Ryan M. Eustice, Oscar Pizarro, Hanumant Singh
Abstract — As autonomous underwater vehicles (AUVs) are becoming routinely used in an exploratory context for ocean science, the goal of visually augmented navigation (VAN) is to improve the...
The 2005 Chios ancient shipwreck survey : new methods for underwater archaeology (2009)
Foley, Brendan P., Dellaporta, Katerina, Sakellariou, Dimitris, Bingham, Brian S., Camilli, Richard, Eustice, Ryan M., ...
Author Posting. © American School of Classical Studies at Athens, 2009. This article is posted here by permission of American School of Classical Studies at Athens for personal use, not for...
Toward extraplanetary under-ice exploration : robotic steps in the Arctic (2009)
Kunz, Clayton, Murphy, Chris, Singh, Hanumant, Pontbriand, Claire, Sohn, Robert A., Singh, Sandipa, ...
Author Posting. © Wiley Periodicals, 2009. This is the author's version of the work. It is posted here by permission of Wiley Periodicals for personal use, not for redistribution. The definitive...
Long-baseline acoustic navigation for under-ice autonomous underwater vehicle operations (2008)
Jakuba, Michael V., Roman, Christopher N., Singh, Hanumant, Murphy, Christopher, Kunz, Clayton, Willis, Claire, ...
Author Posting. © Wiley Periodicals, 2008. This is the author's version of the work. It is posted here by permission of Wiley Periodicals for personal use, not for redistribution. The definitive...
Hanumant Singh, Garbis Salgian, Ryan Eustice, Robert M, Woods Hole Ma
This paper describes an approach for the fusion of 3D data underwater obtained from multiple sensing modalities. In particular, we examine the combination of imagebased Structure-From-Motion (SFM)...
Harihar Narasimha-iyer, Ali Can, Badrinath Roysam, Charles V. Stewart, Howard L, Anna Majerovics, ...
Automated image analysis algorithms are presented for detection and classification of changes in longitudinal time-series of color retinal fundus images. They are applicable to clinical practice,...
Visually augmented navigation for autonomous underwater vehicles (2008)
Eustice, Ryan M., Pizarro, Oscar, Singh, Hanumant
Author Posting. © IEEE, 2008. This article is posted here by permission of IEEE for personal use, not for redistribution. The definitive version was published in IEEE Journal of Oceanic Engineering...
Ryan M. Eustice, Louis L. Whitcomb, Hanumant Singh, Matthew Grund
Abstract — This paper reports recent experimental results in the development and deployment of a synchronous-clock acoustic navigation system suitable for the simultaneous navigation of multiple...
Applications of geo-referenced underwater photo mosaics in marine biology and archaeology (2007)
Ludvigsen, Martin, Sortland, Bjorn, Johnsen, Geir, Singh, Hanumant
Author Posting. © Oceanography Society, 2007. This article is posted here by permission of Oceanography Society for personal use, not for redistribution. The definitive version was published in...
Explosive volcanism on the ultraslow-spreading Gakkel ridge, Arctic Ocean (2007)
Sohn, Robert A., Willis, Claire, Humphris, Susan, Shank, Timothy M., Singh, Hanumant, Edmonds, Henrietta N., ...
Author Posting. © Nature Publishing Group, 2008. This is the author's version of the work. It is posted here by permission of Nature Publishing Group for personal use, not for redistribution. The...
Active methane venting observed at giant pockmarks along the U.S. mid-Atlantic shelf break (2007)
Newman, Kori R., Cormier, Marie-Helene, Weissel, Jeffrey K., Driscoll, Neal W., Kastner, Miriam, Solomon, Evan A., ...
Author Posting. © Elsevier B.V., 2007. This is the author's version of the work. It is posted here by permission of Elsevier B.V. for personal use, not for redistribution. The definitive version was...
Exactly sparse delayed-state filters for view-based SLAM (2006)
Eustice, Ryan M., Singh, Hanumant, Leonard, John J.
