEEE Oceans 2008 Conference},
	Month = {September},
	Title = {A motion compensated filtering approach to remove sunlight flicker in shallow water images},
	Year = {2008}}

@article{Delaunoy08,
	Author = {O. Delaunoy and N. Gracias and R. Garcia},
	Doi = {10.1109/OCEANSKOBE.2008.4531004},
	Journal = {OCEANS 2008 - MTS/IEEE Kobe Techno-Ocean},
	Month = {April},
	Pages = {1-8},
	Title = {Towards Detecting Changes in Underwater Image Sequences},
	Year = {2008},
	Bdsk-Url-1 = {http://dx.doi.org/10.1109/OCEANSKOBE.2008.4531004}}

@inproceedings{Elibol09a,
	Address = {Povoa do Varzim, Portugal},
	Author = {A. Elibol and N. Gracias and R. Garcia},
	Booktitle = {Proc. of the 4th Iberian Conference on Pattern Recognition and Image Analysis (IbPRIA2009)},
	Month = {June},
	Pages = {104--111},
	Publisher = {Springer--Verlag LNCS 5524},
	Title = {Match Selection in Batch Mosaicing using Mutual Information},
	Year = {2009}}

@article{Escartin08,
	Author = {J. Escartin and R. Garcia and O. Delaunoy and J. Ferrer and N. Gracias and A. Elibol and X. Cufi and L. Neumann and D. Fornari and S. Humphris},
	Date-Modified = {2013-08-25 18:58:57 +0000},
	Journal = {Geochemistry, Geophysics, Geosystems},
	Number = {Q1},
	Title = {Globally-aligned photo mosaic of the Lucky Strike hydrothermal Vent Field (Mid-Atlantic Ridge, 37 18.5{N}): {R}elease of georeferenced data and interactive viewer software},
	Volume = {9},
	Year = {2009}}

@article{Gracias09,
	Author = {N. Gracias and M. Mahoor and S. Negahdaripour and A. Gleason},
	Doi = {DOI: 10.1016/j.imavis.2008.04.014},
	Issn = {0262-8856},
	Journal = {Image and Vision Computing},
	Keywords = {3-D texture blending},
	Number = {5},
	Pages = {597--607},
	Title = {Fast image blending using watersheds and graph cuts},
	Url = {http://www.sciencedirect.com/science/article/B6V09-4SDGR1W-6/2/e11b1e9711ad91fba9d6fd4ee54d578a},
	Volume = {27},
	Year = {2009},
	Bdsk-Url-1 = {http://www.sciencedirect.com/science/article/B6V09-4SDGR1W-6/2/e11b1e9711ad91fba9d6fd4ee54d578a},
	Bdsk-Url-2 = {http://dx.doi.org/10.1016/j.imavis.2008.04.014}}

@article{Lirman10,
	Author = {D. Lirman and N. Gracias and B. Gintert and A. Gleason and G. Deangelo and M. Dick and E. Martinez and R. P. Reid},
	Journal = {Limnology and Oceanography: Methods},
	Pages = {88--97},
	Title = {Damage and Recovery Assessment of Vessel Grounding Injuries on Coral Reef Habitats Using Georeferenced Landscape Video Mosaics},
	Volume = 8,
	Year = 2010}

@article{elibol2010augmented,
	Author = {Elibol, A. and Gracias, N. and Garcia, R.},
	Issn = {1556-4967},
	Journal = {Journal of Field Robotics},
	Number = {5},
	Pages = {656--674},
	Publisher = {Wiley Online Library},
	Title = {Augmented state--extended Kalman filter combined framework for topology estimation in large-area underwater mapping},
	Volume = {27},
	Year = {2010}}

@inproceedings{gintert2010underwater,
	Author = {Gintert, B. and Gleason, AC and Gracias, N. and Lirman, D. and Dick, M. and Szlyk, T. and Ciminello, M. and Reid, PR},
	Booktitle = {American Geophysical Union Meeting},
	Date-Modified = {2013-08-25 19:06:54 +0000},
	Month = {February},
	Publisher = {American Geophysical Union, 2000 Florida Ave., N. W. Washington DC 20009 USA,},
	Title = {Underwater Landscape Mosaics: A unique tool for linking reef ecology and reef mapping},
	Year = {2010}}

