Dr Oscar Pizarro

ARC Australian Postdoctoral Fellow

J04 - Rose Street Building
The University of Sydney

Telephone +61 2 9351 8576
Fax +61 2 9351 7474

Selected grants

2015

  • Broader impacts of marine robotics through better, smarter sensing; Camilli R, Pizarro O; DVC Research/International Research Collaboration Award (IRCA).

2013

  • High quality benthic and demersal surveys from small form factor underwater robots; Pizarro O, Williams S, Edmunds M; Australian Research Council (ARC)/Linkage Projects (LP).
  • Development of an industry-based habitat mapping/monitoring system.; Pizarro O, Williams S; Department of Fisheries (WA)/Research Support.
  • Remotely operated vehicle; Williams S, Pizarro O, Manchester I, Webster J, Ferrari R; DVC Research/Equipment Grant.
  • Autonomous Benthic Observing System; Williams S, Pizarro O, Babcock R, Barrett N, Heyward A, Jordan A, Kendrick G; Australian Research Council (ARC)/Linkage Infrastructure, Equipment and Facilities (LIEF).

2012

  • Marine Video; Williams S, Pizarro O; Department of Industry, Innovation, Climate Change, Science, Research and Tertiary Education (Fed)/Research Support.

2011

  • Supervised autonomy for autonomous underwater vehicles (AUVs) using limited bandwidth communication channels; Blair B, Williams S, Pizarro O; Australian Research Council (ARC)/Linkage Projects (LP).
  • Image-based automated macrobenthic species identification, counting and sizing - Fellow Nourani Vatani; Williams S, Pizarro O, Nourani-Vatani N; Science and Industry Endowment Fund/John Stocker Postdoctoral Fellowships.

2010

  • Cost-effective autonomous technologies for long term monitoring of marine protected areas; Pizarro O, Williams S, Jakuba M, Eustice R, Whitcomb L; Australian Research Council (ARC)/Discovery Projects (DP).

2009

  • Autonomous repeatable surveys for long term monitoring of marine habitats; Burrowes D, Charng J, Clark M, Fox D, Williams S, Pizarro O, Jakuba M; Australian Research Council (ARC)/Linkage Projects (LP).
  • Automated marine habitat classification; Pizarro O; DVC Research/Bridging Support Fellowship.

2008

  • Autonomous Bathymetric Mapping in the Littoral; Williams S, Pizarro O; Department of Defence (Federal)/Research Support.
  • Use of Autonomous Underwater Vehicle at the IMOS AUV Facility; Williams S, Pizarro O, Jakuba M; Department of Innovation, Industry, Science and Research (Federal)/National Collaborative Research Infrastructure Strategy (NCRIS).

2005

  • High-resolution multispectral underwater imaging for coral reef mapping and characterization; Pizarro O; Australian Research Council (ARC)/Discovery Projects (DP).

Selected publications

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Book Chapters

  • Beaman, R., Bridge, T., Done, T., Webster, J., Williams, S., Pizarro, O. (2012). Habitats and Benthos at Hydrographers Passage, Great Barrier Reef, Australia. In Peter T. Harris, Elaine K. Baker (Eds.), Seafloor Geomorphology as Benthic Habitat: GeoHAB Atlas of Seafloor Geomorphic Features and Benthic Habitats, (pp. 425-434). Waltham, USA: Elsevier.
  • Williams, S., Pizarro, O., Mahon, I., Johnson-Roberson, M. (2009). Simultaneous Localisation and Mapping and Dense Stereoscopic Seafloor Reconstruction Using an AUV. In Oussama Khatib, Vijay Kumar,George J. Pappas (Eds.), Springer Tracts in Advanced Robotics-Experimental Robotics-The Eleventh International Symposium, (pp. 407-416). Germany: Springer.

