Now showing items 1-10 of 10

  • An acoustic navigation system 

    Hunt, Mary M.; Marquet, William M.; Moller, Donald A.; Peal, Kenneth R.; Smith, Woollcott K.; Spindel, Robert C. (Woods Hole Oceanographic Institution, 1974-12)
    This report describes a system for underwater acoustic navigation developed, and in use, at the Woods Hole Oceanographic Institution. It includes a brief discussion of the electronic components, operation, mathematical ...
  • Analysis of a high resolution deep ocean acoustic navigation system 

    Durham, James Leighton (Massachusetts Institute of Technology and Woods Hole Oceanographic Institution, 1975-01)
    A high resolution acoustic navigation system for ocean use is being developed at the Woods Hole oceanographic Institution. The system can yield navigation fixes with respect to a bottom moored reference net with accuracies ...
  • Autonomous underwater vehicle navigation and mapping in dynamic, unstructured environments 

    Kunz, Clayton G. (Massachusetts Institute of Technology and Woods Hole Oceanographic Institution, 2012-02)
    This thesis presents a system for automatically building 3-D optical and bathymetric maps of underwater terrain using autonomous robots. The maps that are built improve the state of the art in resolution by an order of ...
  • Contributions to automated realtime underwater navigation 

    Stanway, Michael J. (Massachusetts Institute of Technology and Woods Hole Oceanographic Institution, 2012-02)
    This dissertation presents three separate–but related–contributions to the art of underwater navigation. These methods may be used in postprocessing with a human in the loop, but the overarching goal is to enhance vehicle ...
  • Large-area visually augmented navigation for autonomous underwater vehicles 

    Eustice, Ryan M. (Massachusetts Institute of Technology and Woods Hole Oceanographic Institution, 2005-06)
    This thesis describes a vision-based, large-area, simultaneous localization and mapping (SLAM) algorithm that respects the low-overlap imagery constraints typical of autonomous underwater vehicles (AUVs) while exploiting ...
  • Navigation for the Derbyshire Phase2 Survey 

    Lerner, Steven A.; Yoerger, Dana R.; Crook, T. (Woods Hole Oceanographic Institution, 1999-04)
    In 1997, the Deep Submergence Operations Group of the Woods Hole Oceanographic Institution conducted an underwater forensic survey of the UK bulk-carrier MV Derbyshire with a suite of underwater vehicles. This report ...
  • Performance analysis for lateral-line-inspired sensor arrays 

    Fernandez, Vicente I. (Massachusetts Institute of Technology and Woods Hole Oceanographic Institution, 2011-06)
    The lateral line is a critical component of the fish sensory system, found to affect numerous aspects of behavior including maneuvering in complex fluid environments, schooling, prey tracking, and environment mapping. ...
  • Self consistent bathymetric mapping from robotic vehicles in the deep ocean 

    Roman, Christopher N. (Massachusetts Institute of Technology and Woods Hole Oceanographic Institution, 2005-06)
    Obtaining accurate and repeatable navigation for robotic vehicles in the deep ocean is difficult and consequently a limiting factor when constructing vehicle-based bathymetric maps. This thesis presents a methodology to ...
  • Toward lifelong visual localization and mapping 

    Johannsson, Hordur (Massachusetts Institute of Technology and Woods Hole Oceanographic Institution, 2013-06)
    Mobile robotic systems operating over long durations require algorithms that are robust and scale efficiently over time as sensor information is continually collected. For mobile robots one of the fundamental problems ...
  • Underwater imaging system performance characterization 

    Jaffe, Jules S. (Woods Hole Oceanographic Institution, 1988-08)
    The correct design of underwater camera systems for viewing underwater objects is vitally important if the performance of these underwater imaging systems is to be maximized. Towards this goal, the Woods Hole Oceanographic ...