@article{mittelstaedt2010diffuse,
	Author = {E. Mittelstaedt and J. Escartin and N. Gracias and J. Olive and T. Barreyre and A. Davaille and M. Cannat},
	Journal = {AGU Fall Meeting Abstracts},
	Pages = {08},
	Title = {Diffuse versus discrete venting at the Tour Eiffel vent site, Lucky Strike hydrothermal field},
	Volume = {1},
	Year = {2010}}

@techreport{reid2010application,
	Author = {Reid, R.P. and Lirman, D. and Gracias, N. and Negahdaripour, S. and Gleason, A. and Gintert, B.},
	Institution = {SERDP},
	Title = {Application of Landscape Mosaic Technology to Complement Coral Reef Resource Mapping and Monitoring},
	Year = {2010}}

@article{mittelstaedt2010noninvasive,
	Author = {Mittelstaedt, E. and Davaille, A. and van Keken, P.E. and Gracias, N. and Escartin, J.},
	Journal = {Geochemistry Geophysics Geosystems},
	Number = {10},
	Pages = {Q10005},
	Publisher = {American Geophysical Union},
	Title = {A noninvasive method for measuring the velocity of diffuse hydrothermal flow by tracking moving refractive index anomalies},
	Volume = {11},
	Year = {2010}}

@article{gleason2010landscape,
	Author = {Gleason, A. and Gracias, N. and Lirman, D. and Gintert, B. and Smith, T. and Dick, M. and Reid, R.},
	Date-Modified = {2013-08-25 19:10:43 +0000},
	Journal = {Coral Reefs},
	Number = {2},
	Pages = {253--253},
	Publisher = {Springer},
	Title = {Landscape video mosaic from a mesophotic coral reef},
	Volume = {29},
	Year = {2010}}

@article{elibol2011global,
	Author = {Elibol, A. and Garcia, R. and Gracias, N.},
	Journal = {Ocean Engineering},
	Number = {10},
	Pages = {1207--1219},
	Publisher = {Elsevier},
	Title = {A new global alignment approach for underwater optical mapping},
	Volume = {38},
	Year = {2011}}

@inproceedings{elibol2011efficient,
	Author = {Elibol, A. and Gracias, N. and Garcia, R. and Gleason, A. and Gintert, B. and Lirman, D. and Reid, P.~R.},
	Booktitle = {IROS 2011 Workshop on Robotics for Environmental Monitoring},
	Month = {September},
	Title = {Efficient autonomous image mosaicing with applications to coral reef monitoring},
	Year = {2011}}

@inproceedings{garcia2011detection,
	Author = {Garcia, R. and Gracias, N.},
	Booktitle = {OCEANS, 2011 IEEE-Spain},
	Organization = {IEEE},
	Pages = {1--9},
	Title = {Detection of interest points in turbid underwater images},
	Year = {2011}}

@article{mittelstaedt2011mesure,
	Author = {Mittelstaedt, E. And Davaille, A. And Van Keken, P. And Gracias, N. And Escartin, J.},
	Journal = {20{\`e}me Congr{\`e}s Fran{\c{c}}ais de M{\'e}canique, 28 ao{\^u}t/2 sept. 2011-25044 Besan{\c{c}}on, France (FR)},
	Publisher = {AFM, Maison de la M{\'e}canique, 39/41 rue Louis Blanc, 92400 Courbevoie, France (FR)},
	Title = {Mesure des champs de vitesse dans les champs hydrothermaux oc{\'e}aniques},
	Year = {2011}}

@article{mittelstaedt2012quantifying,
	Author = {Mittelstaedt, E. and Escart{\'\i}n, J. and Gracias, N. and Olive, J.A. and Barreyre, T. and Davaille, A. and Cannat, M. and Garcia, R.},
	Journal = {Geochemistry Geophysics Geosystems},
	Pages = {Q04008},
	Publisher = {American Geophysical Union},
	Title = {Quantifying diffuse and discrete venting at the Tour Eiffel vent site, Lucky Strike hydrothermal field},
	Volume = {13},
	Year = {2012}}

@inproceedings{Shihav13oceans,
	Author = {A. Shihavuddin and N. Gracias and R. Garcia and J. Escartin and R. Pedersen},
	Booktitle = {Proc. of the IEEE OCEANS 2013 conf.},
	Date-Modified = {2013-08-25 23:12:04 +0000},
	Location = {Bergen, Norway},
	Month = {June},
	Title = {Automated classification and thematic mapping of bacterial mats in the North Sea},
	Year = {2013}}