Journals

  • Steinberg, D., Pizarro, O., Williams, S. (2014). Hierarchical Bayesian models for unsupervised scene understanding. Computer Vision and Image Understanding. [More Information]
  • Douillard, B., Nourani-Vatani, N., Johnson-Roberson, M., Pizarro, O., Williams, S., Roman, C., Vaughn, J. (2013). Frequency-based underwater terrain segmentation. Autonomous Robots, 35(4), 255-269. [More Information]
  • Henderson, J., Pizarro, O., Johnson-Roberson, M., Mahon, I. (2013). Mapping submerged archaeological sites using stereo-vision photogrammetry. International Journal of Nautical Archaeology, 42(2), 243-256. [More Information]
  • Barkby, S., Williams, S., Pizarro, O., Jakuba, M. (2012). Bathymetric particle filter SLAM using trajectory maps. International Journal of Robotics Research, 31(12), 1409-1430. [More Information]
  • Williams, S., Pizarro, O., Jakuba, M., Johnson, C., Barrett, N., Babcock, R., Kendrick, G., Steinberg, P., Heyward, A., Doherty, P., Mahon, I., Johnson-Roberson, M., Steinberg, D., Friedman, A. (2012). Monitoring of benthic reference sites: Using an autonomous underwater vehicle. IEEE Robotics and Automation Magazine, 19(1), 73-84. [More Information]
  • Friedman, A., Pizarro, O., Williams, S., Johnson-Roberson, M. (2012). Multi-scale measures of rugosity, slope and aspect from benthic stereo image reconstructions. PLoS One, 7(12), 1-14. [More Information]
  • Smale, D., Kendrick, G., Harvey, E., Langlois, T., Hovey, R., Van Niel, K., Waddington, K., Bellchambers, L., Pember, M., Babcock, R., Jakuba, M., Pizarro, O., Williams, S., et al (2012). Regional-scale benthic monitoring for ecosystem-based fisheries management (EBFM) using an autonomous underwater vehicle (AUV). ICES Journal of Marine Science: journal du conseil, 69(6), 1108-1118. [More Information]
  • Barkby, S., Williams, S., Pizarro, O., Jakuba, M. (2011). A Featureless Approach to Efficient Bathymetric SLAM Using Distributed Particle Mapping. Journal of Field Robotics, 28(1), 19-39. [More Information]
  • Bridge, T., Done, T., Beaman, R., Friedman, A., Williams, S., Pizarro, O., Webster, J. (2011). Topography, substratum and benthic macrofaunal relationships on a tropical mesophotic shelf margin, central Great Barrier Reef, Australia. Coral Reefs, 30(1), 143-153. [More Information]
  • Bridge, T., Done, T., Friedman, A., Beaman, R., Williams, S., Pizarro, O., Webster, J. (2011). Variability in mesophotic coral reef communities along the Great Barrier Reef, Australia. Marine Ecology - Progress Series, 428, 63-75. [More Information]
  • Steinberg, D., Bender, A., Friedman, A., Jakuba, M., Pizarro, O., Williams, S. (2010). Analysis of propulsion methods for long-range AUVs. Marine Technology Society Journal, 44(2), 46-55.
  • Williams, S., Pizarro, O., Webster, J., Beaman, R., Mahon, I., Johnson-Roberson, M., Bridge, T. (2010). Autonomous Underwater Vehicle-Assisted Surveying of Drowned Reefs on the Shelf Edge of the Great Barrier Reef, Australia. Journal of Field Robotics, 27(5), 675-697.
  • Johnson-Roberson, M., Pizarro, O., Williams, S., Mahon, I. (2010). Generation and visualization of large-scale three-dimensional reconstructions from underwater robotic surveys. Journal of Field Robotics, 27(1), 21-51. [More Information]
  • Lloyd, K., Albert, D., Biddle, J., Chanton, J., Pizarro, O., Teske, A. (2010). Spatial Structure and Activity of Sedimentary Microbial Communities Underlying a Beggiatoa Spp. Mat in a Gulf of Mexico Hydrocarbon Seep. PLoS One, 5(1), e8738 - 1-e8735 - 13. [More Information]
  • Bridge, T., Done, T., Beaman, R., Friedman, A., Williams, S., Pizarro, O., Webster, J. (2010). Topography, substratum and benthic macrofaunal relationships on a tropical mesophotic shelf margin, central Great Barrier Reef, Australia. Coral Reefs, 30(1), 143-153. [More Information]
  • Rigby, P., Pizarro, O., Williams, S. (2010). Toward Adaptive Benthic Habitat Mapping Using Gaussian Process Classification. Journal of Field Robotics, 27(6), 741-758. [More Information]
  • Pizarro, O., Eustice, R., Singh, H. (2009). Large Area 3-D Reconstructions From Underwater Optical Surveys. IEEE Journal of Oceanic Engineering, 34(2), 150-169.
  • Mahon, I., Williams, S., Pizarro, O., Johnson-Roberson, M. (2008). Efficient View-Based SLAM Using Visual Loop Closures. IEEE Transactions on Robotics, 24(5), 1002-1014.
  • Webster, J., Beaman, R., Bridge, T., Davies, P., Byrne, M., Williams, S., Manning, P., Pizarro, O., Thornborough, K., Woolsey, E., et al (2008). From Corals to Canyons: The Great Barrier Reef Margin. EOS, 89(24), 217-218.
  • Rigby, P., Pizarro, O., Williams, S. (2007). Improved AUV navigation through multi-sensor data fusion: A combined Doppler and acoustic navigation system can provide drift-free geo-referenced positioning. Sea Technology, 48(3), 15-19.
  • Singh, H., Roman, C., Pizarro, O., Eustice, R., Can, A. (2007). Towards high-resolution imaging from underwater vehicles. International Journal of Robotics Research, 26(1), 55-74.

