Author

Taqi Hamoda

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Preprint Open access Sep 2026

Advancing Accessible Underwater Robotics: The Mini-Girona I-AUV at RAMI 2025

The Mini-Girona Intervention Autonomous Underwater Vehicle (I-AUV) represents an advancement in accessible underwater robotics, designed to bridge the gap between costly, specialized research AUVs and basic Remotely Operated Vehicles (ROVs). Developed with a focus on affordability and usability, the Mini-Girona, priced...

Taqi Hamoda, Bilal Ahmed, Deborah Ele-Ojo et al. · 0 citations

#machine learning Preprint Aug 2026

BenthicDINO: Physics-Informed Self-Distillation for View-Invariant Side-Scan Sonar Representations

A physics-informed self-distillation framework built upon the DINOv3 architecture utilizing a ConvNeXt-v2-Tiny backbone to maximize data efficiency and enforces view-invariance, and proposes a dense, hierarchical feature fusion strategy across all four network stages to preserve fine-grained sediment details alongside...

Taqi Hamoda, Hayat Rajani, Nuno Gracias · 0 citations

Preprint Aug 2026

Geometry-Driven Opti-Acoustic Co-Registration and View-Invariant Reflectivity Mapping for Side-Scan Sonar

This method utilizes Structure-from-Motion to reconstruct a dense 3D seafloor mesh, acting as a geometric anchor between the visual and acoustic domains, and applies an inverse Lambertian model and a dual-Gaussian weighting function to isolate the intrinsic seabed reflectivity.

Taqi Hamoda, Nuno Gracias · 0 citations