Carnegie Mellon University
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Sonar Mapping for Underwater Vehicles
This project is no longer active.
Head: Martial Hebert
Mailing address:
Carnegie Mellon University
Robotics Institute
5000 Forbes Avenue
Pittsburgh, PA 15213
Associated center(s) / consortia:
 Vision and Autonomous Systems Center (VASC)
  • Seafloor Map Generation for Autonomous Underwater Vehicle Navigation

    Andrew Johnson and Martial Hebert
    Autonomous Robots, 1996, pp. 145-168.
    Details | pdf (599KB) | Copyrighted

  • Refinement of Seafloor Elevation Using Acoustic Backscatter

    Andrew Johnson and Martial Hebert
    tech. report CMU-RI-TR-95-01, Robotics Institute, Carnegie Mellon University, March, 1995
    Details | pdf (2MB) | Copyrighted

  • Building Elevation Maps from Underwater Sonar Data

    Dirk Langer and Martial Hebert
    Details | pdf (473KB) | Copyrighted

  • Incorporating Different Reflection Models into Surface Reconstruction

    Andrew Johnson
    Proc. of the Eigth International Symposium on Unmanned Untethered Submersible Technology, September, 1993, pp. 446-59.
    Details | pdf (344KB) | Copyrighted

  • Building Qualitative Elevation Maps from Side Scan Sonar Data for Autonomous Underwater Navigation

    Dirk Langer and Martial Hebert
    Proceedings of the 1991 IEEE International Conference on Robotics and Automation (ICRA '91), April, 1991.
    Details | pdf (640KB) | Copyrighted

  • Three-Dimensional Map Generation From Side-Scan Sonar Images

    J.M. Cuschieri and Martial Hebert
    Journal of Energy Resources Technology, Vol. 112, June, 1990.
    Details | pdf (371KB) | Copyrighted

  • Sonar Applications for Underwater Vision

    J.M. Cuschieri and Martial Hebert
    The Eleventh Annual Energy-Sources Technology Conference and Exhibition - Current Practices and New Technology in Ocean Engineering - 1988, January, 1988.
    Details | pdf (536KB) | Copyrighted