Conferences

  • Johnson-Roberson, M., Bryson, M., Douillard, B., Pizarro, O., Williams, S. (2014). Crowdsourced Saliency for Mining Robotically Gathered 3D Maps Using Multitouch Interaction on Smartphones and Tablets. 2014 IEEE International Conference on Robotics and Automation (ICRA), Piscataway: IEEE.
  • Rao, D., De Deuge, M., Nourani-Vatani, N., Douillard, B., Williams, S., Pizarro, O. (2014). Multimodal learning for autonomous underwater vehicles from visual and bathymetric data. 2014 IEEE International Conference on Robotics and Automation (ICRA), Piscataway: IEEE.
  • Bryson, M., Johnson-Roberson, M., Pizarro, O., Williams, S. (2013). Automated registration for multi-year robotic surveys of marine benthic habitats. 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, Tokyo, Japan: IEEE. [More Information]
  • Bender, A., Williams, S., Pizarro, O. (2013). Autonomous Exploration of Large-Scale Benthic Environments. 2013 IEEE International Conference on Robotics and Automation (ICRA), Piscataway: (IEEE) Institute of Electrical and Electronics Engineers. [More Information]
  • Bender, A., Williams, S., Pizarro, O. (2013). Autonomous methods for environmental modeling and exploration. Robotics Science and Systems, Workshops, online: Robotics Science and Systems.
  • Pizarro, O., Williams, S., Jakuba, M., Johnson-Roberson, M., Mahon, I., Bryson, M., Steinberg, D., Friedman, A., Dansereau, D., Nourani-Vatani, N., Bongiorno, D., Bewley, M., Bender, A., Ashan, N., Douillard, B. (2013). Benthic monitoring with robotic platforms - the experience of Australia. 2013 IEEE International Underwater Technology Symposium (UT 2013), Tokyo: (IEEE) Institute of Electrical and Electronics Engineers. [More Information]
  • Dansereau, D., Pizarro, O., Williams, S. (2013). Decoding, Calibration and Rectification for Lenselet-Based Plenoptic Cameras. 2013 26th IEEE Conference on Computer Vision and Pattern Recognition, Piscataway, New Jersey: IEEE. [More Information]
  • Bewley, M., Nourani-Vatani, N., Rao, D., Douillard, B., Pizarro, O., Williams, S. (2013). Hierarchical Classification in AUV Imagery. 9th Conference on Field and Service Robotics (FSR), Brisbane, Australia: Australian Robotics and Automation Association (ARAA).
  • Dansereau, D., Bongiorno, D., Pizarro, O., Williams, S. (2013). Light field image denoising using a linear 4D frequency-hyperfan all-in-focus filter. SPIE Computational Imaging XI, USA: SPIE - International Society for Optical Engineering.
  • Woolsey, E., Byrne, M., Webster, J., Williams, S., Pizarro, O., Thornborough, K., Davies, P., Beaman, R., Bridge, T. (2013). Ophiopsila pantherina beds on subaqueous dunes off the Great Barrier Reef. Echinoderms in a Changing World: 13th International Echinoderm Conference, Leiden, The Netherlands: CRC Press/Balkema. [More Information]
  • Johnson-Roberson, M., Bryson, M., Douillard, B., Pizarro, O., Williams, S. (2013). Out-of-core efficient blending for underwater georeferenced textured 3D maps. 2013 Fourth International Conference on Computing for Geospatial Research and Application (COM.Geo 2013), San Jose, United States: IEEE Xplore. [More Information]
  • Steinberg, D., Pizarro, O., Williams, S. (2013). Synergistic clustering of image and segment descriptors for unsupervised scene understanding. 2013 IEEE International Conference on Computer Vision (ICCV), Los Alamitos, California: IEEE. [More Information]
  • Bewley, M., Douillard, B., Nourani-Vatani, N., Friedman, A., Pizarro, O., Williams, S. (2012). Automated species detection: An experimental approach to kelp detection from sea-floor AUV images. Australasian Conference on Robotics and Automation (ACRA) 2012, Wellington, New Zealand: Australian Robotics and Automation Association (ARAA).
  • Bender, A., Williams, S., Pizarro, O. (2012). Classification with Probabilistic Targets. 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, Piscataway, NJ: (IEEE) Institute of Electrical and Electronics Engineers.
  • Bryson, M., Johnson-Roberson, M., Pizarro, O., Williams, S. (2012). Colour-Consistent Structure-from-Motion Models using Underwater Imagery. Robotics: Science and Systems VIII, Sydney, NSW, Australia: Robotics Science and Systems.
  • Douillard, B., Nourani-Vatani, N., Johnson-Roberson, M., Williams, S., Roman, C., Pizarro, O., Vaughn, J., Inglis, G. (2012). FFT-based terrain segmentation for underwater mapping. Robotics: Science and Systems VIII, Sydney, NSW, Australia: Robotics Science and Systems.
  • Bryson, M., Johnson-Roberson, M., Pizarro, O., Williams, S. (2012). Repeatable robotic surveying of marine benthic habitats for monitoring long-term change. Robotics: Science and Systems VIII, Sydney, NSW, Australia: Robotics Science and Systems.
  • Ahsan, N., Williams, S., Pizarro, O. (2012). Robust Broad-Scale Benthic Habitat Mapping when Training Data is Scarce. Oceans 2012. (IEEE) Institute of Electrical and Electronics Engineers. [More Information]
  • Warren, M., Corke, P., Upcroft, B., Pizarro, O., Williams, S. (2012). Visual sea-floor mapping from low overlap imagery using bi-objective bundle adjustment and constrained motion. Australasian Conference on Robotics and Automation (ACRA) 2012, Wellington, New Zealand: Australian Robotics and Automation Association (ARAA).
  • Steinberg, D., Friedman, A., Pizarro, O., Williams, S. (2011). A Bayesian Nonparametric Approach to Clustering Data from Underwater Robotic Surveys. 15th International Symposium on Robotics Research ISRR 2011.
  • Friedman, A., Steinberg, D., Pizarro, O., Williams, S. (2011). Active learning using a Variational Dirichlet Process model for pre-clustering and classification of underwater stereo imagery. 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, Piscataway, NJ, USA: (IEEE) Institute of Electrical and Electronics Engineers. [More Information]
  • Barkby, S., Williams, S., Pizarro, O., Jakuba, M. (2011). Bathymetric SLAM with No Map Overlap using Gaussian Processes. 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, Piscataway, NJ, USA: (IEEE) Institute of Electrical and Electronics Engineers. [More Information]
  • Friedman, A., Pizarro, O., Williams, S. (2011). Interpretation of benthic stereo imagery using 2D and 3D features in an active learning framework. GeoHab 2011.
  • Dansereau, D., Mahon, I., Pizarro, O., Williams, S. (2011). Plenoptic flow: Closed-Form Visual Odometry for Light Field Cameras. 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, Piscataway, NJ, USA: (IEEE) Institute of Electrical and Electronics Engineers. [More Information]
