This study describes an innovative methodology designed to filter out redundant visual information during the construction of underwater photo-mosaics of the seabed. Collecting visual data of the seabed using underwater robots typically requires taking hundreds or even thousands of images when missions are performed in large areas and/or have long durations. All these images typically contain multiple overlapping parts that ne...

During the past few decades, the need to intervene in underwater scenarios has grown due to the increasing necessity to perform tasks like underwater infrastructure inspection and maintenance or archaeology and geology exploration. In the last few years, the usage of Autonomous Underwater Vehicles (AUVs) has eased the workload and risks of such interventions. To automate these tasks, the AUVs have to gather the information of...