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Sparse Bayesian information filters for localization and mapping
(Massachusetts Institute of Technology, 2008)
This thesis formulates an estimation framework for Simultaneous Localization and Mapping (SLAM) that addresses the problem of scalability in large environments. We describe an estimation-theoretic algorithm that achieves ...
Acoustic scattering from sand dollars (Dendraster Excentricus) : modeling as high aspect ratio oblate objects and comparison to experiment
(Massachusetts Institute of Technology, 2008)
Benthic shells can contribute greatly to the scattering variability of the ocean bottom, particularly at low grazing angles. Among the effects of shell aggregates are increased scattering strength and potential subcritical ...
Landmine detection with a standoff acoustic/laser technique
(Massachusetts Institute of Technology, 2008)
Landmines and mine-like traps are effective weapons that are difficult to detect and discriminate from a safe distance. The ability to detect landmines in their host environment at a distance and to discriminate them from ...