  • Mahon, I., Pizarro, O., Johnson-Roberson, M., Friedman, A., Williams, S., Henderson, J. (2011). Reconstructing Pavlopetri: mapping the world's oldest submerged town using stereo-vision. IEEE International Conference on Robotics and Automation ICRA 2011, USA: (IEEE) Institute of Electrical and Electronics Engineers.
  • Jakuba, M., Steinberg, D., Kinsey, J., Yoerger, D., Camilli, R., Pizarro, O., Williams, S. (2011). Toward Automatic Classification of Chemical Sensor Data from Autonomous Underwater Vehicles. 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, Piscataway, NJ, USA: (IEEE) Institute of Electrical and Electronics Engineers. [More Information]
  • Medagoda, L., Williams, S., Pizarro, O., Jakuba, M. (2011). Water column current aided localisation for significant horizontal trajectories with autonomous underwater cehicles. OCEANS 2011 MTS/IEEE KONA Conference & Exhibition, USA: (IEEE) Institute of Electrical and Electronics Engineers.
  • Medagoda, L., Williams, S., Pizarro, O., Jakuba, M. (2011). Water Column Current Profile Aided Localisation combined with View-based SLAM for Autonomous Underwater Vehicle Navigation. IEEE International Conference on Robotics and Automation ICRA 2011, USA: (IEEE) Institute of Electrical and Electronics Engineers.
  • Bender, A., Williams, S., Pizarro, O., Jakuba, M. (2010). Adaptive Exploration Of Benthic Habitats Using Gaussian Processes. OCEANS 2010 MTS/IEEE SEATTLE Conference & Exhibition, USA: (IEEE) Institute of Electrical and Electronics Engineers.
  • Steinberg, D., Pizarro, O., Williams, S., Jakuba, M. (2010). Dirichlet process mixture models for autonomous habitat classification. Oceans '10 IEEE Sydney, USA: (IEEE) Institute of Electrical and Electronics Engineers.
  • Colquhoun, J., Pizarro, O., Heyward, A., Rees, M., Williams, S., O’Leary, R., Radford, B. (2010). Habitat-based assessment of epibenthos using AUV Optical imagery, northwest Australia. Geohab 2010.
  • Jakuba, M., Pizarro, O., Williams, S. (2010). High resolution, consistent navigation and 3D optical reconstructions from AUVs using magnetic compasses and pressure-based depth sensors. Oceans '10 IEEE Sydney, USA: (IEEE) Institute of Electrical and Electronics Engineers.
  • Pizarro, O., Williams, S., Colquhoun, J., Moore, C. (2010). Image-based habitat classification and analysis using generative models. Geohab 2010.
  • Ahsan, N., Williams, S., Jakuba, M., Pizarro, O., Radford, B. (2010). Predictive Habitat Models from AUV-based Multibeam and Optical Imagery. OCEANS 2010 MTS/IEEE SEATTLE Conference & Exhibition, USA: (IEEE) Institute of Electrical and Electronics Engineers.
  • Radford, B., Pizarro, O., Colquhoun, J., Cooper, T., Moore, C., Williams, S., Jakuba, M., Mercer, D., Powell, G., Davis, C., et al (2010). Predictive modelling of deep coral reefs using multibeam, AUV and machine classified data. Geohab 2010.
  • Williams, S., Pizarro, O., Jakuba, M., Mahon, I., Ling, S., Johnson, C. (2010). Repeated AUV surveying of urchin barrens in North Eastern Tasmania. 2010 IEEE International Conference on Robotics and Automation. (IEEE) Institute of Electrical and Electronics Engineers.
  • Friedman, A., Pizarro, O., Williams, S. (2010). Rugosity, slope and aspect from bathymetric stereo image reconstructions. Oceans '10 IEEE Sydney, USA: (IEEE) Institute of Electrical and Electronics Engineers.
  • Johnson-Roberson, M., Pizarro, O., Williams, S. (2010). Saliency Ranking for Benthic Survey using Underwater Images. 11th International Conference on Control, Automation, Robotics and Vision (ICARCV 2010), USA: (IEEE) Institute of Electrical and Electronics Engineers.
  • Friedman, A., Pizarro, O., Williams, S. (2010). Towards automated classification of benthic environments using rugosity, slope and aspect from bathymetric stereo image reconstructions. Geohab 2010.
  • Steinberg, D., Williams, S., Pizarro, O., Jakuba, M. (2010). Towards autonomous habitat classification using Gaussian Mixture Models. 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, Piscataway, NJ: (IEEE) Institute of Electrical and Electronics Engineers.
  • Medagoda, L., Jakuba, M., Pizarro, O., Williams, S. (2010). Water column current profile aided localisation for autonomous underwater vehicles. Oceans '10 IEEE Sydney, USA: (IEEE) Institute of Electrical and Electronics Engineers.
  • Barkby, S., Williams, S., Pizarro, O., Jakuba, M. (2009). An efficient approach to bathymetric SLAM. 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, USA: (IEEE) Institute of Electrical and Electronics Engineers.
  • Williams, S., Pizarro, O., Jakuba, M., Barrett, N. (2009). AUV Benthic Habitat Mapping in South Eastern Tasmania. 7th International Conference on Field and Service Robotics (FSR09), on line: Carnegie Mellon University Robotics Institute.
  • Barkby, S., Williams, S., Pizarro, O., Jakuba, M. (2009). Incorporating prior maps with bathymetric distributed particle SLAM for improved AUV navigation and mapping. Oceans '09 MTS/IEEE Biloxi: Ocean Technology for Our Future: Global and Local Challenges, Columbia, MD, USA: Marine Technology Society.
  • Williams, S., Pizarro, O., How, M., Mercer, D., Powell, G., Marshall, J., Hanlon, R. (2009). Surveying Noctural Cuttlefish Camouflage Behaviour using an AUV. 2009 IEEE International Conference on Robotics and Automation, Online: (IEEE) Institute of Electrical and Electronics Engineers.
  • Pizarro, O., Williams, S., Colquhoun, J. (2009). Topic-based habitat classification using visual data. Oceans '09 IEEE Bremen, USA: (IEEE) Institute of Electrical and Electronics Engineers.
  • Bridge, T., Done, T., Webster, J., Beaman, R., Williams, S., Pizarro, O. (2009). Topography, Habitats, and Macrofaunal Communities of the GBR Shelf edge. Australian National Network in Marine Science Conference 2009.
  • Johnson-Roberson, M., Pizarro, O., Williams, S. (2009). Towards Large Scale Optical and Acoustic Sensor Integration for Visualization. Oceans '09 IEEE Bremen, USA: (IEEE) Institute of Electrical and Electronics Engineers.
  • Williams, S., Pizarro, O., Johnson-Roberson, M., Mahon, I., Webster, J. (2008). AUV-assisted surveying of Relic Reef sites. 2008 MTS/IEEE Oceans Conference.
  • Williams, S., Pizarro, O., Mahon, I., Rigby, P., Johnson-Roberson, M. (2006). Towards Multi-Resolution Terrain Reconstruction of Coral Reef Habitats with an Autonomous Underwater Vehicle. 10th International Symposium on Experimental Robotics (ISER). 10th International Symposium on Experimental Robotics (ISER).

