{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,7,24]],"date-time":"2026-07-24T18:49:31Z","timestamp":1784918971537,"version":"3.55.0"},"reference-count":30,"publisher":"MDPI AG","issue":"4","license":[{"start":{"date-parts":[[2018,4,4]],"date-time":"2018-04-04T00:00:00Z","timestamp":1522800000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100003329","name":"Ministerio de Econom\u00eda y Competitividad","doi-asserted-by":"publisher","award":["DPI2014-57746-C3-3-R"],"award-info":[{"award-number":["DPI2014-57746-C3-3-R"]}],"id":[{"id":"10.13039\/501100003329","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/100010661","name":"Horizon 2020 Framework Programme","doi-asserted-by":"publisher","award":["H2020-TWINN-2015 (CSA)-692427"],"award-info":[{"award-number":["H2020-TWINN-2015 (CSA)-692427"]}],"id":[{"id":"10.13039\/100010661","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100003176","name":"Ministerio de Educaci\u00f3n, Cultura y Deporte","doi-asserted-by":"publisher","award":["PRX 15\/00580"],"award-info":[{"award-number":["PRX 15\/00580"]}],"id":[{"id":"10.13039\/501100003176","id-type":"DOI","asserted-by":"publisher"}]},{"name":"Ag\u00e8ncia de Gesti\u00f3 d\u2019Ajuts Universitaris i de Recerca","award":["2017FI_B1 00177"],"award-info":[{"award-number":["2017FI_B1 00177"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>Nowadays, research in autonomous underwater manipulation has demonstrated simple applications like picking an object from the sea floor, turning a valve or plugging and unplugging a connector. These are fairly simple tasks compared with those already demonstrated by the mobile robotics community, which include, among others, safe arm motion within areas populated with a priori unknown obstacles or the recognition and location of objects based on their 3D model to grasp them. Kinect-like 3D sensors have contributed significantly to the advance of mobile manipulation providing 3D sensing capabilities in real-time at low cost. Unfortunately, the underwater robotics community is lacking a 3D sensor with similar capabilities to provide rich 3D information of the work space. In this paper, we present a new underwater 3D laser scanner and demonstrate its capabilities for underwater manipulation. In order to use this sensor in conjunction with manipulators, a calibration method to find the relative position between the manipulator and the 3D laser scanner is presented. Then, two different advanced underwater manipulation tasks beyond the state of the art are demonstrated using two different manipulation systems. First, an eight Degrees of Freedom (DoF) fixed-base manipulator system is used to demonstrate arm motion within a work space populated with a priori unknown fixed obstacles. Next, an eight DoF free floating Underwater Vehicle-Manipulator System (UVMS) is used to autonomously grasp an object from the bottom of a water tank.<\/jats:p>","DOI":"10.3390\/s18041086","type":"journal-article","created":{"date-parts":[[2018,4,4]],"date-time":"2018-04-04T06:45:37Z","timestamp":1522824337000},"page":"1086","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":59,"title":["3D Laser Scanner for Underwater Manipulation"],"prefix":"10.3390","volume":"18","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-7507-5088","authenticated-orcid":false,"given":"Albert","family":"Palomer","sequence":"first","affiliation":[{"name":"Computer Vision and Robotics Research Institute (VICOROB), Universitat de Girona, 17003 Girona, Spain"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-1724-3012","authenticated-orcid":false,"given":"Pere","family":"Ridao","sequence":"additional","affiliation":[{"name":"Computer Vision and Robotics Research Institute (VICOROB), Universitat de Girona, 17003 Girona, Spain"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-4033-231X","authenticated-orcid":false,"given":"Dina","family":"Youakim","sequence":"additional","affiliation":[{"name":"Computer Vision and Robotics Research Institute (VICOROB), Universitat de Girona, 17003 Girona, Spain"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-0007-0258","authenticated-orcid":false,"given":"David","family":"Ribas","sequence":"additional","affiliation":[{"name":"IQUA Robotics, 17003 Girona, Spain"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-4868-5884","authenticated-orcid":false,"given":"Josep","family":"Forest","sequence":"additional","affiliation":[{"name":"Computer Vision and Robotics Research Institute (VICOROB), Universitat de Girona, 17003 Girona, Spain"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-1596-289X","authenticated-orcid":false,"given":"Yvan","family":"Petillot","sequence":"additional","affiliation":[{"name":"Ocean Systems Laboratory, Heriot-Watt University, Edinburgh EH14 4AS, UK"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"1968","published-online":{"date-parts":[[2018,4,4]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"876","DOI":"10.1109\/TPAMI.2011.206","article-title":"Gradient response maps for real-time detection of textureless objects","volume":"34","author":"Hinterstoisser","year":"2012","journal-title":"IEEE Trans. Pattern Anal. Mach. Intell."