Ryan M. Eustice

109 papers A* 25A 22B 1C 1Misc 2Journal 50Unranked 8

Year	Rank	Type	Title / Venue / Authors
2025	J	`jnl`	RKHS-BA: A Robust Correspondence-Free Multi-View Bundle Adjustment Framework for Semantic Point Clouds. IEEE Trans. Pattern Anal. Mach. Intell. Ray Zhang, Jingwei Song, Xiang Gao, Junzhe Wu, Tiany Liu, Jinyuan Zhang, Ryan M. Eustice, Maani Ghaffari
2024	—	`conf`	Correspondence-Free SE(3) Point Cloud Registration in RKHS via Unsupervised Equivariant Learning. ECCV (88) Ray Zhang, Zheming Zhou, Min Sun, Omid Ghasemalizadeh, Cheng-Hao Kuo, Ryan M. Eustice, Maani Ghaffari, Arnie Sen
2023	J	`jnl`	A Robust Keyframe-Based Visual SLAM for RGB-D Cameras in Challenging Scenarios. IEEE Access Xi Lin, Yewei Huang, Dingyi Sun, Tzu-Yuan Lin, Brendan J. Englot, Ryan M. Eustice, Maani Ghaffari
2023	J	`jnl`	Multitask Learning for Scalable and Dense Multilayer Bayesian Map Inference. IEEE Trans. Robotics Lu Gan, Youngji Kim, Jessy W. Grizzle, Jeffrey M. Walls, Ayoung Kim, Ryan M. Eustice, Maani Ghaffari
2022	J	`jnl`	Energy-Based Legged Robots Terrain Traversability Modeling via Deep Inverse Reinforcement Learning. IEEE Robotics Autom. Lett. Lu Gan, Jessy W. Grizzle, Ryan M. Eustice, Maani Ghaffari
2022	J	`jnl`	Energy-based Legged Robots Terrain Traversability Modeling via Deep Inverse Reinforcement Learning. CoRR Lu Gan, Jessy W. Grizzle, Ryan M. Eustice, Maani Ghaffari
2021	A*	`conf`	A New Framework for Registration of Semantic Point Clouds from Stereo and RGB-D Cameras. ICRA Ray Zhang, Tzu-Yuan Lin, Chien Erh Lin, Steven A. Parkison, William A. Clark, Jessy W. Grizzle, Ryan M. Eustice, Maani Ghaffari
2021	J	`jnl`	Multi-Task Learning for Scalable and Dense Multi-Layer Bayesian Map Inference. CoRR Lu Gan, Youngji Kim, Jessy W. Grizzle, Jeffrey M. Walls, Ayoung Kim, Ryan M. Eustice, Maani Ghaffari
2020	A*	`conf`	2D to 3D Line-Based Registration with Unknown Associations via Mixed-Integer Programming. ICRA Steven A. Parkison, Jeffrey M. Walls, Ryan W. Wolcott, Mohammad Saad, Ryan M. Eustice
2020	J	`jnl`	A New Framework for Registration of Semantic Point Clouds from Stereo and RGB-D Cameras. CoRR Ray Zhang, Tzu-Yuan Lin, Chien Erh Lin, Steven A. Parkison, William A. Clark, Jessy W. Grizzle, Ryan M. Eustice, Maani Ghaffari
2020	J	`jnl`	Bayesian Spatial Kernel Smoothing for Scalable Dense Semantic Mapping. IEEE Robotics Autom. Lett. Lu Gan, Ray Zhang, Jessy W. Grizzle, Ryan M. Eustice, Maani Ghaffari Jadidi
2020	J	`jnl`	Characterizing the Uncertainty of Jointly Distributed Poses in the Lie Algebra. IEEE Trans. Robotics Joshua G. Mangelson, Maani Ghaffari Jadidi, Ram Vasudevan, Ryan M. Eustice
2020	J	`jnl`	Contact-aided invariant extended Kalman filtering for robot state estimation. Int. J. Robotics Res. Ross Hartley, Maani Ghaffari Jadidi, Ryan M. Eustice, Jessy W. Grizzle
2020	J	`jnl`	DeepLocNet: Deep Observation Classification and Ranging Bias Regression for Radio Positioning Systems. CoRR Sahib Singh Dhanjal, Maani Ghaffari Jadidi, Ryan M. Eustice
2020	J	`jnl`	Monocular Depth Prediction Through Continuous 3D Loss. CoRR Minghan Zhu, Maani Ghaffari Jadidi, Yuanxin Zhong, Pingping Lu, Zhong Cao, Ryan M. Eustice, Huei Peng
2020	A	`conf`	Monocular Depth Prediction through Continuous 3D Loss. IROS Minghan Zhu, Maani Ghaffari, Yuanxin Zhong, Pingping Lu, Zhong Cao, Ryan M. Eustice, Huei Peng