@inproceedings{Ferrer07,
	Author = {Ferrer, J. and Elibol, A. and Delaunoy, O. and Gracias, N. and Garcia, R.},
	Booktitle = {Proceedings of the IEEE OCEANS Conference},
	Doi = {10.1109/OCEANS.2007.4449367},
	Location = {Vancouver (Canada)},
	Month = {October},
	Pages = {1--9},
	Title = {Large-Area Photo-Mosaics Using Global Alignment and Navigation Data},
	Year = {2007},
	Bdsk-Url-1 = {http://dx.doi.org/10.1109/OCEANS.2007.4449367}}

@article{Prados12,
	Author = {R. Prados and R. Garcia and N. Gracias and J. Escartin and L. Neumann},
	Journal = {IEEE Journal of Oceanic Engineering},
	Number = {4},
	Pages = {626--644},
	Title = {A Novel Blending Technique for Underwater Giga-Mosaicing},
	Volume = {37},
	Year = {2012}}

@article{Ribas12,
	Author = {Ribas, D. and Palomeras, N. and Ridao, P. and Carreras, M. and Mallios, A.},
	Doi = {10.1109/TMECH.2011.2174065},
	Issn = {1083-4435},
	Journal = {IEEE/ASME Transactions on Mechatronics},
	Number = {1},
	Pages = {46--53},
	Title = {Girona 500 {AUV}: From Survey to Intervention},
	Volume = {17},
	Year = {2012},
	Bdsk-Url-1 = {http://dx.doi.org/10.1109/TMECH.2011.2174065}}

@article{Elibol13,
	Author = {A. Elibol and N. Gracias and R. Garcia},
	Journal = {Robotics and Autonomous Systems},
	Number = {2},
	Pages = {125--136},
	Title = {Fast topology estimation for image mosaicing using adaptive information thresholding},
	Volume = {61},
	Year = {2013}}

@inproceedings{Ridao13,
	Address = {Las Palmas, Spain},
	Author = {P. Ridao and N.Gracias and M. Carreras and R. Garcia},
	Booktitle = {Workshop on Marine Robotics (EUROCAST 2013)},
	Date-Modified = {2013-08-28 12:01:21 +0000},
	Month = {February},
	Title = {From Survey to Intervention -- {T}he challenges of {3D} Mapping for Multipurpose Intervention},
	Year = {2013}}

@article{Prats12Reconfigurable,
	Author = {Prats, M. and Ribas, D. and Palomeras, N. and Garc\'ia, J. C. and Nannen, V. and Wirth, S. and Fern\'andez, J. J. and Beltr\'an, J. P. and Campos, R. and Ridao, P. and Sanz, P. J. and Oliver, G. and Carreras, M. and Gracias, N. and Mar\'in, R. and Ortiz, A.},
	Issn = {1861-2776},
	Journal = {Intelligent Service Robotics},
	Language = {English},
	Number = {1},
	Pages = {19-31},
	Publisher = {Springer-Verlag},
	Title = {Reconfigurable {AUV} for intervention missions: a case study on underwater object recovery},
	Volume = {5},
	Year = {2012}}

@inproceedings{Prats12Control,
	Author = {Prats, M. and Garcia, J.C. and Wirth, S. and Ribas, D. and Sanz, P.J. and Ridao, P. and Gracias, N. and Oliver, G.},
	Booktitle = {Control Automation (MED), 2012 20th Mediterranean Conference on},
	Pages = {1379-1384},
	Title = {Multipurpose autonomous underwater intervention: A systems integration perspective},
	Year = {2012}}

@misc{Nomikou12,
	Author = {Nomikou, P. and Escart\'in, J. and Ridao, P. and Sakellariou, D. and Camilli, R. and Ballu, V. and Moreira, M. and M\'{\'e}vel, C. and Mallios, A. and Deplus, C. and Andreani, M. and Pot, O. and Garcia, R. and Rouzie, L. and Gabsi, T. and Campos, R. and Gracias, N. and Hurt\'os, N. and Magi, L. and Palomeras, N. and Ribas, D.},
	Howpublished = {Poster in Volcanism of the Southern Aegean in the frame of the broader Mediterranean area 10-12},
	Location = {Santorini, Greece},
	Month = {October},
	Title = {Preliminary submarine monitoring of {S}antorini Caldera: Hydrothermal activity, and seafloor deformation},
	Year = {2012}}