Author Posting. © IEEE, 2006. This article is posted here by permission of IEEE for personal use, not for redistribution. The definitive version was published in IEEE Transactions on Robotics 22...
Exactly sparse delayed-state filters for view-based SLAM (2006)
Eustice, Ryan M., Singh, Hanumant, Leonard, John J.
Author Posting. © IEEE, 2006. This article is posted here by permission of IEEE for personal use, not for redistribution. The definitive version was published in IEEE Transactions on Robotics 22...
FISH_ROCK : a tool for identifying and counting benthic organisms in bottom photographs (2006)
Ferrini, Vicki Lynn, Singh, Hanumant
Recent advances in underwater robotics and imaging technology now enable the rapid acquisition of large datasets of near-bottom high-resolution digital imagery. These images provide the potential for...
FISH_ROCK : a tool for identifying and counting benthic organisms in bottom photographs (2006)
Ferrini, Vicki Lynn, Singh, Hanumant
Recent advances in underwater robotics and imaging technology now enable the rapid acquisition of large datasets of near-bottom high-resolution digital imagery. These images provide the potential for...
FISH_ROCK: A Tool for Identifying and Counting Benthic Organisms in Bottom Photographs (2006)
Ferrini, Vicki L., Singh, Hanumant
Recent advances in underwater robotics and imaging technology now enable the rapid acquisition of large datasets of near-bottom high-resolution digital imagery. These images provide the potential for...
Exactly sparse delayed-state filters for view-based SLAM (2006)
Ryan M. Eustice, Hanumant Singh, John J. Leonard
Abstract—This paper reports the novel insight that the simultaneous localization and mapping (SLAM) information matrix is exactly sparse in a delayed-state framework. Such a framework is used in...
Armstrong, Roy A., Singh, Hanumant, Torres, Juan, Nemeth, Richard S., Can, Ali, Roman, Chris, ...
Author Posting. © Elsevier B.V., 2006. This is the author's version of the work. It is posted here by permission of Elsevier B. V. for personal use, not for redistribution. The definitive version...
Armstrong, Roy A., Singh, Hanumant, Torres, Juan, Nemeth, Richard S., Can, Ali, Roman, Chris, ...
Author Posting. © Elsevier B.V., 2006. This is the author's version of the work. It is posted here by permission of Elsevier B. V. for personal use, not for redistribution. The definitive version...
Advances in high-resolution imaging from underwater vehicles (2005)
Hanumant Singh, Chris Roman, Oscar Pizarro, Ryan Eustice, Woods Hole, Woods Hole
Large area mapping at high resolution underwater continues to be constrained by the mismatch between available navigation as compared to sensor accuracy. In this paper we present advances that...
Visually navigating the RMS Titanic with SLAM information filters (2005)
Ryan Eustice, Hanumant Singh, Woods Hole, Woods Hole
Abstract — This paper describes a vision-based, large-area, simultaneous localization and mapping (SLAM) algorithm that respects the low-overlap imagery constraints typical of underwater vehicles...
Visually navigating the RMS Titanic with SLAM information filters (2005)
Ryan Eustice, Hanumant Singh, Woods Hole, Woods Hole
Abstract — This paper describes a vision-based large-area simultaneous localization and mapping (SLAM) algorithm that respects the constraints of low-overlap imagery typical of underwater vehicles...
Exactly sparse delayed-state filters (2005)
Ryan M. Eustice, Hanumant Singh, Woods Hole Ma
Abstract — This paper presents the novel insight that the SLAM information matrix is exactly sparse in a delayedstate framework. Such a framework is used in view-based representations of the...
Visually augmented navigation in an unstructured environment using a delayed state history (2004)
Ryan Eustice, Oscar Pizarro, Hanumant Singh, Woods Hole Ma
Abstract — This paper describes a framework for sensor fusion of navigation data with camera-based 5 DOF relative pose measurements for 6 DOF vehicle motion in an unstructured 3D underwater...
