Pau Vial — accepted AI-conference papers

2026

Modular Acoustic Graph SLAM for Underwater Monitoring with Autonomous Underwater Vehicles (I)

Marta Real, Pau Vial, Roger Pi, Narcis Palomeras, Marc Carreras

ICRA 2026poster

This work was developed under the need for an acoustic localization system to monitor marine protected areas (MPAs) with the help of autonomous underwater vehicles (AUVs). Although the use of acoustic signals for underwater localization has been previously studied, most of the solutions rely on filt…

Cited by 0 Scholar ↗

2023

GMM Registration: a Probabilistic scan matching approach for sonar-based AUV navigation

Pau Vial, Miguel Malagón, Ricard Segura, Narcís Palomeras, Marc Carreras

ICRA 2023poster

Acoustic perception in underwater environments is challenging due to the low frequency of the acquisition system and multiple and huge sources of noise. Therefore, point clouds built by profiling sonars mounted on Autonomous Underwater Vehicles (AUV) are sparse and noisy. To solve the mapping task,…

Cited by 3 Source ↗Scholar ↗