H. Rajani; N. Gracias; R. Garcia "A Convolutional Vision Transformer for Semantic Segmentation of Side-Scan Sonar Data." Ocean Engineering 286 (2023): 115647-. F. Ruscio; R. Costanzi; N. Gracias; J. Quintana; R. Garcia "Autonomous boundary inspection of Posidonia oceanica meadows using an underwater robot." Ocean Engineering 283 (2023): -. Arnaubec, A.; Ferrera, M.; Escartín, J.; Matabos, M.; Gracias, N.; Opderbecke, J. "Underwater 3D Reconstruction from Video or Still Imagery: Matisse and 3DMetrics Processing and Exploitation Software." Journal Of Marine Science And Engineering (2023): -. Alex Hughes, Javier Escartín, Jeremy Billant, Frédérique Leclerc, Muriel Andreani, Jean-Arthur Olive, Aurélien Arnaubec, Alexandre Dano, Arthur Delorme, Christine Deplus, Nathalie Feuillet, Caroline Gini, Nuno Gracias, Cédric "Seafloor earthquake ruptures and mass wasting from the 2004 Mw 6.3 Les Saintes submarine earthquake." Communications Earth & Environment 4 (2022): 270-. Ochoa, E.; Gracias, N.; Istenič, K.; Bosch, J.; Cieślak, P.; García, R.; "Collision Detection and Avoidance for Underwater Vehicles Using Omnidirectional Vision." Sensors (2022): 5354-5354. Vallicrosa, G.;Himri, K.;Ridao, P.;Gracias, N. "Semantic mapping for autonomous subsea intervention." Sensors 21 (2021): -. Montseny, M.;Linares, C.;Viladrich, N.;Biel, M.;Gracias, N.;Baena, P.;Quintanilla, E.;Ambroso, S.;Grinyó, J.;Santín, A.;Salazar, J.;Carreras, M.;Palomeras, N.;Magí, L.;Vallicrosa, G.;Gili, J.-M.;Gori, A. "Involving fishers in scaling up the restoration of cold-water coral gardens on the Mediterranean continental shelf." Biological Conservation 262 (2021): -. Puzenat, V;Escartin, J.;Martelat, J.-E.;Barreyre, T.;Le Moine, S.;Nomikou, P.;Gracias, N.;Allemand, P.;Antoniou, V.;Coskun, O.;Garcia, R.;Grandjean, P.;Jørgensen, S.L.;Magí, L.;Mandalakis, M.;Orsi, W.;Polymenakou, P.;Schouw, "Shallow-water hydrothermalism at Milos (Greece): Nature, distribution, heat fluxes and impact on ecosystems." Marine Geology 438 (2021): -. Himri, K.;Ridao, P.;Gracias, N. "Underwater Object Recognition Using Point-Features, Bayesian Estimation and Semantic Information." Sensors 21 (2021): 1807-. Rossi, P.;Ponti, M.;Righi, S.;Castagnetti, C.;Simonini, R.;Mancini, F.;Agrafiotis, P.;Bassani, L.;Bruno, F.;Cerrano, C.;Cignoni, P.;Corsini, M.;Drap, P.;Dubbini, M.;Garrabou, J.;Gori, A.;Gracias, N.;Ledoux J-B.;Linares, C.;Ma "Needs and gaps in optical underwater technologies and methods for the investigation of marine animal forest 3D-structural complexity." Frontiers in Marine Science 8 (2021): -. Serra, T.;Gracias, N.;Hendriks, E.I "Fragmentation in Seagrass Canopies Can Alter Hydrodynamics and Sediment Deposition Rates." Water 12 (2020): 3473-. Barcelona, A.;Colomer, J.;Soler, M.;Gracias, N.;Serra, T. "Meadow fragmentation influences Posidonia oceanica density at the edge of nearby gaps." Estuarine, Coastal and Shelf Science (2020): -. Vidal, E.;Palomeras, N.;Istenič, K.;Gracias, N.;Carreras, M. "Multisensor online 3D view planning for autonomous underwater exploration." Journal of Field Robotics 2020 (2020): 1-25. Istenič, K.;Gracias, N.;Arnaubec, A.;Escartín, J.;Garcia, R. "Automatic scale estimation of structure from motion based 3D models using laser scalers in underwater scenarios." ISPRS Journal of Photogrammetry and Remote Sensing 159 (2020): 