Magazine / Newspaper Articles

  • Webster, J., Beaman, R., Bridge, T., Davies, P., Byrne, M., Williams, S., Manning, P., Pizarro, O., Thomas, A., Tudhope, S., Thornborough, K., Woolsey, E. (2008). From Corals to Canyons: The Great Barrier Reef Margin. EOS Transactions American Geophysical Union, 89,24.

Other

  • Woolsey, E., Byrne, M., Webster, J., Williams, S., Pizarro, O., Thornborough, K., Davies, P., Beaman, R., Bridge, T. (2012), Ophiopsila pantherina beds on subaqueous dunes off the Great Barrier Reef.

2014

  • Johnson-Roberson, M., Bryson, M., Douillard, B., Pizarro, O., Williams, S. (2014). Crowdsourced Saliency for Mining Robotically Gathered 3D Maps Using Multitouch Interaction on Smartphones and Tablets. 2014 IEEE International Conference on Robotics and Automation (ICRA), Piscataway: IEEE.
  • Steinberg, D., Pizarro, O., Williams, S. (2014). Hierarchical Bayesian models for unsupervised scene understanding. Computer Vision and Image Understanding. [More Information]
  • Rao, D., De Deuge, M., Nourani-Vatani, N., Douillard, B., Williams, S., Pizarro, O. (2014). Multimodal learning for autonomous underwater vehicles from visual and bathymetric data. 2014 IEEE International Conference on Robotics and Automation (ICRA), Piscataway: IEEE.

2013

  • Bryson, M., Johnson-Roberson, M., Pizarro, O., Williams, S. (2013). Automated registration for multi-year robotic surveys of marine benthic habitats. 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, Tokyo, Japan: IEEE. [More Information]
  • Bender, A., Williams, S., Pizarro, O. (2013). Autonomous Exploration of Large-Scale Benthic Environments. 2013 IEEE International Conference on Robotics and Automation (ICRA), Piscataway: (IEEE) Institute of Electrical and Electronics Engineers. [More Information]
  • Bender, A., Williams, S., Pizarro, O. (2013). Autonomous methods for environmental modeling and exploration. Robotics Science and Systems, Workshops, online: Robotics Science and Systems.
  • Pizarro, O., Williams, S., Jakuba, M., Johnson-Roberson, M., Mahon, I., Bryson, M., Steinberg, D., Friedman, A., Dansereau, D., Nourani-Vatani, N., Bongiorno, D., Bewley, M., Bender, A., Ashan, N., Douillard, B. (2013). Benthic monitoring with robotic platforms - the experience of Australia. 2013 IEEE International Underwater Technology Symposium (UT 2013), Tokyo: (IEEE) Institute of Electrical and Electronics Engineers. [More Information]
  • Dansereau, D., Pizarro, O., Williams, S. (2013). Decoding, Calibration and Rectification for Lenselet-Based Plenoptic Cameras. 2013 26th IEEE Conference on Computer Vision and Pattern Recognition, Piscataway, New Jersey: IEEE. [More Information]
  • Douillard, B., Nourani-Vatani, N., Johnson-Roberson, M., Pizarro, O., Williams, S., Roman, C., Vaughn, J. (2013). Frequency-based underwater terrain segmentation. Autonomous Robots, 35(4), 255-269. [More Information]
  • Bewley, M., Nourani-Vatani, N., Rao, D., Douillard, B., Pizarro, O., Williams, S. (2013). Hierarchical Classification in AUV Imagery. 9th Conference on Field and Service Robotics (FSR), Brisbane, Australia: Australian Robotics and Automation Association (ARAA).
  • Dansereau, D., Bongiorno, D., Pizarro, O., Williams, S. (2013). Light field image denoising using a linear 4D frequency-hyperfan all-in-focus filter. SPIE Computational Imaging XI, USA: SPIE - International Society for Optical Engineering.
  • Henderson, J., Pizarro, O., Johnson-Roberson, M., Mahon, I. (2013). Mapping submerged archaeological sites using stereo-vision photogrammetry. International Journal of Nautical Archaeology, 42(2), 243-256. [More Information]
  • Woolsey, E., Byrne, M., Webster, J., Williams, S., Pizarro, O., Thornborough, K., Davies, P., Beaman, R., Bridge, T. (2013). Ophiopsila pantherina beds on subaqueous dunes off the Great Barrier Reef. Echinoderms in a Changing World: 13th International Echinoderm Conference, Leiden, The Netherlands: CRC Press/Balkema. [More Information]
  • Johnson-Roberson, M., Bryson, M., Douillard, B., Pizarro, O., Williams, S. (2013). Out-of-core efficient blending for underwater georeferenced textured 3D maps. 2013 Fourth International Conference on Computing for Geospatial Research and Application (COM.Geo 2013), San Jose, United States: IEEE Xplore. [More Information]
  • Steinberg, D., Pizarro, O., Williams, S. (2013). Synergistic clustering of image and segment descriptors for unsupervised scene understanding. 2013 IEEE International Conference on Computer Vision (ICCV), Los Alamitos, California: IEEE. [More Information]