2019	J	`jnl`	A Keyframe-based Continuous Visual SLAM for RGB-D Cameras via Nonparametric Joint Geometric and Appearance Representation. CoRR Xi Lin, Dingyi Sun, Tzu-Yuan Lin, Ryan M. Eustice, Maani Ghaffari Jadidi
2019	J	`jnl`	Adaptive Continuous Visual Odometry from RGB-D Images. CoRR Tzu-Yuan Lin, William A. Clark, Ryan M. Eustice, Jessy W. Grizzle, Anthony M. Bloch, Maani Ghaffari Jadidi
2019	J	`jnl`	Bayesian Spatial Kernel Smoothing for ScalableDense Semantic Mapping. CoRR Lu Gan, Ray Zhang, Jessy W. Grizzle, Ryan M. Eustice, Maani Ghaffari Jadidi
2019	J	`jnl`	Boosting Shape Registration Algorithms via Reproducing Kernel Hilbert Space Regularizers. IEEE Robotics Autom. Lett. Steven A. Parkison, Maani Ghaffari Jadidi, Lu Gan, Ray Zhang, Arash K. Ushani, Ryan M. Eustice
2019	J	`jnl`	Characterizing the Uncertainty of Jointly Distributed Poses in the Lie Algebra. CoRR Joshua G. Mangelson, Maani Ghaffari Jadidi, Ram Vasudevan, Ryan M. Eustice
2019	J	`jnl`	Contact-Aided Invariant Extended Kalman Filtering for Robot State Estimation. CoRR Ross Hartley, Maani Ghaffari Jadidi, Ryan M. Eustice, Jessy W. Grizzle
2019	J	`jnl`	Continuous Direct Sparse Visual Odometry from RGB-D Images. CoRR Maani Ghaffari Jadidi, William A. Clark, Anthony M. Bloch, Ryan M. Eustice, Jessy W. Grizzle
2019	A	`conf`	DeepLocNet: Deep Observation Classification and Ranging Bias Regression for Radio Positioning Systems. IROS Sahib Singh Dhanjal, Maani Ghaffari Jadidi, Ryan M. Eustice
2019	A*	`conf`	Guaranteed Globally Optimal Planar Pose Graph and Landmark SLAM via Sparse-Bounded Sums-of-Squares Programming. ICRA Joshua G. Mangelson, Jinsun Liu, Ryan M. Eustice, Ram Vasudevan
2019	J	`jnl`	LiDARTag: A Real-Time Fiducial Tag using Point Clouds. CoRR Jiunn-Kai Huang, Maani Ghaffari Jadidi, Ross Hartley, Lu Gan, Ryan M. Eustice, Jessy W. Grizzle
2018	—	`conf`	Contact-Aided Invariant Extended Kalman Filtering for Legged Robot State Estimation. Robotics: Science and Systems Ross Hartley, Maani Ghaffari Jadidi, Jessy W. Grizzle, Ryan M. Eustice
2018	J	`jnl`	Contact-Aided Invariant Extended Kalman Filtering for Legged Robot State Estimation. CoRR Ross Hartley, Maani Ghaffari Jadidi, Jessy W. Grizzle, Ryan M. Eustice
2018	Misc	`conf`	Feature Learning for Scene Flow Estimation from LIDAR. CoRL Arash K. Ushani, Ryan M. Eustice
2018	J	`jnl`	Guaranteed Globally Optimal Planar Pose Graph and Landmark SLAM via Sparse-Bounded Sums-of-Squares Programming. CoRR Joshua G. Mangelson, Jinsun Liu, Ryan M. Eustice, Ram Vasudevan
2018	A	`conf`	Hybrid Contact Preintegration for Visual-Inertial-Contact State Estimation Using Factor Graphs. IROS Ross Hartley, Maani Ghaffari Jadidi, Lu Gan, Jiunn-Kai Huang, Jessy W. Grizzle, Ryan M. Eustice
2018	J	`jnl`	Hybrid Contact Preintegration for Visual-Inertial-Contact State Estimation within Factor Graphs. CoRR Ross Hartley, Maani Ghaffari Jadidi, Lu Gan, Jiunn-Kai Huang, Jessy W. Grizzle, Ryan M. Eustice
2018	A*	`conf`	Legged Robot State-Estimation Through Combined Forward Kinematic and Preintegrated Contact Factors. ICRA Ross Hartley, Josh Mangelson, Lu Gan, Maani Ghaffari Jadidi, Jeffrey M. Walls, Ryan M. Eustice, Jessy W. Grizzle