13-25. Garcia, R.;Prados, R.;Quintana, J.;Tempelaar, A.;Gracias, N.;Rosen, S.;Vågstøl, H.;Løvall, K. "Automatic segmentation of fish using deep learning with application to fish size measurement." ICES Journal of Marine Science 77 (2019): 1354-1336. Himri, K.;Ridao, P.;Gracias, N. "3D Object Recognition Based on Point Clouds in Underwater Environment with Global Descriptors: A Survey." Sensors 19 (2019): 4451-. Istenič, K.;Gracias, N.;Arnaubec, A.;Escartin, J.;Garcia, R. "Scale Accuracy Evaluation of image Based 3D Reconstruction Strategies using Laser Photogrammetry." Remote Sensing 11 (2019): 2093-. Bosch, J.;Istenic, K.;Gracias, N.;Gracia, R.;Ridao, P. "Omnidirectional Multi-Camera Video Stitching using Depth Maps." IEEE Journal of Oceanic Engineering (2019): 1-16. Montseny, M.;Linares, C.;Viladrich, N.;Olariaga, A.;Carreras, M.;Palomeras, N.;Gracias, N.;Istenic, K.;Garcia, R.;Ambroso, S.;Santín, A.;Grinyó, J.;Gili, J.;Gori, A. "First attempts towards the restoration of gorgonian populations on the Mediterranean continental shelf.." Aquatic Conservation : Marine and Freshwater Ecosystems 29 (2019): 1-7. Elibol, A.;Chong, N-Y.;Shim, H.;Kim, J.;Gracias, N.;Garcia, R. "Mismatched image identification using histogram of loop closure error for feature-based optical mapping." International Journal of Intelligent Robotics and Applications 3 (2019): 196-206. Gintert, B.;Manzello, D.;Enochs, I.;Kolodziej, G.;Carlton, R.;Gleason, A.;Gracias, N. "Marked annual coral bleaching resilience of an inshore patch reef in the Florida Keys: A nugget of hope, aberrance, or last manstanding?." Coral Reefs 37 (2018): 553-547. Panieri, G.;Bünz, S.;Fornari, D. J.;Escartin, P.;Serov, P.;Jansson, P.;Torres, M.E.;Johnson, J.;Hong, W.;Sauer, S.;Garcia, R.;Gracias, N. "An integrated view of the methane system in the pockmarks at Vestnesa Ridge, 79°N." Marine Geology 390 (2017): 282-300. J. Escartín, C. Mével, S. Petersen, D. Bonnemains, M. Cannat, M. Andreani, N. Augustin, A. Bezos, V. Chavagnac, Y. Choi, M. Godard, K. Haaga, C. Hamelin, B. Ildefonse, J. Jamieson, B. John, T. Leleu, . J. MacLeod, M. Massot-C "Tectonic structure, evolution, and the nature of oceanic core complexes and their detachment fault zones (13°20′N and 13°30′N, Mid Atlantic Ridge)." Geochemistry Geophysics Geosystems 18 (2017): 1451-1482. Armagan, E.;Kim, J.;Gracias, N.;Garcia, R. "Fast Underwater Image Mosaicing through Submapping." Journal of Intelligent and Robotic Systems 85 (2017): 167-187. J. Escartin, F. Leclerc, M. Catherine, C. Mathilde, S. Petersen, N. Augustin, N. Feuillet, D. Christine, A. Bezos, D. Bonnemains, V. Chavagnac, Y. Choi, M. Godard, K. A. Haaga, C. Hamelin, B. Ildefonse, T. Leleu, J. Jamieson, "First direct observation of coseismic slip and seafloor rupture along a submarine normal fault and implications for fault slip history." Earth and Planetary Science Letters 450 (2016): 96-107. Hernández Vega, Juan David; Istenič, Klemen; Grácias, Nuno Ricardo Estrela; Palomeras Rovira, Narcís; Campos Dausà, Ricard; Vidal Garcia, Eduard; García Campos, Rafael; Carreras Pérez, Marc "Autonomous Underwater Navigation and Optical Mapping in Unknown Natural Environments." Sensors 16 (2016): 1174-. Kalwa, Joerg; Tietjen, Daniel; Carreiro-Silva, Marina; Fontes, Jorge; Brignone, Lorenzo; Gracias, Nuno; Ridao, Pere; Pfingsthorn, Max; Birk, Andreas; Glotzbach, Thomas; Eckstein, Sebastian; Caccia, Massimo; Alves, João; Furfa "The European Project MORPH: Distributed UUV Systems for Multimodal, 3D Underwater Surveys." Marine Technology Society Journal 50 (2016): 26-41. Bosch, J.; Grácias, N.;Ridao, P.; Istenič, K.; Ribas, D. "Close-range tracking of underwater vehicles using light beacons." Sensors 16 (2016): 429-. Campos, R.;Grácias, N.;Ridao, P. "Underwater multi-vehicle trajectory alignment and mapping using acoustic and optical constraints." Sensors 16 (2016): 387-. Escartin, J.;Barreyre, T.;Cannat, M.; Garcia, R.;Gracias, N.;Deschamps A.;Salocchie, A.;Sarradin, P.-M.;Ballu, V. "Hydrothermal activity along the slow-spreading Lucky Strike ridge segment (Mid-Atlantic Ridge): Distribution, heatflux, and geological controls." Earth and Planetary Science Letters 431 (2015): 173-185. Camilli, R.; Nomikou, P.;Escartín, J.; Ridao, P.;Mallios, A.; Kilias, S.P.;Argyraki, A.; Andreani, M;Ballu, V.;Campos, R.;Deplus, C.;Gabsi, T.;Garcia, R.;Gracias, N.;Hurtós, N.;Magí, L.;Mével, C.;Moreira, M.;Palomeras, N.;Pot "The Kallisti Limnes, carbon dioxide-accumulating subsea pools." Scientific Reports 5 (2015): 1-9. Bosch J.;Gracias, N.; Ridao, P.; Ribas, D. "Omnidirectional underwater camera design and calibration." Sensors 15 (2015): 6033-6065. Elibol, A.;Kim, J.;Gracias, N.;Garcia, R. "Efficient image mosaicing for multi-robot visual underwater mapping." Pattern Recognition Letters 46 (2014): 20-26. Shihavuddin, A.S.M.;Gracias, N.;Garcia, R.;Campos, R.;Gleason, A.;Gintert, B. "Automated Detection of Underwater Military Munitions Using Fusion of 2D and 2.5D Features From Optical Imagery." Marine Technology Society Journal 48 (2014): 61-71. Elibol, A.;Gracias, N.;Garcia, R.;Kim, J. "Graph theory approach for match reduction in image mosaicing." Journal of the Optical Society of America A-Optics, Image, Science, and Vision 31 (2014): 773-782. Shihavuddin, A.; Gracias, N.; Garcia, R.; Gleason, A.; Gintert, B. "Image-Based Coral Reef Classification and Thematic Mapping." Remote Sensing 5 (2013): 1809-1841. Elibol, A.; Gracias, N.; Garcia, R. "Fast topology estimation for image mosaicing using adaptive information thresholding." Robotics and Autonomous Systems 61 (2013): 125-136. Prados, R.; García, R.; Gracias, N.; Escartín, J.; Neumann, L. "A Novel Blending Technique for underwater Giga-Mosaicing." IEEE Journal of Oceanic Engineering 37 (2012): 626-644. Mittelstaedt, E.; Escartin, J.; Gracias, N.; Olive, A.J.; Barreyre, T.; Davaille, A.; Cannat, M.; Garcia, R. "Quantifying diffuse and discrete venting at the Tour Eiffel vent site, Lucky Strike hydrothermal field." Geochemistry Geophysics Geosystems 13 (2012): 1-18. Purkis, S.; Vlaswinkel, B.; Gracias, N. "Consistency In Vertical-To-Lateral Carbonate Facies Juxtapositions From The Cretaceous – A Means To 3-D Subsurface Modeling Via Markov." Journal of Sedimentary Research 82 (2012): 232-243. Prats, M.; Ribas, D.; Palomeras, N.; García, J.C.; Nannen, V.; Wirth, S.; Fernández, J.J.; Beltrán, J.P.; Campos, R.; Ridao, P.; Sanz, P.J.; Oliver, G.; Carreras, M.; Gracias, N.; Marín, R.; Ortiz, A. "Reconfigurable AUV for intervention missions: a case study on underwater object recovery." Journal of Intelligent and Robotic Systems 5 (2012): 19-31. Elibot, A.; Garcia, R.; Gracias, N.; "A new global alignment approach for underwater optical mapping." Ocean Engineering 38 (2011): 