@article{Nicosevici2009,
	Address = {Chichester, UK},
	Author = {Nicosevici, T. and Gracias, N. and Negahdaripour, S. and Garcia, R.},
	Doi = {10.1002/rob.v26:10},
	Issn = {1556-4959},
	Issue = {10},
	Journal = {Journal of Field Robotics},
	Month = {October},
	Numpages = {30},
	Pages = {759--788},
	Publisher = {John Wiley and Sons Ltd.},
	Title = {Efficient three-dimensional scene modeling and mosaicing},
	Volume = {26},
	Year = {2009},
	Bdsk-Url-1 = {http://dx.doi.org/10.1002/rob.v26:10}}

@inproceedings{Elibol08,
	Address = {Berlin, Heidelberg},
	Author = {Elibol, A. and Garcia, R. and Delaunoy, O. and Gracias, N.},
	Booktitle = {Proceedings of the 4th International Symposium on Advances in Visual Computing, Part II},
	Isbn = {978-3-540-89645-6},
	Location = {Las Vegas, NV},
	Numpages = {10},
	Pages = {257--266},
	Publisher = {Springer-Verlag},
	Series = {ISVC '08},
	Title = {A New Global Alignment Method for Feature Based Image Mosaicing},
	Year = {2008}}

@article{ElibolAIP,
	Author = {Elibol, A. and Gracias, N. and Garcia, R.},
	Journal = {AIP Conference Proceedings},
	Number = {1},
	Pages = {878-881},
	Publisher = {AIP},
	Title = {Reducing the optimisation effort in batch mosaicing},
	Volume = {1479},
	Year = {2012}}

@book{Elibol2012,
	Author = {Elibol, A. and Gracias, N. and Garcia, R.},
	Publisher = {Springer},
	Series = {Springer Tracts in Advanced Robotics},
	Title = {Efficient Topology Estimation for Large Scale Optical Mapping},
	Volume = {82},
	Year = {2012}}

@inproceedings{ElibolSIU12,
	Author = {Elibol, A. and Gracias, N. and Garcia, R.},
	Booktitle = {Signal Processing and Communications Applications (SIU), 2012 IEEE 20th Conference on},
	Month = {April},
	Title = {Efficient Image Mosaicing for Optical Underwater Mapping},
	Year = {2012}}

@inproceedings{shihav12,
	Author = {Shihavuddin, A. and Gracias, N. and Garcia, R.},
	Booktitle = {International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications (VISAPP)},
	Crossref = {conf/visapp/2012-1},
	Date-Modified = {2013-08-29 11:08:07 +0000},
	Isbn = {978-989-8565-03-7},
	Keywords = {dblp},
	Pages = {161-167},
	Publisher = {SciTePress},
	Title = {Online Sunflicker Removal using Dynamic Texture Prediction.},
	Year = 2012}

@article{Elibol14graph,
	Author = {Armagan Elibol and Nuno Gracias and Rafael Garcia and Jinwhan Kim},
	Date-Modified = {2015-09-23 17:04:28 +0000},
	Doi = {10.1364/JOSAA.31.000773},
	Journal = {J. Opt. Soc. Am. A},
	Keywords = {Machine vision; Motion estimation and optical flow; Multiframe image processing},
	Month = {Apr},
	Number = {4},
	Pages = {773--782},
	Publisher = {OSA},
	Title = {Graph theory approach for match reduction in image mosaicing},
	Url = {http://josaa.osa.org/abstract.cfm?URI=josaa-31-4-773},
	Volume = {31},
	Year = {2014},
	Bdsk-Url-1 = {http://josaa.osa.org/abstract.cfm?URI=josaa-31-4-773},
	Bdsk-Url-2 = {http://dx.doi.org/10.1364/JOSAA.31.000773}}

@article{Elibol14b,
	Author = {Armagan Elibol and Jinwhan Kim and Nuno Gracias and Rafael Garcia and Jinwhan Kim},
	Date-Modified = {2015-09-23 17:02:52 +0000},
	Doi = {10.1117/12.2040778},
	Journal = {Proc. SPIE},
	Pages = {90250A-90250A-6},
	Title = {Towards automatic identification of mismatched image pairs through loop constraints},
	Url = {http://dx.doi.org/10.1117/12.2040778},
	Volume = {9025},
	Year = {2014},
	Bdsk-Url-1 = {http://dx.doi.org/10.1117/12.2040778}}