2018	A*	`conf`	Pairwise Consistent Measurement Set Maximization for Robust Multi-Robot Map Merging. ICRA Joshua G. Mangelson, Derrick Dominic, Ryan M. Eustice, Ram Vasudevan
2018	J	`jnl`	Pose-Graph SLAM Using Forward-Looking Sonar. IEEE Robotics Autom. Lett. Jie Li, Michael Kaess, Ryan M. Eustice, Matthew Johnson-Roberson
2018	A	`conf`	Semantic Iterative Closest Point through Expectation-Maximization. BMVC Steven A. Parkison, Lu Gan, Maani Ghaffari Jadidi, Ryan M. Eustice
2018	J	`jnl`	WaterGAN: Unsupervised Generative Network to Enable Real-Time Color Correction of Monocular Underwater Images. IEEE Robotics Autom. Lett. Jie Li, Katherine A. Skinner, Ryan M. Eustice, Matthew Johnson-Roberson
2017	A*	`conf`	A learning approach for real-time temporal scene flow estimation from LIDAR data. ICRA Arash K. Ushani, Ryan W. Wolcott, Jeffrey M. Walls, Ryan M. Eustice
2017	J	`jnl`	Gaussian Processes Semantic Map Representation. CoRR Maani Ghaffari Jadidi, Lu Gan, Steven A. Parkison, Jie Li, Ryan M. Eustice
2017	J	`jnl`	Legged Robot State-Estimation Through Combined Forward Kinematic and Preintegrated Contact Factors. CoRR Ross Hartley, Josh Mangelson, Lu Gan, Maani Ghaffari Jadidi, Jeffrey M. Walls, Ryan M. Eustice, Jessy W. Grizzle
2017	J	`jnl`	Mapping underwater ship hulls using a model-assisted bundle adjustment framework. Robotics Auton. Syst. Paul Ozog, Matthew Johnson-Roberson, Ryan M. Eustice
2017	J	`jnl`	Multipolicy decision-making for autonomous driving via changepoint-based behavior prediction: Theory and experiment. Auton. Robots Enric Galceran, Alexander G. Cunningham, Ryan M. Eustice, Edwin Olson
2017	J	`jnl`	Robust LIDAR localization using multiresolution Gaussian mixture maps for autonomous driving. Int. J. Robotics Res. Ryan W. Wolcott, Ryan M. Eustice
2017	J	`jnl`	Sparse Bayesian Inference for Dense Semantic Mapping. CoRR Lu Gan, Maani Ghaffari Jadidi, Steven A. Parkison, Ryan M. Eustice
2017	J	`jnl`	WaterGAN: Unsupervised Generative Network to Enable Real-time Color Correction of Monocular Underwater Images. CoRR Jie Li, Katherine A. Skinner, Ryan M. Eustice, Matthew Johnson-Roberson
2016	A	`conf`	Efficient planning with the Bayes tree for active SLAM. IROS Stephen M. Chaves, Ryan M. Eustice
2016	A*	`conf`	Large-scale model-assisted bundle adjustment using Gaussian max-mixtures. ICRA Paul Ozog, Ryan M. Eustice
2016	J	`jnl`	Long-term Mapping Techniques for Ship Hull Inspection and Surveillance using an Autonomous Underwater Vehicle. J. Field Robotics Paul Ozog, Nicholas Carlevaris-Bianco, Ayoung Kim, Ryan M. Eustice
2016	J	`jnl`	Opportunistic sampling-based active visual SLAM for underwater inspection. Auton. Robots Stephen M. Chaves, Ayoung Kim, Enric Galceran, Ryan M. Eustice
2016	—	`conf`	Risk Assessment for Cooperative Automated Driving. CPS-SPC@CCS Derrick Dominic, Sumeet Chhawri, Ryan M. Eustice, Di Ma, André Weimerskirch
2016	J	`jnl`	University of Michigan North Campus long-term vision and lidar dataset. Int. J. Robotics Res. Nicholas Carlevaris-Bianco, Arash K. Ushani, Ryan M. Eustice
2016	A	`conf`	Utilizing high-dimensional features for real-time robotic applications: Reducing the curse of dimensionality for recursive Bayesian estimation. IROS Jie Li, Paul Ozog, Jacob D. Abernethy, Ryan M. Eustice, Matthew Johnson-Roberson
