The Rock-Gazebo Integration and a Real-Time AUV Simulation. - Thomio Watanabe; Gustavo Neves; Romulo Cerqueira; Tiago Trocoli; Marco Reis; Sylvain Joyeux; Jan C. Albiez (LARS/SBR, 2015)

Using the Scene to Calibrate the Camera. - Tiago Trocoli; Luciano Oliveira (SIBGRAPI, 2016)

A novel GPU-based sonar simulator for real-time applications. - Romulo Cerqueira; Tiago Trocoli; Gustavo Neves; Sylvain Joyeux; Jan C. Albiez; Luciano Oliveira (Comput. Graph., 2017)

A rasterized ray-tracer pipeline for real-time, multi-device sonar simulation. - Romulo Cerqueira; Tiago Trocoli; Jan C. Albiez; Luciano Oliveira (Graph. Model., 2020)