Part B | 14
356 Part B Autonomous Ocean Vehicles, Subsystems and Control
14.63
B. Kamgar-Parsi: Registration algorithms for
making accurate geophysical maps, Proc. IEEE
Oceans ’97, Vol. 2 (1997) pp. 974–980
14.64
B. Kamgar-Parsi, L. Rosenblum, F. Pipitone,
L. Davis, J. Jones: Toward an automated system
for a correctly registered bathymetric chart, IEEE
J. Ocean Eng. 14(4), 314–325 (1989)
14.65
L. Lucido, B. Popescu, J. Opderbecke, V. Rigaud:
Segmentation of bathymetric profiles and terrain matching for underwater vehicle navigation,
Proc. 2nd Annu. World Autom. Conf. (1996)
14.66
O. Bergem: A multibeam sonar based positioning
system for an AUV, 8th Int. Symp. Unmanned Untethered Submers. Technol. (AUSI) (1993) pp. 291–
299
14.67
J.J. Leonard, R. Carpenter, H.J.S. Feder: Stochastic
mapping using forward look sonar, Robotica 19,
467–480 (2001)
14.68
F. Lu, E. Milios: Globally consistent range scan
alignment for environmental mapping, Auton.
Robots 4, 333–349 (1997)
14.69
F.R. Kschischang, B.J. Frey, H.-A. Loeliger: Factor graphs and the sum-product algorithm, IEEE
Trans. Inform. Theory 47(2), 498–519 (2001)
14.70
G. Dissanayake, P. Newman, S. Clark, H.F. DurrantWhyte, M. Csorba: A solution to the simultaneous
localisation and map building (SLAM) problem,
IEEE Trans. Robotics Autom. 17(3), 229–241 (2001)
14.71
R. Smith, M. Self, P. Cheeseman: A stochastic
map for uncertain spatial relationships, Proc. Int.
Symp. Robotics Res. (ISRR) (1988) pp. 467–474
14.72
S.J. Julier, J.K. Uhlmann: A counter example to
the theory of simultaneous localization and map
building, Proc. IEEE Int. Conf. Robotics Autom.
(ICRA), Vol. 4 (2001) pp. 4238–4243
14.73
S. Thrun, W. Burgard, D. Fox: Probabilistic
Robotics (MIT, Cambridge 2005)
14.74
J. Folkesson, H. Christensen: Closing the loop with
graphical SLAM, IEEE Trans. Robotics 23(4), 731–741
(2007)
14.75
K. Konolige: Large-scale map-making, Proc. AAAI
Conf. Artif. Intell. (2004) pp. 457–463
14.76
U. Frese, P. Larsson, T. Duckett: A multilevel relaxation algorithm for simultaneous localisation
and mapping, IEEE Trans. Robotics 21(2), 196–207
(2005)
14.77
A. Ranganathan, M. Kaess, F. Dellaert: Loopy SAM,
Int. Joint Conf. Artif. Intell. (2007) pp. 2191–2196
14.78
F. Dellaert, M. Kaess: Square Root SAM: Simultaneous localization and mapping via square
root information smoothing, Int. J. Robotics Res.
25(12), 1181–1203 (2006)
14.79
M. Kaess, H. Johannsson, R. Roberts, V. Ila,
J.J. Leonard, F. Dellaert: iSAM2: Incremental
smoothing and mapping using the Bayes tree,
Int. J. Robotics Res. 31, 217–236 (2012)
14.80
K. Konolige, G. Grisetti, R. Kümmerle, W. Burgard,
B. Limketkai, R. Vincent: Efficient sparse pose adjustment for 2D mapping, Proc. IEEE/RSJ Int. Conf.
Intell. Robots Syst. (IROS) (2010) pp. 22–29
14.81
R. Kümmerle, G. Grisetti, H. Strasdat, K. Konolige,
W. Burgard: G
2 O: A general framework for graph
optimization, Proc. IEEE Int. Conf. Robotics Autom.
(ICRA) (2011) pp. 3607–3613
14.82
H. Johannsson, M. Kaess, M.F. Fallon, J.J. Leonard:
Temporally scalable visual SLAM using a reduced
pose graph, IEEE Int. Conf. Robotics Autom. (ICRA)
(2013) pp. 54–61
14.83
R. Eustice: Large-Area Visually Augmented Navigation for Autonomous Underwater Vehicles,
Ph.D. Thesis (MIT, Cambridge 2005)
14.84
N. Fairfield, A.G. Kantor, D. Wettergreen: Realtime SLAM with octree evidence grids for exploration in underwater tunnels, J. Field Robotics
24(1), 3–22 (2007)
14.85
J. Folkesson, J. Leonard: Autonomy through SLAM
for an underwater robot. In: Robotics Research,
Springer Tracts in Advanced Robotics, Vol. 70, ed.