2012

  • Bewley, M., Douillard, B., Nourani-Vatani, N., Friedman, A., Pizarro, O., Williams, S. (2012). Automated species detection: An experimental approach to kelp detection from sea-floor AUV images. Australasian Conference on Robotics and Automation (ACRA) 2012, Wellington, New Zealand: Australian Robotics and Automation Association (ARAA).
  • Barkby, S., Williams, S., Pizarro, O., Jakuba, M. (2012). Bathymetric particle filter SLAM using trajectory maps. International Journal of Robotics Research, 31(12), 1409-1430. [More Information]
  • Bender, A., Williams, S., Pizarro, O. (2012). Classification with Probabilistic Targets. 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, Piscataway, NJ: (IEEE) Institute of Electrical and Electronics Engineers.
  • Bryson, M., Johnson-Roberson, M., Pizarro, O., Williams, S. (2012). Colour-Consistent Structure-from-Motion Models using Underwater Imagery. Robotics: Science and Systems VIII, Sydney, NSW, Australia: Robotics Science and Systems.
  • Douillard, B., Nourani-Vatani, N., Johnson-Roberson, M., Williams, S., Roman, C., Pizarro, O., Vaughn, J., Inglis, G. (2012). FFT-based terrain segmentation for underwater mapping. Robotics: Science and Systems VIII, Sydney, NSW, Australia: Robotics Science and Systems.
  • Beaman, R., Bridge, T., Done, T., Webster, J., Williams, S., Pizarro, O. (2012). Habitats and Benthos at Hydrographers Passage, Great Barrier Reef, Australia. In Peter T. Harris, Elaine K. Baker (Eds.), Seafloor Geomorphology as Benthic Habitat: GeoHAB Atlas of Seafloor Geomorphic Features and Benthic Habitats, (pp. 425-434). Waltham, USA: Elsevier.
  • Williams, S., Pizarro, O., Jakuba, M., Johnson, C., Barrett, N., Babcock, R., Kendrick, G., Steinberg, P., Heyward, A., Doherty, P., Mahon, I., Johnson-Roberson, M., Steinberg, D., Friedman, A. (2012). Monitoring of benthic reference sites: Using an autonomous underwater vehicle. IEEE Robotics and Automation Magazine, 19(1), 73-84. [More Information]
  • Friedman, A., Pizarro, O., Williams, S., Johnson-Roberson, M. (2012). Multi-scale measures of rugosity, slope and aspect from benthic stereo image reconstructions. PLoS One, 7(12), 1-14. [More Information]
  • Woolsey, E., Byrne, M., Webster, J., Williams, S., Pizarro, O., Thornborough, K., Davies, P., Beaman, R., Bridge, T. (2012), Ophiopsila pantherina beds on subaqueous dunes off the Great Barrier Reef.
  • Smale, D., Kendrick, G., Harvey, E., Langlois, T., Hovey, R., Van Niel, K., Waddington, K., Bellchambers, L., Pember, M., Babcock, R., Jakuba, M., Pizarro, O., Williams, S., et al (2012). Regional-scale benthic monitoring for ecosystem-based fisheries management (EBFM) using an autonomous underwater vehicle (AUV). ICES Journal of Marine Science: journal du conseil, 69(6), 1108-1118. [More Information]
  • Bryson, M., Johnson-Roberson, M., Pizarro, O., Williams, S. (2012). Repeatable robotic surveying of marine benthic habitats for monitoring long-term change. Robotics: Science and Systems VIII, Sydney, NSW, Australia: Robotics Science and Systems.
  • Ahsan, N., Williams, S., Pizarro, O. (2012). Robust Broad-Scale Benthic Habitat Mapping when Training Data is Scarce. Oceans 2012. (IEEE) Institute of Electrical and Electronics Engineers. [More Information]
  • Warren, M., Corke, P., Upcroft, B., Pizarro, O., Williams, S. (2012). Visual sea-floor mapping from low overlap imagery using bi-objective bundle adjustment and constrained motion. Australasian Conference on Robotics and Automation (ACRA) 2012, Wellington, New Zealand: Australian Robotics and Automation Association (ARAA).

