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Browsing WHOI Theses by Keyword "Underwater navigation"

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Browsing WHOI Theses by Keyword "Underwater navigation"

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  • 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 ...
  • 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 ...
  • 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 ...
  • 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 ...
  • 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. ...
  • 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 ...
  • 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 ...

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