by C. Pradalier, R. Siegwart, G. Hirzinger (Springer,
Berlin, Heidelberg 2011) pp. 55–70
14.86
C. Roman, H. Singh: Improved vehicle based
multibeam bathymetry using submaps and SLAM,
Proc. IEEE/RSJ Int. Conf. Intell. Robots Syst. (IROS)
(2005) pp. 3662–3669
14.87
R.M. Eustice, H. Singh, J.J. Leonard: Exactly sparse
delayed-state filters for viewbased SLAM, IEEE
Trans. Robotics 22(6), 1100–1114 (2006)
14.88
N.R. Gracias, S. Van Der Zwaan, A. Bernardino,
J. Santos-Victor: Mosaic-based navigation for autonomous underwater vehicles, IEEE J. Ocean.
Eng. 28(4), 609–624 (2003)
14.89
I. Mahon, S.B. Williams, O. Pizarro, M. JohnsonRoberson: Efficient view-based SLAM using visual
loop closures, IEEE Trans. Robotics 24(5), 1002–1014
(2008)
14.90
L. Freitag, M. Grund, S. Singh, J. Partan, P. Koski,
K. Ball: The WHOI micromodem: An acoustic communications and navigation system for multiple
platforms, Proc. MTS/IEEE OCEANS Conf. Exhib., Vol.
1 (2005) pp. 1086–1092
14.91
J. Vaganay, J.J. Leonard, J.A. Curcio, J.S. Willcox:
Experimental validation of the moving long base
line navigation concept, Proc. IEEE/OES AUV (2004)
pp. 59–65
14.92
R.M. Eustice, L.L. Whitcomb, H. Singh, M. Grund:
Experimental results in synchronous-clock oneway-travel-time acoustic navigation for autonomous underwater vehicles, Proc. IEEE Int.
Conf. Robotics Autom. (ICRA) (2007) pp. 4257–4264
14.93
M.F. Fallon, G. Papadopoulos, J.J. Leonard,
N.M. Patrikalakis: Cooperative AUV navigation
using a single maneuvering surface craft, Int.
J. Robotics Res. 29(12), 1461–1474 (2010)
14.94
S.E. Webster, R.M. Eustice, H. Singh, L.L. Whitcomb: Preliminary deep water results in singlebeacon one-way-travel-time acoustic navigation for underwater vehicles, Proc. IEEE/RSJ Int.
Conf. Intell. Robots Syst. (IROS) (2009) pp. 2053–
2060
14.95
A. Bahr, J.J. Leonard, M.F. Fallon: Cooperative localization for autonomous underwater vehicles,
Int. J. Robotics Res. 28(6), 714–728 (2009)
14.96
S.E. Webster, L.L. Whitcomb, R.M. Eustice: Advances in decentralized single-beacon acoustic
356 Part B Autonomous Ocean Vehicles, Subsystems and Control
14.63
B. Kamgar-Parsi: Registration algorithms for
making accurate geophysical maps, Proc. IEEE
Oceans ’97, Vol. 2 (1997) pp. 974–980
14.64
B. Kamgar-Parsi, L. Rosenblum, F. Pipitone,
L. Davis, J. Jones: Toward an automated system
for a correctly registered bathymetric chart, IEEE
J. Ocean Eng. 14(4), 314–325 (1989)
14.65
L. Lucido, B. Popescu, J. Opderbecke, V. Rigaud:
Segmentation of bathymetric profiles and terrain matching for underwater vehicle navigation,
Proc. 2nd Annu. World Autom. Conf. (1996)
14.66
O. Bergem: A multibeam sonar based positioning
system for an AUV, 8th Int. Symp. Unmanned Untethered Submers. Technol. (AUSI) (1993) pp. 291–
299
14.67
J.J. Leonard, R. Carpenter, H.J.S. Feder: Stochastic
mapping using forward look sonar, Robotica 19,
467–480 (2001)
14.68
F. Lu, E. Milios: Globally consistent range scan
alignment for environmental mapping, Auton.
Robots 4, 333–349 (1997)
14.69
F.R. Kschischang, B.J. Frey, H.-A. Loeliger: Factor graphs and the sum-product algorithm, IEEE
Trans. Inform. Theory 47(2), 498–519 (2001)
14.70
G. Dissanayake, P. Newman, S. Clark, H.F. DurrantWhyte, M. Csorba: A solution to the simultaneous
localisation and map building (SLAM) problem,
IEEE Trans. Robotics Autom. 17(3), 229–241 (2001)
14.71
R. Smith, M. Self, P. Cheeseman: A stochastic
map for uncertain spatial relationships, Proc. Int.
Symp. Robotics Res. (ISRR) (1988) pp. 467–474
14.72
S.J. Julier, J.K. Uhlmann: A counter example to
the theory of simultaneous localization and map
building, Proc. IEEE Int. Conf. Robotics Autom.
