{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,19]],"date-time":"2026-03-19T21:26:13Z","timestamp":1773955573239,"version":"3.50.1"},"reference-count":22,"publisher":"MDPI AG","issue":"2","license":[{"start":{"date-parts":[[2025,1,29]],"date-time":"2025-01-29T00:00:00Z","timestamp":1738108800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100001871","name":"Portuguese funding agency, FCT - Funda\u00e7\u00e3o para a Ci\u00eancia e a Tecnologia","doi-asserted-by":"publisher","award":["UIDB\/50014\/2020"],"award-info":[{"award-number":["UIDB\/50014\/2020"]}],"id":[{"id":"10.13039\/501100001871","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotics"],"abstract":"<jats:p>Due to space and energy restrictions, lightweight autonomous underwater vehicles (AUVs) are usually fitted with low-power processing units, which limits the ability to run demanding applications in real time during the mission. However, several robotic perception tasks reveal a parallel nature, where the same processing routine is applied for multiple independent inputs. In such cases, leveraging parallel execution by offloading tasks to a GPU can greatly enhance processing speed. This article presents a collection of generic matrix manipulation kernels, which can be combined to develop parallelized perception applications. Taking advantage of those building blocks, we report a parallel implementation for the 3DupIC algorithm\u2014a probabilistic scan matching method for sonar scan registration. Tests demonstrate the algorithm\u2019s real-time performance, enabling 3D sonar scan matching to be executed in real time onboard the EVA AUV.<\/jats:p>","DOI":"10.3390\/robotics14020013","type":"journal-article","created":{"date-parts":[[2025,1,29]],"date-time":"2025-01-29T04:36:18Z","timestamp":1738125378000},"page":"13","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":3,"title":["Real-Time Registration of 3D Underwater Sonar Scans"],"prefix":"10.3390","volume":"14","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-6091-1549","authenticated-orcid":false,"given":"Ant\u00f3nio","family":"Ferreira","sequence":"first","affiliation":[{"name":"INESC TEC\u2014Institute for Systems and Computer Engineering, Technology and Science, Rua Dr. Roberto Frias, 4200-465 Porto, Portugal"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-5844-5393","authenticated-orcid":false,"given":"Jos\u00e9","family":"Almeida","sequence":"additional","affiliation":[{"name":"INESC TEC\u2014Institute for Systems and Computer Engineering, Technology and Science, Rua Dr. Roberto Frias, 4200-465 Porto, Portugal"},{"name":"ISEP\u2014School of Engineering, Polytechnic Institute of Porto, Rua Dr. Ant\u00f3nio Bernardino de Almeida, 431, 4249-015 Porto, Portugal"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-9771-002X","authenticated-orcid":false,"given":"An\u00edbal","family":"Matos","sequence":"additional","affiliation":[{"name":"INESC TEC\u2014Institute for Systems and Computer Engineering, Technology and Science, Rua Dr. Roberto Frias, 4200-465 Porto, Portugal"},{"name":"FEUP\u2014Faculty of Engineering, University of Porto, Rua Dr. Roberto Frias, 4200-465 Porto, Portugal"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-7166-3459","authenticated-orcid":false,"given":"Eduardo","family":"Silva","sequence":"additional","affiliation":[{"name":"INESC TEC\u2014Institute for Systems and Computer Engineering, Technology and Science, Rua Dr. Roberto Frias, 4200-465 Porto, Portugal"},{"name":"ISEP\u2014School of Engineering, Polytechnic Institute of Porto, Rua Dr. Ant\u00f3nio Bernardino de Almeida, 431, 4249-015 Porto, Portugal"}]}],"member":"1968","published-online":{"date-parts":[[2025,1,29]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"113861","DOI":"10.1016\/j.oceaneng.2023.113861","article-title":"Autonomous Underwater Vehicle navigation: A review","volume":"273","author":"Zhang","year":"2023","journal-title":"Ocean. Eng."},{"key":"ref_2","unstructured":"Majumder, S., Scheding, S., and Durrant-Whyte, H. (September, January 30). Sensor fusion and map building for underwater navigation. Proceedings of the Australian Conference on Robotics and Automation, Melbourne, Australia."},{"key":"ref_3","doi-asserted-by":"crossref","first-page":"97","DOI":"10.1108\/20496421311330047","article-title":"Towards autonomous localization and mapping of AUVs: A survey","volume":"1","author":"Chen","year":"2013","journal-title":"Int. J. Intelligent Unmanned Syst."},{"key":"ref_4","doi-asserted-by":"crossref","first-page":"172988142090452","DOI":"10.1177\/1729881420904526","article-title":"Real-time GNSS precise positioning: RTKLIB for ROS","volume":"17","author":"Ferreira","year":"2020","journal-title":"Int. J. Adv. Robot. Syst."},{"key":"ref_5","doi-asserted-by":"crossref","unstructured":"Almeida, J., Matias, B., Ferreira, A., Almeida, C., Martins, A., and Silva, E. (2020). 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OpenCL Parallel Programming Development Cookbook, Packt Publishing Ltd."}],"container-title":["Robotics"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.mdpi.com\/2218-6581\/14\/2\/13\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,8]],"date-time":"2025-10-08T10:38:11Z","timestamp":1759919891000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.mdpi.com\/2218-6581\/14\/2\/13"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2025,1,29]]},"references-count":22,"journal-issue":{"issue":"2","published-online":{"date-parts":[[2025,2]]}},"alternative-id":["robotics14020013"],"URL":"https:\/\/doi.org\/10.3390\/robotics14020013","relation":{},"ISSN":["2218-6581"],"issn-type":[{"value":"2218-6581","type":"electronic"}],"subject":[],"published":{"date-parts":[[2025,1,29]]}}}