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Exploring 3-D Reconstruction Techniques: A Benchmarking Tool for Underwater Robotics
dc.contributor.author | Pérez Soler, Javier | |
dc.contributor.author | Sales Gil, Jorge | |
dc.contributor.author | Peñalver Monfort, Antonio | |
dc.contributor.author | Fornas Garcia, David | |
dc.contributor.author | Fernández Fresneda, José Javier | |
dc.contributor.author | García Sánchez, Juan Carlos | |
dc.contributor.author | Sanz, Pedro J | |
dc.contributor.author | Marin, Raul | |
dc.contributor.author | Prats, Mario | |
dc.date.accessioned | 2016-05-24T13:48:13Z | |
dc.date.available | 2016-05-24T13:48:13Z | |
dc.date.issued | 2015-09 | |
dc.identifier.citation | PEREZ, Javier, et al. Exploring 3-D Reconstruction Techniques: A Benchmarking Tool for Underwater Robotics. Robotics & Automation Magazine, IEEE, 2015, vol. 22, no 3, p. 85-95. | ca_CA |
dc.identifier.uri | http://hdl.handle.net/10234/159951 | |
dc.description.abstract | When the results of research in the field of robotics are presented to the scientific community, the same question is asked repeatedly: Are the results really reproducible? Regarding benchmarking issues, some technological areas where complex mechatronic devices, such as robots, have a central role are very far from other research areas like physics or chemistry, to name but a few, where reproducibility is always mandatory. Aside from mechatronic complexities, the comparison between two different algorithms in the same conditions is influenced by the experimental validation scenario. In underwater environments, the difficulties for benchmarking characterization increase substantially. This is especially true when the test bed is the sea where uncertainty is high. It is the aim of this article to present a software tool which enables a comparison between two different algorithms when the algorithms are being used to solve the same problem in water tank conditions. This is a preliminary stage before the final validation on the seabed. The evaluated algorithms fall into the three-dimensional (3-D) image reconstruction context, as a prior step to their autonomous manipulation. Performance results are presented for both simulation and real water tank conditions. | ca_CA |
dc.format.extent | 9 p. | ca_CA |
dc.format.mimetype | application/pdf | ca_CA |
dc.language.iso | eng | ca_CA |
dc.publisher | Institute of Electrical and Electronics Engineers (IEEE) | ca_CA |
dc.relation.isFormatOf | PEREZ, Javier, et al. Exploring 3-D Reconstruction Techniques: A Benchmarking Tool for Underwater Robotics. Robotics & Automation Magazine, IEEE, 2015, vol. 22, no 3, p. 85-95. | ca_CA |
dc.relation.isPartOf | Robotics & Automation Magazine, IEEE, 2015, vol. 22, no 3 | ca_CA |
dc.rights | "This work has been submitted to the IEEE for possible publication. Copyright may be transferred without notice, after which this version may no longer be accessible". ©2015 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works." | ca_CA |
dc.rights | CC0 1.0 Universal | * |
dc.rights.uri | http://creativecommons.org/publicdomain/zero/1.0/ | * |
dc.subject | 3D image reconstruction | ca_CA |
dc.subject | 3D reconstruction techniques | ca_CA |
dc.subject | autonomous manipulation | ca_CA |
dc.subject | benchmarking | ca_CA |
dc.subject | complex mechatronic devices | ca_CA |
dc.subject | software tool | ca_CA |
dc.subject | underwater robotics | ca_CA |
dc.title | Exploring 3-D Reconstruction Techniques: A Benchmarking Tool for Underwater Robotics | ca_CA |
dc.type | info:eu-repo/semantics/article | ca_CA |
dc.identifier.doi | http:\\dx.doi.org/10.1109/MRA.2015.2448971 | |
dc.rights.accessRights | info:eu-repo/semantics/openAccess | ca_CA |
dc.relation.publisherVersion | http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=7254257 | ca_CA |
dc.edition | Preprint | ca_CA |
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©2015 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works."