@article{Elibol14c,
	Author = {Armagan Elibol and Jinwhan Kim and Nuno Gracias and Rafael Garcia},
	Date-Modified = {2015-09-23 17:03:35 +0000},
	Doi = {http://dx.doi.org/10.1016/j.patrec.2014.04.020},
	Issn = {0167-8655},
	Journal = {Pattern Recognition Letters},
	Number = {0},
	Pages = {20 - 26},
	Title = {Efficient image mosaicing for multi-robot visual underwater mapping},
	Volume = {46},
	Year = {2014},
	Bdsk-Url-1 = {http://dx.doi.org/10.1016/j.patrec.2014.04.020}}

@inproceedings{Escartin14,
	Address = {San Fancisco, USA},
	Author = {J. Escartin and F. Leclerc and M. Cannat and S. Petersen and N. Augustin and A. Bezos and D. Bonnemains and V. Chavagnac and Y. Choi and M. Godard and K. Haaga and C. Hamelin and B. Ildefonse and J. W. Jamieson and B. E. John and T. Leleu and M. Massot-Campos and C. Mevel and P. Nomikou and J.-A. L. Olive and M. Paquet and C. Rommevaux and M. Rothenbeck and A. Steinfuhrer and M. Tominaga and L. Triebe and R. Garcia and N. Gracias and N. Feuillet and C. Deplus},
	Booktitle = {Proc. Fall AGU 2014 Meeting},
	Month = {Dec},
	Title = {Quantifying Coseismic Normal Fault Rupture at the Seafloor: The 2004 Les Saintes Earthquake (Mw 6.3) Along the Roseau Fault (French Antilles)},
	Year = {2014}}

@article{Shihav14,
	Author = {A.S.M. Shihavuddin and N. Gracias and R. Garcia and R. Campos and A. Gleason and B. Gintert},
	Doi = {10.4031/MTSJ.48.4.7},
	Issn = {0025-3324},
	Journal = {Marine Technology Society Journal},
	Keywords = {2.5D features; discarded military munitions; elevation map; fusion of 2D and 2.5D features; underwater object classification},
	Number = {4},
	Title = {Automated Detection of Underwater Military Munitions Using Fusion of 2D and 2.5D Features From Optical Imagery},
	Url = {http://www.ingentaconnect.com/content/mts/mtsj/2014/00000048/00000004/art00010},
	Volume = {48},
	Year = {2014},
	Bdsk-Url-1 = {http://www.ingentaconnect.com/content/mts/mtsj/2014/00000048/00000004/art00010},
	Bdsk-Url-2 = {http://dx.doi.org/10.4031/MTSJ.48.4.7}}

@article{Bosch15omni,
	Author = {Bosch, Josep and Gracias, Nuno and Ridao, Pere and Ribas, David},
	Date-Modified = {2017-05-29 19:55:13 +0000},
	Doi = {10.3390/s150306033},
	Issn = {1424-8220},
	Journal = {Sensors},
	Number = {3},
	Pages = {6033--6065},
	Title = {Omnidirectional Underwater Camera Design and Calibration},
	Url = {http://www.mdpi.com/1424-8220/15/3/6033},
	Volume = {15},
	Year = {2015},
	Bdsk-Url-1 = {http://www.mdpi.com/1424-8220/15/3/6033},
	Bdsk-Url-2 = {http://dx.doi.org/10.3390/s150306033}}

@inproceedings{Campos15Global,
	Address = {Girona, Spain},
	Author = {R. Campos and N. Gracias and A. Palomer and P. Ridao},
	Booktitle = {IFAC Workshop on Navigation, Guidance and Control of Underwater Vehicles (NGCUV15)},
	Month = {April},
	Title = {Global Alignment of a Multiple-Robot Photomosaic using Opto-Acoustic Constraints},
	Year = {2015}}

@inproceedings{Gracias15a,
	Address = {Girona, Spain},
	Author = {N. Gracias and J. Bosch and M. Karim},
	Booktitle = {IFAC Workshop on Navigation, Guidance and Control of Underwater Vehicles (NGCUV15)},
	Month = {April},
	Title = {Pose Estimation for Underwater Vehicles using Light Beacons},
	Year = {2015}}

