Aguiar, Rodrigo, Luciano Bertini, Alessandro Copetti, Esteban Walter Gonzalez Clua, Luiz Marcos Garcia Gonçalves, and Leonard Barreto Moreira. " Semantic Segmentation and Regions of Interest for Obstacles Detection and Avoidance in Autonomous Surface Vessels." Anais do XV Simpósio Brasileiro de Robótica e XX Simpósio Latino Americano de Robótica, Salvador/BA, 2023. SBC, 2023, pp.403-408.