(ICRA), Vol. 4 (2001) pp. 4238–4243
14.73
S. Thrun, W. Burgard, D. Fox: Probabilistic
Robotics (MIT, Cambridge 2005)
14.74
J. Folkesson, H. Christensen: Closing the loop with
graphical SLAM, IEEE Trans. Robotics 23(4), 731–741
(2007)
14.75
K. Konolige: Large-scale map-making, Proc. AAAI
Conf. Artif. Intell. (2004) pp. 457–463
14.76
U. Frese, P. Larsson, T. Duckett: A multilevel relaxation algorithm for simultaneous localisation
and mapping, IEEE Trans. Robotics 21(2), 196–207
(2005)
14.77
A. Ranganathan, M. Kaess, F. Dellaert: Loopy SAM,
Int. Joint Conf. Artif. Intell. (2007) pp. 2191–2196
14.78
F. Dellaert, M. Kaess: Square Root SAM: Simultaneous localization and mapping via square
root information smoothing, Int. J. Robotics Res.
25(12), 1181–1203 (2006)
14.79
M. Kaess, H. Johannsson, R. Roberts, V. Ila,
J.J. Leonard, F. Dellaert: iSAM2: Incremental
smoothing and mapping using the Bayes tree,
Int. J. Robotics Res. 31, 217–236 (2012)
14.80
K. Konolige, G. Grisetti, R. Kümmerle, W. Burgard,
B. Limketkai, R. Vincent: Efficient sparse pose adjustment for 2D mapping, Proc. IEEE/RSJ Int. Conf.
Intell. Robots Syst. (IROS) (2010) pp. 22–29
14.81
R. Kümmerle, G. Grisetti, H. Strasdat, K. Konolige,
W. Burgard: G
2 O: A general framework for graph
optimization, Proc. IEEE Int. Conf. Robotics Autom.
(ICRA) (2011) pp. 3607–3613
14.82
H. Johannsson, M. Kaess, M.F. Fallon, J.J. Leonard:
Temporally scalable visual SLAM using a reduced
pose graph, IEEE Int. Conf. Robotics Autom. (ICRA)
(2013) pp. 54–61
14.83
R. Eustice: Large-Area Visually Augmented Navigation for Autonomous Underwater Vehicles,
Ph.D. Thesis (MIT, Cambridge 2005)
14.84
N. Fairfield, A.G. Kantor, D. Wettergreen: Realtime SLAM with octree evidence grids for exploration in underwater tunnels, J. Field Robotics
24(1), 3–22 (2007)
14.85
J. Folkesson, J. Leonard: Autonomy through SLAM
for an underwater robot. In: Robotics Research,
Springer Tracts in Advanced Robotics, Vol. 70, ed.
by C. Pradalier, R. Siegwart, G. Hirzinger (Springer,
Berlin, Heidelberg 2011) pp. 55–70
14.86
C. Roman, H. Singh: Improved vehicle based
multibeam bathymetry using submaps and SLAM,
Proc. IEEE/RSJ Int. Conf. Intell. Robots Syst. (IROS)
(2005) pp. 3662–3669
14.87
R.M. Eustice, H. Singh, J.J. Leonard: Exactly sparse
delayed-state filters for viewbased SLAM, IEEE
Trans. Robotics 22(6), 1100–1114 (2006)
14.88
N.R. Gracias, S. Van Der Zwaan, A. Bernardino,
J. Santos-Victor: Mosaic-based navigation for autonomous underwater vehicles, IEEE J. Ocean.
Eng. 28(4), 609–624 (2003)
14.89
I. Mahon, S.B. Williams, O. Pizarro, M. JohnsonRoberson: Efficient view-based SLAM using visual
loop closures, IEEE Trans. Robotics 24(5), 1002–1014
(2008)
14.90
L. Freitag, M. Grund, S. Singh, J. Partan, P. Koski,
K. Ball: The WHOI micromodem: An acoustic communications and navigation system for multiple
platforms, Proc. MTS/IEEE OCEANS Conf. Exhib., Vol.
1 (2005) pp. 1086–1092
14.91
J. Vaganay, J.J. Leonard, J.A. Curcio, J.S. Willcox:
Experimental validation of the moving long base
line navigation concept, Proc. IEEE/OES AUV (2004)
pp. 59–65
14.92
R.M. Eustice, L.L. Whitcomb, H. Singh, M. Grund:
Experimental results in synchronous-clock oneway-travel-time acoustic navigation for autonomous underwater vehicles, Proc. IEEE Int.
Conf. Robotics Autom. (ICRA) (2007) pp. 4257–4264
14.93
M.F. Fallon, G. Papadopoulos, J.J. Leonard,
N.M. Patrikalakis: Cooperative AUV navigation
using a single maneuvering surface craft, Int.
J. Robotics Res. 29(12), 1461–1474 (2010)
14.94
S.E. Webster, R.M. Eustice, H. Singh, L.L. Whitcomb: Preliminary deep water results in singlebeacon one-way-travel-time acoustic navigation for underwater vehicles, Proc. IEEE/RSJ Int.
Conf. Intell. Robots Syst. (IROS) (2009) pp. 2053–
2060
14.95
A. Bahr, J.J. Leonard, M.F. Fallon: Cooperative localization for autonomous underwater vehicles,
Int. J. Robotics Res. 28(6), 714–728 (2009)
14.96
S.E. Webster, L.L. Whitcomb, R.M. Eustice: Advances in decentralized single-beacon acoustic