@inproceedings{Codevilla15,
	Address = {Copenhagen, Denmark},
	Author = {F. Codevilla and S. Botelho and N. Duarte and S. Purkis and A.S.M. Shihavuddin and R. Garcia and N. Gracias},
	Booktitle = {Proc. 10th International Conference on Vision Systems (ICVS 2015)},
	Doi = {10.1007/978-3-319-20904-3_22},
	Month = {July},
	Pages = {228--239},
	Title = {Geostatistics for Context-Aware Image Classification},
	Year = {2015},
	Bdsk-Url-1 = {http://dx.doi.org/10.1007/978-3-319-20904-3_22}}

@inproceedings{Bosch15Virtual,
	Address = {Genova, Italy},
	Author = {J. Bosch and P. Ridao and D. Ribas and N. Gracias},
	Booktitle = {Proc. 10th International Conference on Vision Systems (ICVS 2015)},
	Month = {May},
	Title = {Creating 360 Underwater Virtual Tours Using an Omnidirectional Camera Integrated in an AUV},
	Year = {2015}}

@inproceedings{Ridao15,
	Address = {Bilbao, Spain},
	Author = {P. Ridao and M. Carreras and D. Ribas and N. Gracias and R. Garcia},
	Booktitle = {Proceedings of the XXXVI Jornadas de Autom{\'a}tica - 2015 conference},
	Month = {September},
	Title = {Survey and Intervention HROV},
	Year = {2015}}

@article{Escartin15Hydrothermal,
	Author = {J. Escartin and T. Barreyre and M. Cannat and R. Garcia and N. Gracias and A. Deschamps and A. Salocchi and P.-M. Sarradin and V. Ballu},
	Doi = {http://dx.doi.org/10.1016/j.epsl.2015.09.025},
	Issn = {0012-821X},
	Journal = {Earth and Planetary Science Letters},
	Keywords = {Mid-Atlantic Ridge},
	Month = {December},
	Pages = {173 - 185},
	Title = {Hydrothermal activity along the slow-spreading Lucky Strike ridge segment (Mid-Atlantic Ridge): Distribution, heatflux, and geological controls},
	Url = {http://www.sciencedirect.com/science/article/pii/S0012821X15005920},
	Volume = {431},
	Year = {2015},
	Abstract = {We have reviewed available visual information from the seafloor, and recently acquired microbathymetry for several traverses across the Lucky Strike segment, to evaluate the distribution of hydrothermal activity. We have identified a new on-axis site with diffuse flow, Ewan, and an active vent structure ∼1.2 km from the axis, Capelinhos. These sites are minor relative to the Main field, and our total heatflux estimate for all active sites (200--1200 MW) is only slightly higher than previously published estimates. We also identify fossil sites W of the main Lucky Strike field. A circular feature ∼200 m in diameter located on the flanks of a rifted off-axis central volcano is likely a large and inactive hydrothermal edifice, named Grunnus. We find no indicator of focused hydrothermal activity elsewhere along the segment, suggesting that the enhanced melt supply and the associated melt lenses, required to form central volcanoes, also sustain hydrothermal circulation to form and maintain large and long-lived hydrothermal fields. Hydrothermal discharge to the seafloor occurs along fault traces, suggesting focusing of hydrothermal circulation in the shallow crust along permeable fault zones. },
	Bdsk-Url-1 = {http://www.sciencedirect.com/science/article/pii/S0012821X15005920},
	Bdsk-Url-2 = {http://dx.doi.org/10.1016/j.epsl.2015.09.025}}