2011

  • Steinberg, D., Friedman, A., Pizarro, O., Williams, S. (2011). A Bayesian Nonparametric Approach to Clustering Data from Underwater Robotic Surveys. 15th International Symposium on Robotics Research ISRR 2011.
  • Barkby, S., Williams, S., Pizarro, O., Jakuba, M. (2011). A Featureless Approach to Efficient Bathymetric SLAM Using Distributed Particle Mapping. Journal of Field Robotics, 28(1), 19-39. [More Information]
  • Friedman, A., Steinberg, D., Pizarro, O., Williams, S. (2011). Active learning using a Variational Dirichlet Process model for pre-clustering and classification of underwater stereo imagery. 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, Piscataway, NJ, USA: (IEEE) Institute of Electrical and Electronics Engineers. [More Information]
  • Barkby, S., Williams, S., Pizarro, O., Jakuba, M. (2011). Bathymetric SLAM with No Map Overlap using Gaussian Processes. 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, Piscataway, NJ, USA: (IEEE) Institute of Electrical and Electronics Engineers. [More Information]
  • Friedman, A., Pizarro, O., Williams, S. (2011). Interpretation of benthic stereo imagery using 2D and 3D features in an active learning framework. GeoHab 2011.
  • Dansereau, D., Mahon, I., Pizarro, O., Williams, S. (2011). Plenoptic flow: Closed-Form Visual Odometry for Light Field Cameras. 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, Piscataway, NJ, USA: (IEEE) Institute of Electrical and Electronics Engineers. [More Information]
  • Mahon, I., Pizarro, O., Johnson-Roberson, M., Friedman, A., Williams, S., Henderson, J. (2011). Reconstructing Pavlopetri: mapping the world's oldest submerged town using stereo-vision. IEEE International Conference on Robotics and Automation ICRA 2011, USA: (IEEE) Institute of Electrical and Electronics Engineers.
  • Bridge, T., Done, T., Beaman, R., Friedman, A., Williams, S., Pizarro, O., Webster, J. (2011). Topography, substratum and benthic macrofaunal relationships on a tropical mesophotic shelf margin, central Great Barrier Reef, Australia. Coral Reefs, 30(1), 143-153. [More Information]
  • Jakuba, M., Steinberg, D., Kinsey, J., Yoerger, D., Camilli, R., Pizarro, O., Williams, S. (2011). Toward Automatic Classification of Chemical Sensor Data from Autonomous Underwater Vehicles. 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, Piscataway, NJ, USA: (IEEE) Institute of Electrical and Electronics Engineers. [More Information]
  • Bridge, T., Done, T., Friedman, A., Beaman, R., Williams, S., Pizarro, O., Webster, J. (2011). Variability in mesophotic coral reef communities along the Great Barrier Reef, Australia. Marine Ecology - Progress Series, 428, 63-75. [More Information]
  • Medagoda, L., Williams, S., Pizarro, O., Jakuba, M. (2011). Water column current aided localisation for significant horizontal trajectories with autonomous underwater cehicles. OCEANS 2011 MTS/IEEE KONA Conference & Exhibition, USA: (IEEE) Institute of Electrical and Electronics Engineers.
  • Medagoda, L., Williams, S., Pizarro, O., Jakuba, M. (2011). Water Column Current Profile Aided Localisation combined with View-based SLAM for Autonomous Underwater Vehicle Navigation. IEEE International Conference on Robotics and Automation ICRA 2011, USA: (IEEE) Institute of Electrical and Electronics Engineers.

2010

  • Bender, A., Williams, S., Pizarro, O., Jakuba, M. (2010). Adaptive Exploration Of Benthic Habitats Using Gaussian Processes. OCEANS 2010 MTS/IEEE SEATTLE Conference & Exhibition, USA: (IEEE) Institute of Electrical and Electronics Engineers.
  • Steinberg, D., Bender, A., Friedman, A., Jakuba, M., Pizarro, O., Williams, S. (2010). Analysis of propulsion methods for long-range AUVs. Marine Technology Society Journal, 44(2), 46-55.
  • Williams, S., Pizarro, O., Webster, J., Beaman, R., Mahon, I., Johnson-Roberson, M., Bridge, T. (2010). Autonomous Underwater Vehicle-Assisted Surveying of Drowned Reefs on the Shelf Edge of the Great Barrier Reef, Australia. Journal of Field Robotics, 27(5), 675-697.
  • Steinberg, D., Pizarro, O., Williams, S., Jakuba, M. (2010). Dirichlet process mixture models for autonomous habitat classification. Oceans '10 IEEE Sydney, USA: (IEEE) Institute of Electrical and Electronics Engineers.
  • Johnson-Roberson, M., Pizarro, O., Williams, S., Mahon, I. (2010). Generation and visualization of large-scale three-dimensional reconstructions from underwater robotic surveys. Journal of Field Robotics, 27(1), 21-51. [More Information]
  • Colquhoun, J., Pizarro, O., Heyward, A., Rees, M., Williams, S., O’Leary, R., Radford, B. (2010). Habitat-based assessment of epibenthos using AUV Optical imagery, northwest Australia. Geohab 2010.
  • Jakuba, M., Pizarro, O., Williams, S. (2010). High resolution, consistent navigation and 3D optical reconstructions from AUVs using magnetic compasses and pressure-based depth sensors. Oceans '10 IEEE Sydney, USA: (IEEE) Institute of Electrical and Electronics Engineers.
  • Pizarro, O., Williams, S., Colquhoun, J., Moore, C. (2010). Image-based habitat classification and analysis using generative models. Geohab 2010.
  • Ahsan, N., Williams, S., Jakuba, M., Pizarro, O., Radford, B. (2010). Predictive Habitat Models from AUV-based Multibeam and Optical Imagery. OCEANS 2010 MTS/IEEE SEATTLE Conference & Exhibition, USA: (IEEE) Institute of Electrical and Electronics Engineers.
  • Radford, B., Pizarro, O., Colquhoun, J., Cooper, T., Moore, C., Williams, S., Jakuba, M., Mercer, D., Powell, G., Davis, C., et al (2010). Predictive modelling of deep coral reefs using multibeam, AUV and machine classified data. Geohab 2010.
  • Williams, S., Pizarro, O., Jakuba, M., Mahon, I., Ling, S., Johnson, C. (2010). Repeated AUV surveying of urchin barrens in North Eastern Tasmania. 2010 IEEE International Conference on Robotics and Automation. (IEEE) Institute of Electrical and Electronics Engineers.
  • Friedman, A., Pizarro, O., Williams, S. (2010). Rugosity, slope and aspect from bathymetric stereo image reconstructions. Oceans '10 IEEE Sydney, USA: (IEEE) Institute of Electrical and Electronics Engineers.
  • Johnson-Roberson, M., Pizarro, O., Williams, S. (2010). Saliency Ranking for Benthic Survey using Underwater Images. 11th International Conference on Control, Automation, Robotics and Vision (ICARCV 2010), USA: (IEEE) Institute of Electrical and Electronics Engineers.
  • Lloyd, K., Albert, D., Biddle, J., Chanton, J., Pizarro, O., Teske, A. (2010). Spatial Structure and Activity of Sedimentary Microbial Communities Underlying a Beggiatoa Spp. Mat in a Gulf of Mexico Hydrocarbon Seep. PLoS One, 5(1), e8738 - 1-e8735 - 13. [More Information]
  • Bridge, T., Done, T., Beaman, R., Friedman, A., Williams, S., Pizarro, O., Webster, J. (2010). Topography, substratum and benthic macrofaunal relationships on a tropical mesophotic shelf margin, central Great Barrier Reef, Australia. Coral Reefs, 30(1), 143-153. [More Information]
  • Rigby, P., Pizarro, O., Williams, S. (2010). Toward Adaptive Benthic Habitat Mapping Using Gaussian Process Classification. Journal of Field Robotics, 27(6), 741-758. [More Information]
  • Friedman, A., Pizarro, O., Williams, S. (2010). Towards automated classification of benthic environments using rugosity, slope and aspect from bathymetric stereo image reconstructions. Geohab 2010.
  • Steinberg, D., Williams, S., Pizarro, O., Jakuba, M. (2010). Towards autonomous habitat classification using Gaussian Mixture Models. 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, Piscataway, NJ: (IEEE) Institute of Electrical and Electronics Engineers.
  • Medagoda, L., Jakuba, M., Pizarro, O., Williams, S. (2010). Water column current profile aided localisation for autonomous underwater vehicles. Oceans '10 IEEE Sydney, USA: (IEEE) Institute of Electrical and Electronics Engineers.

