Universitat de Girona
Now showing items 1-20 of 54
This thesis presents a SLAM algorithm using a multibeam echosounder, a new 1/2 underwater laser scanner for online 3D perception and two applications of this new laser scanner: inspection and intervention. The SLAM ...
The presented work focuses on the theoretical and practical aspects concerning the design and development of a formal method to build a mission control system for autonomous underwater vehicles bringing systematic design ...
En aquesta tesi proposem dos esquemes de xarxa amb control d'admissió per al trànsit elàstic TCP amb mecanismes senzills. Ambdós esquemes són capaços de proporcionar throughputs diferents i aïllament entre fluxos, on un ...
A key challenge in autonomous mobile manipulation is the ability to determine in real-time how to safely execute complex tasks when placed in an unknown world. In response to those arising needs in the underwater ...
This work proposes an appearance-based SLAM method whose main contribution is the Feature Stability Histogram (FSH). The FSH is built using a voting schema, if the feature is re-observed, it will be promoted; otherwise it ...
This thesis deals with the segmentation of brain magnetic resonance imaging applied to multiple sclerosis patients. This disease is characterised by the presence of white matter lesions in this image modality. After a ...
In recent decades, the rapid development of intelligent vehicle and 3D scanning tecnologies has led to a growing interest in applications based on 3D point data processing, with many applications such as augmented reality ...
This thesis is focused on the automated segmentation of the brain structures in magnetic resonance images, applied to multiple sclerosis patients. This disease is characterized by the presence of lesions, which affect the ...
This thesis deals with the detection of new multiple sclerosis (MS) lesions in longitudinal brain magnetic resonance (MR) imaging. This disease is characterized by the presence of lesions in the brain, predominantly in the ...
In this thesis, we have focused on the image pre-processing in order to enhance the image information. The main aspects of this enhancement rely on removing any image noise and correcting any intensity bias induced by the ...
This thesis addresses the problem of automated underwater optical image characterization. Remote underwater optical sensing allows the collection and storage of vast amounts of data for which manual classification may take ...
The use of automatic algorithms to detect astronomical sources (stars, galaxies, gas, dust or cosmic rays) becomes of great importance because of the increasing amount of astronomical images and the inefficiency and ...
This thesis is focused on the automatic detection of masses in FFDM images by using case-level information which includes bilateral, temporal and/or ipsilateral information. As a first step, FFDM images are preprocessed ...
This thesis investigates the problem of developing new computer vision techniques for early detection of skin cancer. The first part of this work presents a novel methodology to correct color reproduction in dermatological ...
This thesis deals with the detection, segmentation and classification of lesions on sonography. The contribution of the thesis is the development of a new Computer-Aided Diagnosis (CAD) framework capable of detecting, ...
This thesis proposes new methods to find collision-free paths allowing an AUV to cover an area of the ocean floor with its sensors, which is known as coverage path planning. First, we propose a coverage path planning method ...
Large scale image mosaicing methods are in great demand among scientists who study different aspects of the seabed, and have been fostered by impressive advances in the capabilities of underwater robots in gathering optical ...
Underwater robotics has undergone significant development in recent years. It has been applied to a wide range of sectors, such as the mapping of areas of interest, the collection of scientific data, or the Inspection ...
El objetivo de esta tesis es mejorar la efectividad y eficiencia de los entornos de aprendizaje virtual. Para lograr este propósito se define un Modelo de Usuario que considera las características del usuario, el contexto ...
Vehicle operations in underwater environments are frequently compromised by poor visibility conditions. In this thesis, we propose an end-to-end mosaicing framework tailored to the characteristics of forward-looking sonar ...