},{"key":"ref_2","unstructured":"Willow Garage, R.C. (2018, April 03). ORK: Object Recognition Kitchen. Available online: https:\/\/github.com\/wg-perception\/object_recognition_core."},{"key":"ref_3","unstructured":"Wang, H.H., Rock, S.M., and Lees, M.J. (1995, January 9\u201312). Experiments in automatic retrieval of underwater objects with an AUV. Proceedings of the Conference MTS\/IEEE Challenges of Our Changing Global Environment (OCEANS\u201995), San Diego, CA, USA."},{"key":"ref_4","unstructured":"Choi, S., Takashige, G., and Yuh, J. (1994, January 19\u201320). Experimental study on an underwater robotic vehicle: ODIN. Proceedings of the 1994 Symposium Autonomous Underwater Vehicle Technology (AUV\u201994), Cambridge, MA, USA."},{"key":"ref_5","doi-asserted-by":"crossref","first-page":"25","DOI":"10.1109\/100.667323","article-title":"UNION: Underwater intelligent operation and navigation","volume":"5","author":"Rigaud","year":"1998","journal-title":"IEEE Robot. Autom. Mag."},{"key":"ref_6","doi-asserted-by":"crossref","first-page":"34","DOI":"10.1109\/100.637804","article-title":"AMADEUS-Advanced Manipulation for Deep Underwater Sampling","volume":"4","author":"Lane","year":"1997","journal-title":"IEEE Robot. Autom. Mag."},{"key":"ref_7","doi-asserted-by":"crossref","unstructured":"Evans, J., Redmond, P., Plakas, C., Hamilton, K., and Lane, D. (2003, January 22\u201326). Autonomous docking for Intervention-AUVs using sonar and video-based real-time 3D pose estimation. Proceedings of the OCEANS 2003, San Diego, CA, USA.","DOI":"10.1109\/OCEANS.2003.178243"},{"key":"ref_8","doi-asserted-by":"crossref","first-page":"15","DOI":"10.1016\/j.oceaneng.2008.08.007","article-title":"Underwater Autonomous Manipulation for Intervention Missions AUVs","volume":"36","author":"Marani","year":"2009","journal-title":"Ocean Eng. Spec. Issue AUV"},{"key":"ref_9","doi-asserted-by":"crossref","unstructured":"Prats, M., Garc\u00eda, J., Fernandez, J., Mar\u00edn, R., and Sanz, P. (2011, January 6\u20139). Advances in the specification and execution of underwater autonomous manipulation tasks. Proceedings of the IEEE Oceans 2011, Santander, Spain.","DOI":"10.1109\/Oceans-Spain.2011.6003619"},{"key":"ref_10","doi-asserted-by":"crossref","unstructured":"Prats, M., Garc\u00eda, J., Wirth, S., Ribas, D., Sanz, P., Ridao, P., Gracias, N., and Oliver, G. (2012, January 3\u20136). Multipurpose autonomous underwater intervention: A systems integration perspective. Proceedings of the 2012 20th Mediterranean Conference on Control & Automation (MED), Barcelona, Spain.","DOI":"10.1109\/MED.2012.6265831"},{"key":"ref_11","unstructured":"Sanz, P., Mar\u00edn, R., Sales, J., Oliver, G., and Ridao, P. (2012). Recent Advances in Underwater Robotics for Intervention Missions. Soller Harbor Experiments, Psylicom Ediciones. Low Cost Books."},{"key":"ref_12","doi-asserted-by":"crossref","unstructured":"Palomeras, N., Penalver, A., Massot-Campos, M., Vallicrosa, G., Negre, P., Fernandez, J., Ridao, P., Sanz, P., Oliver-Codina, G., and Palomer, A. (2014, January 14\u201318). I-AUV docking and intervention in a subsea panel. Proceedings of the 2014 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS 2014), Chicago, IL, USA.","DOI":"10.1109\/IROS.2014.6942870"},{"key":"ref_13","doi-asserted-by":"crossref","unstructured":"Vallicrosa, G., Ridao, P., Ribas, D., and Palomer, A. (2014, January 14\u201318). Active Range-Only beacon localization for AUV homing. Proceedings of the 2014 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS 2014), Chicago, IL, USA.","DOI":"10.1109\/IROS.2014.6942871"},{"key":"ref_14","doi-asserted-by":"crossref","unstructured":"Carrera, A., Palomeras, N., Ribas, D., Kormushev, P., and Carreras, M. (2014, January 7\u201310). An Intervention-AUV learns how to perform an underwater valve turning. Proceedings of the OCEANS 2014-TAIPEI, Taipei, Taiwan.","DOI":"10.1109\/OCEANS-TAIPEI.2014.6964483"},{"key":"ref_15","doi-asserted-by":"crossref","unstructured":"Cieslak, P., Ridao, P., and Giergiel, M. (2015, January 26\u201330). Autonomous underwater panel operation by GIRONA500 UVMS: A practical approach to autonomous underwater manipulation. Proceedings of the 2015 IEEE International Conference on Robotics and Automation (ICRA), Seattle, WA, USA.","DOI":"10.1109\/ICRA.2015.7139230"},{"key":"ref_16","doi-asserted-by":"crossref","unstructured":"Digumarti, S.T., Chaurasia, G., Taneja, A., Siegwart, R., Thomas, A., and Beardsley, P. (2016, January 7\u201310). Underwater 3D capture using a low-cost commercial depth camera. Proceedings of the 2016 IEEE Winter Conference on Applications of Computer Vision (WACV), Lake Placid, NY, USA.","DOI":"10.1109\/WACV.2016.7477644"},{"key":"ref_17","doi-asserted-by":"crossref","first-page":"73","DOI":"10.1007\/978-3-319-55372-6_4","article-title":"Underwater 3D laser scanners: The deformation of the plane","volume":"Volume 474","author":"Fossen","year":"2017","journal-title":"Lecture Notes in Control and Information Sciences"},{"key":"ref_18","doi-asserted-by":"crossref","first-page":"46","DOI":"10.1109\/TMECH.2011.2174065","article-title":"Girona 500 AUV: From Survey to Intervention","volume":"17","author":"Ribas","year":"2012","journal-title":"IEEE\/ASME Trans. Mech."},{"key":"ref_19","doi-asserted-by":"crossref","unstructured":"Palomer, A., Ridao, P., Forest, J., and Ribas, D. (2018). Underwater Laser Scanner: Ray-based Model and Calibration. IEEE\/ASME Trans. Mech., under review.","DOI":"10.1109\/TMECH.2019.2929652"},{"key":"ref_20","unstructured":"Heikkila, J., and Silven, O. (1997, January 17\u201319). A four-step camera calibration procedure with implicit image correction. Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition, Washington, DC, USA."},{"key":"ref_21","first-page":"120","article-title":"The OpenCV Library","volume":"25","author":"Bradski","year":"2000","journal-title":"Dobbs J. Softw. Tools"},{"key":"ref_22","doi-asserted-by":"crossref","first-page":"2280","DOI":"10.1016\/j.patcog.2014.01.005","article-title":"Automatic generation and detection of highly reliable fiducial markers under occlusion","volume":"47","year":"2014","journal-title":"Pattern Recognit."},{"key":"ref_23","unstructured":"Sucan, I.A., and Sachin, C. (2018, April 03). MoveIt!. Available online: http:\/\/moveit.ros.org."},{"key":"ref_24","doi-asserted-by":"crossref","first-page":"72","DOI":"10.1109\/MRA.2012.2205651","article-title":"The open motion planning library","volume":"19","author":"Moll","year":"2012","journal-title":"IEEE Robot. Autom. Mag."},{"key":"ref_25","doi-asserted-by":"crossref","unstructured":"Pan, J., Chitta, S., and Manocha, D. (2012, January 14\u201318). FCL: A general purpose library for collision and proximity queries. Proceedings of the IEEE International Conference on Robotics and Automation, Saint Paul, MN, USA.","DOI":"10.1109\/ICRA.2012.6225337"},{"key":"ref_26","doi-asserted-by":"crossref","first-page":"189","DOI":"10.1007\/s10514-012-9321-0","article-title":"OctoMap: An Efficient Probabilistic 3D Mapping Framework Based on Octrees","volume":"34","author":"Hornung","year":"2013","journal-title":"Auton. Robots"},{"key":"ref_27","unstructured":"Kuffner, J., and LaValle, S. (2000, January 24\u201328). RRT-connect: An efficient approach to single-query path planning. Proceedings of the 2000 Millennium Conference IEEE International Conference on Robotics and Automation (ICRA), San Francisco, CA, USA."},{"key":"ref_28","doi-asserted-by":"crossref","first-page":"41","DOI":"10.1109\/MRA.2016.2636369","article-title":"MoveIt!: Autonomous Underwater Free-Floating Manipulation","volume":"24","author":"Youakim","year":"2017","journal-title":"IEEE Robot. Autom. Mag."},{"key":"ref_29","doi-asserted-by":"crossref","unstructured":"Pe\u00f1alver, A., Fern\u00e1ndez, J.J., and Sanz, P.J. (2017, January 19\u201322). Autonomous Underwater Grasping using Multi-View Laser Reconstruction. Proceedings of the IEEE OCEANS, Aberdeen, UK.","DOI":"10.1109\/OCEANSE.2017.8084797"},{"key":"ref_30","unstructured":"Sanz, P.J., Pe\u00f1alver, A., Sales, J., Fern\u00e1ndez, J.J., P\u00e9rez, J., Fornas, D., Garc\u00eda, J.C., and Mar\u00edn, R. (2015, January 15\u201317). Multipurpose Underwater Manipulation for Archaeological Intervention. Proceedings of the Sixth International Workshop on Marine Technology MARTECH, Cartagena, Spain."}],"container-title":["Sensors"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.mdpi.com\/1424-8220\/18\/4\/1086\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,11]],"date-time":"2025-10-11T14:59:35Z","timestamp":1760194775000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.mdpi.com\/1424-8220\/18\/4\/1086"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2018,4,4]]},"references-count":30,"journal-issue":{"issue":"4","published-online":{"date-parts":[[2018,4]]}},"alternative-id":["s18041086"],"URL":"https:\/\/doi.org\/10.3390\/s18041086","relation":{},"ISSN":["1424-8220"],"issn-type":[{"value":"1424-8220","type":"electronic"}],"subject":[],"published":{"date-parts":[[2018,4,4]]}}}