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Inversion for subbottom sound velocity profiles in the deep and shallow ocean
(Massachusetts Institute of Technology, 2005)
This thesis investigates the application of acoustic measurements in the deep and shallow ocean to infer the sound velocity profile (svp) in the seabed. For the deep water ocean, an exact method based on the Gelfand-Levitan ...
Performance analysis of subaperture processing using a large aperture planar towed array
(Massachusetts Institute of Technology, 2004)
In recent years the focus of passive detection and localization of submarines has moved from the deep ocean into the littoral regions. the problem of passive detection in these regions is complicated by strong multipath ...
Large-area visually augmented navigation for autonomous underwater vehicles
(Massachusetts Institute of Technology, 2005)
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 ...
Estimating Gulf of Maine zooplankton distributions using multiple frequency acoustic, video and environmental data
(Massachusetts Institute of Technology, 2001)
This thesis develops methods useful for estimating zooplankton distributions in the field by combining acoustic scattering models and an integrated set of field data. The accuracy of existing scattering models for fluid-like ...
Self consistent bathymetric mapping from robotic vehicles in the deep ocean
(Massachusetts Institute of Technology, 2005)
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 ...
Large scale structure from motion for autonomous underwater vehicle surveys
(Massachusetts Institute of Technology, 2004)
Our ability to image extended underwater scenes is severely limited by attenuation and backscatter. Generating a composite view from multiple overlapping images is usually the most practical and flexible way around this ...