Imaging coral I: Imaging coral habitats with the SeaBED (2004)
Hanumant Singh, Roy Armstrong, O Gilbes, Ryan Eustice, Chris Roman, Oscar Pizarro, ...
The SeaBED autonomous underwater vehicle (AUV) is a new imaging platform designed for high resolution optical and acoustic sensing. This low cost vehicle has been specifically designed for use in...
Relative Pose Estimation for Instrumented, Calibrated Imaging Platforms (2003)
Oscar Pizarro, Ryan Eustice, Hanumant Singh
Abstract. Recent efforts in robust estimation of the two-view relation have focused on uncalibrated cameras with no prior knowledge of pose. However, in practice robotic vehicles that perform...
Relative Pose Estimation for Instrumented, Calibrated Imaging Platforms (2003)
Oscar Pizarro, Ryan Eustice, Hanumant Singh
Abstract. Recent efforts in robust estimation of the two-view relation have focused on uncalibrated cameras with no prior knowledge of pose. However, in practice robotic vehicles that perform...
UWIT: Underwater Image Toolbox for optical image processing and mosaicking (2002)
Ryan Eustice, Oscar Pizarro, Hanumant Singh, Jonathan Howl
Abstract—This paper shows results from our development of an extended MATLAB image processing toolbox, which implements some useful optical image processing and mosaicking algorithms found in the...
The SeaBED AUV – a platform for high resolution imaging (2002)
Hanumant Singh, Ryan Eustice, Chris Roman, Oscar Pizarro, Woods Hole, Woods Hole Ma
The SeaBED autonomous underwater vehicle (AUV) is a new imaging platform designed for high resolution optical and acoustic sensing. This low cost vehicle has been specifically designed for use in...
Advances in Underwater Robot Vehicles for Deep Ocean Exploration (2000)
Louis Whitcomb, Dana Yoerger, Hanumant Singh, Jonathan Howl
This paper reports recent advances and open problems in navigation, control, and survey methodologies for underwater robotic vehicles. First, the technical challenges of underwater navigation are...
Advances in doppler-based navigation of underwater robotic vehicles (1999)
Louis Whitcomb, Dana Yoerger, Hanumant Singh
New low-cost commercially available bottom-lock doppler sonars can augment or replace the acoustic timeof-flight navigation systems commonly employed for threedimensional underwater robot vehicle...
Combined Doppler/LBL based navigation of underwater vehicles (1999)
Louis L. Whitcomb, Dana R. Yoerger, Hanumant Singh
This paper first reviews conventional techniques for underwater vehicle navigation, and describes a dopplerbased navigation system recently implemented by the authors. Experimental results show that...
An Entropic Framework for AUV Sensor Modelling. (1998)
This thesis examines the general task of active sensing by defining a measure of efficiency for sensing in a particular environment. We focus on fine scale acoustic mapping from an autonomous...
Louis Whitcomb, Dana Yoerger, Hanumant Singh, David Mindell, David Mindell Zx
This paper reports recent advances in the precision control of underwater robotic vehicles for survey and manipulation missions. A new underwater vehicle navigation and control system employing a new...
Y. Shirai, S. Hirose, Louis Whitcomb, Dana Yoerger, Hanumant Singh, David Mindell
This paper reports recent advances in the precision control of underwater robotic vehicles for survey and manipulation missions. A new underwater vehicle navigation and control system employing a new...
An entropic framework for AUV sensor modelling (1995)
Thesis (Ph. D.)--Massachusetts Institute of Technology, Dept. of Ocean Engineering, 1995.
An entropic framework for AUV sensor modelling /--by Hanumant Singh. (1995)
Thesis (Ph. D.)--Massachusetts Institute of Technology, Dept. of Ocean Engineering, 1995.
An entropic framework for AUV sensor modelling (1995)
Thesis (Ph. D.)--Massachusetts Institute of Technology, Dept. of Ocean Engineering, 1995.