@article{Escartin17Tectonic,
	Author = {Escart{\'\i}n, J. and M{\'e}vel, C. and Petersen, S. and Bonnemains, D. and Cannat, M. and Andreani, M. and Augustin, N. and Bezos, A. and Chavagnac, V. and Choi, Y. and Godard, M. and Haaga, K. and Hamelin, C. and Ildefonse, B. and Jamieson, J. and John, B. and Leleu, T. and MacLeod, C. J. and Massot-Campos, M. and Nomikou, P. and Olive, J. A. and Paquet, M. and Rommevaux, C. and Rothenbeck, M. and Steinfuhrer, A. and Tominaga, M. and Triebe, L. and Campos, R. and Gracias, N. and Garcia, R.},
	Date-Modified = {2017-04-18 16:12:38 +0000},
	Doi = {10.1002/2016GC006775},
	Issn = {1525-2027},
	Journal = {Geochemistry, Geophysics, Geosystems},
	Keywords = {Seafloor morphology, geology, and geophysics, Midocean ridge processes, Submarine tectonics and volcanism, Hydrothermal systems, Submergence instruments: ROV, AUV, submersibles, oceanic detachment fault, hydrothermal field, mid-ocean ridge, faulting, mass wasting, oceanic core complex},
	Month = {April},
	Title = {Tectonic structure, evolution, and the nature of oceanic core complexes and their detachment fault zones (13$\,^{\circ}$20′N and 13$\,^{\circ}$30′N, Mid Atlantic Ridge)},
	Url = {http://dx.doi.org/10.1002/2016GC006775},
	Volume = {18},
	Year = {2017},
	Abstract = {Microbathymetry data, in situ observations, and sampling along the 13$\,^{\circ}$20′N and 13$\,^{\circ}$20′N oceanic core complexes (OCCs) reveal mechanisms of detachment fault denudation at the seafloor, links between tectonic extension and mass wasting, and expose the nature of corrugations, ubiquitous at OCCs. In the initial stages of detachment faulting and high-angle fault, scarps show extensive mass wasting that reduces their slope. Flexural rotation further lowers scarp slope, hinders mass wasting, resulting in morphologically complex chaotic terrain between the breakaway and the denuded corrugated surface. Extension and drag along the fault plane uplifts a wedge of hangingwall material (apron). The detachment surface emerges along a continuous moat that sheds rocks and covers it with unconsolidated rubble, while local slumping emplaces rubble ridges overlying corrugations. The detachment fault zone is a set of anostomosed slip planes, elongated in the along-extension direction. Slip planes bind fault rock bodies defining the corrugations observed in microbathymetry and sonar. Fault planes with extension-parallel stria are exposed along corrugation flanks, where the rubble cover is shed. Detachment fault rocks are primarily basalt fault breccia at 13$\,^{\circ}$20′N OCC, and gabbro and peridotite at 13$\,^{\circ}$30′N, demonstrating that brittle strain localization in shallow lithosphere form corrugations, regardless of lithologies in the detachment zone. Finally, faulting and volcanism dismember the 13$\,^{\circ}$30′N OCC, with widespread present and past hydrothermal activity (Semenov fields), while the Irinovskoe hydrothermal field at the 13$\,^{\circ}$20′N core complex suggests a magmatic source within the footwall. These results confirm the ubiquitous relationship between hydrothermal activity and oceanic detachment formation and evolution.},
	Bdsk-Url-1 = {http://dx.doi.org/10.1002/2016GC006775}}

@incollection{cvvtbookchap4,
	Author = {R. Garcia and N. Gracias and T. Nicosevici and R. Prados and N. Hurtos and R. Campos and J. Escart{\'\i}n and A. Elibol and R. Hegedus and L. Neumann},
	Booktitle = {Computer Vision for Vehicle Technology: Land, Sea, Air & Space},
	Chapter = 4,
	Date-Modified = {2017-04-20 09:45:11 +0000},
	Edition = {1},
	Editor = {A.M. Lopez and A .Imiya and T. Padjla and J.M. Alvarez},
	Isbn = {978-1-118-86807-2},
	Month = {March},
	Pages = {75--99},
	Publisher = {Wiley},
	Title = {Exploring the Seafloor with Underwater Robots},
	Url = {http://eu.wiley.com/WileyCDA/WileyTitle/productCd-1118868072.html},
	Year = 2017,
	Bdsk-Url-1 = {http://eu.wiley.com/WileyCDA/WileyTitle/productCd-1118868072.html}}

@incollection{cvvtbookchap7,
	Author = {N. Gracias and R. Garcia and R. Campos and N. Hurtos and R. Prados and A.S.M. Shihavuddin and T. Nicosevici and A. Elibol and L. Neumann and J. Escart{\'\i}n},
	Booktitle = {Computer Vision for Vehicle Technology: Land, Sea, Air & Space},
	Chapter = 7,
	Date-Modified = {2017-04-20 09:54:32 +0000},
	Editor = {A.M. Lopez and A. Imiya and T. Padjla and J.M. Alvarez},
	Isbn = {978-1-118-86807-2},
	Month = {March},
	Pages = {133--159},
	Publisher = {Wiley},
	Title = {Application Challenges of Underwater Vision},
	Url = {http://eu.wiley.com/WileyCDA/WileyTitle/productCd-1118868072.html},
	Year = 2017,
	Bdsk-Url-1 = {http://eu.wiley.com/WileyCDA/WileyTitle/productCd-1118868072.html}}