2015	J	`jnl`	Active visual SLAM for robotic area coverage: Theory and experiment. Int. J. Robotics Res. Ayoung Kim, Ryan M. Eustice
2015	—	`conf`	An Architecture for Cooperative Localization in Underwater Acoustic Networks. WUWNet Jeffrey M. Walls, Ryan M. Eustice
2015	A	`conf`	Augmented vehicle tracking under occlusions for decision-making in autonomous driving. IROS Enric Galceran, Edwin Olson, Ryan M. Eustice
2015	J	`jnl`	Automatic Extrinsic Calibration of Vision and Lidar by Maximizing Mutual Information. J. Field Robotics Gaurav Pandey, James R. McBride, Silvio Savarese, Ryan M. Eustice
2015	A	`conf`	Belief space planning for underwater cooperative localization. IROS Jeffrey M. Walls, Stephen M. Chaves, Enric Galceran, Ryan M. Eustice
2015	A*	`conf`	Building 3D mosaics from an Autonomous Underwater Vehicle, Doppler velocity log, and 2D imaging sonar. ICRA Paul Ozog, Giancarlo Troni, Michael Kaess, Ryan M. Eustice, Matthew Johnson-Roberson
2015	A	`conf`	Continuous-time estimation for dynamic obstacle tracking. IROS Arash K. Ushani, Nicholas Carlevaris-Bianco, Alexander G. Cunningham, Enric Galceran, Ryan M. Eustice
2015	A*	`conf`	Cooperative localization by factor composition over a faulty low-bandwidth communication channel. ICRA Jeffrey M. Walls, Alexander G. Cunningham, Ryan M. Eustice
2015	A*	`conf`	Fast LIDAR localization using multiresolution Gaussian mixture maps. ICRA Ryan W. Wolcott, Ryan M. Eustice
2015	A*	`conf`	High-level visual features for underwater place recognition. ICRA Jie Li, Ryan M. Eustice, Matthew Johnson-Roberson
2015	A*	`conf`	MPDM: Multipolicy decision-making in dynamic, uncertain environments for autonomous driving. ICRA Alexander G. Cunningham, Enric Galceran, Ryan M. Eustice, Edwin Olson
2015	—	`conf`	Multipolicy Decision-Making for Autonomous Driving via Changepoint-based Behavior Prediction. Robotics: Science and Systems Enric Galceran, Alexander G. Cunningham, Ryan M. Eustice, Edwin Olson
2015	A	`conf`	Risk aversion in belief-space planning under measurement acquisition uncertainty. IROS Stephen M. Chaves, Jeffrey M. Walls, Enric Galceran, Ryan M. Eustice
2015	B	`conf`	Toward integrated motion planning and control using potential fields and torque-based steering actuation for autonomous driving. Intelligent Vehicles Symposium Enric Galceran, Ryan M. Eustice, Edwin Olson
2014	J	`jnl`	An origin state method for communication constrained cooperative localization with robustness to packet loss. Int. J. Robotics Res. Jeffrey M. Walls, Ryan M. Eustice
2014	A*	`conf`	Conservative edge sparsification for graph SLAM node removal. ICRA Nicholas Carlevaris-Bianco, Ryan M. Eustice
2014	J	`jnl`	Generic Node Removal for Factor-Graph SLAM. IEEE Trans. Robotics Nicholas Carlevaris-Bianco, Michael Kaess, Ryan M. Eustice
2014	A	`conf`	Learning visual feature descriptors for dynamic lighting conditions. IROS Nicholas Carlevaris-Bianco, Ryan M. Eustice
2014	A	`conf`	Magnetometer bias calibration based on relative angular position: Theory and experimental comparative evaluation. IROS Giancarlo Troni, Ryan M. Eustice
2014	A	`conf`	Opportunistic sampling-based planning for active visual SLAM. IROS Stephen M. Chaves, Ayoung Kim, Ryan M. Eustice
2014	A*	`conf`	Toward long-term, automated ship hull inspection with visual SLAM, explicit surface optimization, and generic graph-sparsification. ICRA Paul Ozog, Ryan M. Eustice