1207-1219. Garcia,R.; Gracias, N. "Underwater optical mapping." Instrumentation Viewpoint (2011): 63-. Elibol, A.; Gracias. N.; Garcia, R. "Augmented State-Extended Kalman filter combined framework for topology estimation in large area underwater mapping." Journal of Field Robotics 27 (2010): 656-674. Mittelstaedt, E.; Davaille, A.; van Keken, P.E.; Gracias, N.; Escartin, J. "A noninvasive method for measuring the velocity of diffuse hydrothermal flow by tracking moving refractive infex anomalies." Geochemistry Geophysics Geosystems 11 (2010): -. Gleason, A.; Gracias, N.; Lirman, D.; Gintert, B.; Smith, T.; Dick, M.; Reid, R.P. "Lanscape video mosaic from a mesophotic coral reef." Coral Reefs 29 (2010): 253-253. Lirman, D.; Gracias, N.; Gintert, B.; Gleason, A.; Deangelo, G.; Dick, M.; Martinez, E.; Reid, R.P. "Damage and recovery assessment of vessel grounding injuries on coral reef habitats using georeferenced landscape video mosaics." Limnology and Oceanography: Methods 8 (2010): 88-97. Nicosevici, T.; Gracias, N.; Negahdaripour, S.; Garcia, R. "Efficient three‐dimensional scene modeling and mosaicing." Journal of Field Robotics 26 (2009): 759-788. Gracias. N.; Negahdaripour, S.; Mahoor, M.; Gleason, A. "Fast image blending using watersheds and graph cuts." Image and Vision Computing 27 (2009): 597-607. Delaunoy, O.; Gracias, N.; Garcia, N. "Small scale underwater change detection." Instrumentation Viewpoint (2009): 44-44. Elibol, A.; Gracias, N.; Garcia, R. "Match selection in batch mosaicing using mutual information." Lecture Notes in Computer Science (2009): 104-111. Escartin, J.; García, R.; Delanouy, O.; Ferrer, J.; Gracias, N.; Elibol, A.; Cufi, X.; Neumann, L.; Fornari, D.J.; Humphris, S.E.; Renard, J. "Globally-aligned photomosaic of the Lucky Strike hydrothermal Vent Field (Mid-Atlantic Ridge, 37°18.5'N): release of geo-referenced data, mosaic construction and viewing software." Geochemistry Geophysics Geosystems 9 (2008): -. Lirman, D.; Gracias, N.; Gintert, B.E.; Gleason, A.C.R.; Reid, R.P.; Negahdaripour, S.; Kramer, P. "Development and application of a video-mosaic survey technology to document the status of coral reef communities." Environmental Monitoring and Assessment 125 (2007): 59-73. Gleason, A.; Lirman, D.; Williams, D.; Gracias. N.; Gintert, B.; Madjidi, H.; Reid, R.P.; Boynton, G.C.; Negahdaripour, S.; Miller, M.; Kramer, P. "Documenting hurricane impacts on coral reefs using two-dimensional video-mosaic technology." Marine Ecology-An Evolutionary Perspective (2007): -. Ferrer, J.; Gracias, N.; Delaunoy, O.; Garcia, R. "Creating large and accurate mosaics of the Mid-Atlantic Ridge." Instrumentation Viewpoint (2007): 99-100. Nicosevici, T.; Garcia, R.; Gracias, N. "Identification of geometrically consistent interest points for 3D scene reconstruction." Instrumentation Viewpoint (2007): 75-76. Gracias,Nuno; van der Zwaan, Sjoerd; Bernardino, Alexandre; Santos-Victor, José "Mosaic based Navigation for Autonomous Underwater Vehicles." IEEE Journal of Oceanic Engineering 28 (2004): 609-624. Gracias, Nuno; Santos-Victor, José "Trajectory reconstruction with uncertainty estimation using mosaic registration." Robotics and Autonomous Systems 35 (2001): 163-177. Nuno Gracias, José Santos-Victor "Underwater video mosaics as visual navigation maps." Computer Vision and Image Understanding 79 (2000): 66-91.