2009

  • Barkby, S., Williams, S., Pizarro, O., Jakuba, M. (2009). An efficient approach to bathymetric SLAM. 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, USA: (IEEE) Institute of Electrical and Electronics Engineers.
  • Williams, S., Pizarro, O., Jakuba, M., Barrett, N. (2009). AUV Benthic Habitat Mapping in South Eastern Tasmania. 7th International Conference on Field and Service Robotics (FSR09), on line: Carnegie Mellon University Robotics Institute.
  • Barkby, S., Williams, S., Pizarro, O., Jakuba, M. (2009). Incorporating prior maps with bathymetric distributed particle SLAM for improved AUV navigation and mapping. Oceans '09 MTS/IEEE Biloxi: Ocean Technology for Our Future: Global and Local Challenges, Columbia, MD, USA: Marine Technology Society.
  • Pizarro, O., Eustice, R., Singh, H. (2009). Large Area 3-D Reconstructions From Underwater Optical Surveys. IEEE Journal of Oceanic Engineering, 34(2), 150-169.
  • Williams, S., Pizarro, O., Mahon, I., Johnson-Roberson, M. (2009). Simultaneous Localisation and Mapping and Dense Stereoscopic Seafloor Reconstruction Using an AUV. In Oussama Khatib, Vijay Kumar,George J. Pappas (Eds.), Springer Tracts in Advanced Robotics-Experimental Robotics-The Eleventh International Symposium, (pp. 407-416). Germany: Springer.
  • Williams, S., Pizarro, O., How, M., Mercer, D., Powell, G., Marshall, J., Hanlon, R. (2009). Surveying Noctural Cuttlefish Camouflage Behaviour using an AUV. 2009 IEEE International Conference on Robotics and Automation, Online: (IEEE) Institute of Electrical and Electronics Engineers.
  • Pizarro, O., Williams, S., Colquhoun, J. (2009). Topic-based habitat classification using visual data. Oceans '09 IEEE Bremen, USA: (IEEE) Institute of Electrical and Electronics Engineers.
  • Bridge, T., Done, T., Webster, J., Beaman, R., Williams, S., Pizarro, O. (2009). Topography, Habitats, and Macrofaunal Communities of the GBR Shelf edge. Australian National Network in Marine Science Conference 2009.
  • Johnson-Roberson, M., Pizarro, O., Williams, S. (2009). Towards Large Scale Optical and Acoustic Sensor Integration for Visualization. Oceans '09 IEEE Bremen, USA: (IEEE) Institute of Electrical and Electronics Engineers.

2008

  • Williams, S., Pizarro, O., Johnson-Roberson, M., Mahon, I., Webster, J. (2008). AUV-assisted surveying of Relic Reef sites. 2008 MTS/IEEE Oceans Conference.
  • Mahon, I., Williams, S., Pizarro, O., Johnson-Roberson, M. (2008). Efficient View-Based SLAM Using Visual Loop Closures. IEEE Transactions on Robotics, 24(5), 1002-1014.
  • Webster, J., Beaman, R., Bridge, T., Davies, P., Byrne, M., Williams, S., Manning, P., Pizarro, O., Thomas, A., Tudhope, S., Thornborough, K., Woolsey, E. (2008). From Corals to Canyons: The Great Barrier Reef Margin. EOS Transactions American Geophysical Union, 89,24.
  • Webster, J., Beaman, R., Bridge, T., Davies, P., Byrne, M., Williams, S., Manning, P., Pizarro, O., Thornborough, K., Woolsey, E., et al (2008). From Corals to Canyons: The Great Barrier Reef Margin. EOS, 89(24), 217-218.

2007

  • Rigby, P., Pizarro, O., Williams, S. (2007). Improved AUV navigation through multi-sensor data fusion: A combined Doppler and acoustic navigation system can provide drift-free geo-referenced positioning. Sea Technology, 48(3), 15-19.
  • Singh, H., Roman, C., Pizarro, O., Eustice, R., Can, A. (2007). Towards high-resolution imaging from underwater vehicles. International Journal of Robotics Research, 26(1), 55-74.

2006

  • Williams, S., Pizarro, O., Mahon, I., Rigby, P., Johnson-Roberson, M. (2006). Towards Multi-Resolution Terrain Reconstruction of Coral Reef Habitats with an Autonomous Underwater Vehicle. 10th International Symposium on Experimental Robotics (ISER). 10th International Symposium on Experimental Robotics (ISER).

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