Antoni Martorell Torres

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About

Antoni Martorell Torres is a leading researcher in underwater robotics, specializing in robust perception and communication for autonomous marine systems. His work centers on two critical challenges: enabling reliable visual navigation in the harsh, unstructured underwater environment, and ensuring efficient data transmission through acoustic links. Martorell’s most impactful contribution is a novel approach to Visual Loop Detection (VLD) for underwater Visual SLAM, which fuses deep learning with robust estimation techniques to achieve outlier-resilient performance. This work, published in 2022 and garnering 21 citations, directly addresses the problem of drift and failure in long-duration autonomous missions. More recently, he has pioneered a method for broadcasting pre-compressed images of reference hotspots between marine robots using acoustic communications, designed to maintain sufficient resolution despite acoustic multi-scattering. This innovation, presented in 2023, is a critical step toward real-time collaborative mapping and inspection. Martorell’s research is essential for advancing the autonomy and reliability of underwater robots in applications from environmental monitoring to infrastructure inspection.