2014	A*	`conf`	Toward mutual information based place recognition. ICRA Gaurav Pandey, James R. McBride, Silvio Savarese, Ryan M. Eustice
2014	A	`conf`	Visual localization within LIDAR maps for automated urban driving. IROS Ryan W. Wolcott, Ryan M. Eustice
2013	—	`conf`	An Exact Decentralized Cooperative Navigation Algorithm for Acoustically Networked Underwater Vehicles with Robustness to Faulty Communication: Theory and Experiment. Robotics: Science and Systems Jeffrey M. Walls, Ryan M. Eustice
2013	J	`jnl`	Decentralized Extended Information Filter for Single-Beacon Cooperative Acoustic Navigation: Theory and Experiments. IEEE Trans. Robotics Sarah E. Webster, Jeffrey M. Walls, Louis L. Whitcomb, Ryan M. Eustice
2013	A*	`conf`	Generic factor-based node marginalization and edge sparsification for pose-graph SLAM. ICRA Nicholas Carlevaris-Bianco, Ryan M. Eustice
2013	A	`conf`	Long-term simultaneous localization and mapping with generic linear constraint node removal. IROS Nicholas Carlevaris-Bianco, Ryan M. Eustice
2013	A*	`conf`	On the importance of modeling camera calibration uncertainty in visual SLAM. ICRA Paul Ozog, Ryan M. Eustice
2013	A*	`conf`	Perception-driven navigation: Active visual SLAM for robotic area coverage. ICRA Ayoung Kim, Ryan M. Eustice
2013	J	`jnl`	Real-Time Visual SLAM for Autonomous Underwater Hull Inspection Using Visual Saliency. IEEE Trans. Robotics Ayoung Kim, Ryan M. Eustice
2013	A	`conf`	Real-time SLAM with piecewise-planar surface models and sparse 3D point clouds. IROS Paul Ozog, Ryan M. Eustice
2012	J	`jnl`	Advanced perception, navigation and planning for autonomous in-water ship hull inspection. Int. J. Robotics Res. Franz S. Hover, Ryan M. Eustice, Ayoung Kim, Brendan J. Englot, Hordur Johannsson, Michael Kaess, John J. Leonard
2012	J	`jnl`	Advances in single-beacon one-way-travel-time acoustic navigation for underwater vehicles. Int. J. Robotics Res. Sarah E. Webster, Ryan M. Eustice, Hanumant Singh, Louis L. Whitcomb
2012	A*	`conf`	Automatic Targetless Extrinsic Calibration of a 3D Lidar and Camera by Maximizing Mutual Information. AAAI Gaurav Pandey, James R. McBride, Silvio Savarese, Ryan M. Eustice
2012	A	`conf`	Toward mutual information based automatic registration of 3D point clouds. IROS Gaurav Pandey, James R. McBride, Silvio Savarese, Ryan M. Eustice
2011	A	`conf`	Combined visually and geometrically informative link hypothesis for pose-graph visual SLAM using bag-of-words. IROS Ayoung Kim, Ryan M. Eustice
2011	J	`jnl`	Ford Campus vision and lidar data set. Int. J. Robotics Res. Gaurav Pandey, James R. McBride, Ryan M. Eustice
2011	A*	`conf`	Multi-view registration for feature-poor underwater imagery. ICRA Nicholas Carlevaris-Bianco, Ryan M. Eustice
2011	J	`jnl`	Synchronous-clock, one-way-travel-time acoustic navigation for underwater vehicles. J. Field Robotics Ryan M. Eustice, Hanumant Singh, Louis L. Whitcomb
2011	A	`conf`	Visual localization in fused image and laser range data. IROS Nicholas Carlevaris-Bianco, Anush Mohan, James R. McBride, Ryan M. Eustice
2011	A*	`conf`	Visually bootstrapped generalized ICP. ICRA Gaurav Pandey, Silvio Savarese, James R. McBride, Ryan M. Eustice
2010	—	`conf`	Preliminary Results in Decentralized Estimation for Single-Beacon Acoustic Underwater Navigation. Robotics: Science and Systems Sarah E. Webster, Louis L. Whitcomb, Ryan M. Eustice
2010	J	`jnl`	Robotic tools for deep water archaeology: Surveying an ancient shipwreck with an autonomous underwater vehicle. J. Field Robotics Brian Bingham, Brendan Foley, Hanumant Singh, Richard Camilli, Katerina Delaporta, Ryan M. Eustice, Angelos Mallios, David A. Mindell, Christopher N. Roman, Dimitris Sakellariou
2009	—	`conf`	A Perspective on Emerging Automotive Safety Applications, Derived from Lessons Learned through Participation in the DARPA Grand Challenges. The DARPA Urban Challenge James R. McBride, Jerome C. Ivan, Doug S. Rhode, Jeffrey D. Rupp, Matthew Y. Rupp, Jeffrey D. Higgins, Doug D. Turner, Ryan M. Eustice
2009	A	`conf`	Pose-graph visual SLAM with geometric model selection for autonomous underwater ship hull inspection. IROS Ayoung Kim, Ryan M. Eustice
2009	A	`conf`	Preliminary deep water results in single-beacon one-way-travel-time acoustic navigation for underwater vehicles. IROS Sarah E. Webster, Ryan M. Eustice, Hanumant Singh, Louis L. Whitcomb
2009	J	`jnl`	Toward extraplanetary under-ice exploration: Robotic steps in the Arctic. J. Field Robotics Clayton Kunz, Chris Murphy, Hanumant Singh, Claire Pontbriand, Robert A. Sohn, Sandipa Singh, Taichi Sato, Christopher N. Roman, Ko-ichi Nakamura, Michael V. Jakuba, Ryan M. Eustice, Richard Camilli, John Bailey
2008	J	`jnl`	A perspective on emerging automotive safety applications, derived from lessons learned through participation in the DARPA Grand Challenges. J. Field Robotics James R. McBride, Jerome C. Ivan, Doug S. Rhode, Jeffrey D. Rupp, Matthew Y. Rupp, Jeffrey D. Higgins, Doug D. Turner, Ryan M. Eustice
2008	A	`conf`	Deep sea underwater robotic exploration in the ice-covered Arctic ocean with AUVs. IROS Clayton Kunz, Chris Murphy, Richard Camilli, Hanumant Singh, John Bailey, Ryan M. Eustice, Michael V. Jakuba, Ko-ichi Nakamura, Christopher N. Roman, Taichi Sato, Robert A. Sohn, Claire Willis
2007	A*	`conf`	Experimental Results in Synchronous-Clock One-Way-Travel-Time Acoustic Navigation for Autonomous Underwater Vehicles. ICRA Ryan M. Eustice, Louis L. Whitcomb, Hanumant Singh, Matthew Grund
2007	J	`jnl`	Towards High-resolution Imaging from Underwater Vehicles. Int. J. Robotics Res. Hanumant Singh, Christopher N. Roman, Oscar Pizarro, Ryan M. Eustice, Ali Can
2006	J	`jnl`	Exactly Sparse Delayed-State Filters for View-Based SLAM. IEEE Trans. Robotics Ryan M. Eustice, Hanumant Singh, John J. Leonard
2005	C	`conf`	Advances in High Resolution Imaging from Underwater Vehicles. ISRR Hanumant Singh, Christopher N. Roman, Oscar Pizarro, Ryan M. Eustice
2005	A*	`conf`	Exactly Sparse Delayed-State Filters. ICRA Ryan M. Eustice, Hanumant Singh, John J. Leonard
2004	A*	`conf`	Visually Augmented Navigation in an Unstructured Environment using a Delayed State History. ICRA Ryan M. Eustice, Oscar Pizarro, Hanumant Singh
2003	Misc	`conf`	Relative Pose Estimation for Instrumented, Calibrated Imaging Platforms. DICTA Oscar Pizarro, Ryan M. Eustice, Hanumant Singh
2002	A*	`conf`	Sensor Fusion of Structure-from-Motion, Bathymetric 3D, and Beacon-Based Navigation Modalities. ICRA Hanumant Singh, Garbis Salgian, Ryan M. Eustice, Robert Mandelbaum