Professor Stefan Williams

PhD, University of Sydney, 2001
Professor
School of Aerospace, Mechanical and Mechatronic Engineering
Australian Centre for Field Robotics

J07 - Mechanical Engineering Building
The University of Sydney

Telephone +61 2 9351 8152
Fax +61 2 9351 7474

Website Australian Centre for Field Robotics

Personal page

School of Aerospace, Mechanical and Mechatronic Engineering

Research interests

  • Marine Robotics
  • Multiagent systems

Teaching and supervision

MTRX4700 - Experimental Robotics

MTRX5700 - Experimental Robotics

Current projects

Associations

IEEE

Selected grants

2014

  • Antikythera shipwreck archaeology project; Pizarro O, Williams S; ARGO/Research Support.
  • Employing a novel imaging technology, plenoptic cameras, in underwater robotic imaging; Dansereau D, Williams S; Department of Education, Employment and Workplace Relations/Endeavour Awards - Scholarships and Fellowships.

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).
  • The provision and deployment of Autonomous Underwater Vehicles to undertake navigated time series measurements of benthic habitats; Williams S; Department of Industry, Innovation, Climate Change, Science, Research and Tertiary Education (Fed)/Research Support.
  • Development of an industry-based habitat mapping/monitoring system.; Pizarro O, Williams S; Department of Fisheries (WA)/Research Support.
  • Australian Centre for Field Robotics; Williams S, Jordan A; Department of Primary Industries (NSW)/Research Support.
  • 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).
  • Remotely operated vehicle; Williams S, Pizarro O, Manchester I, Webster J, Ferrari R; DVC Research/Equipment Grant.

2012

  • Delivering information suitable for studying spatial and temporal variability in benthic habitats using Autonomous Underwater Vehicles; Williams S; Australian Research Council (ARC)/Future Fellowships (FT).
  • 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

  • Machine assisted, multi-scale spatial and temporal observation and modelling of marine benthic habitats - FELLOWSHIP (TBC); Williams S, Byrne M, Barrett N, Figueira W, Johnson-Roberson M; Australian Research Council (ARC)/Super Science Fellowships.
  • An investigation of SLAM (Simultaneous localization and mapping) using Synthetic Aperture Sonar; Clark M, Williams S; Thales Australia Limited/Research Support.
  • 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).

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).
  • Autonomous Exploration and Characterization of Benthic Habitats Linked to Oceanographic Processes; Williams S; Australian Research Council (ARC)/Discovery Projects (DP).
  • Video analysis suite for the integrative analysis of resource acquisition behaviour in animals; Simpson S, Shine R, Thompson M, Seebacher F, Pile A, McArthur C, Coleman R, Beekman M, Ward A, Sword G, Brooks R, Poore A, Bonduriansky R, Cassis G, Olsson M, Booth D, Williams S; Australian Research Council (ARC)/Linkage Infrastructure, Equipment and Facilities (LIEF).
  • Video analysis suite for the integrative analysis of resource acquisition behaviour in animals; Simpson S, Shine R, Thompson M, Seebacher F, Pile A, McArthur C, Coleman R, Beekman M, Ward A, Sword G, Brooks R, Poore A, Bonduriansky R, Cassis G, Olsson M, Williams S, Booth D; Australian Research Council (ARC)/Linkage Infrastructure, Equipment and Facilities (LIEF).

2005

  • Decision Making and Mission Planning for Unmanned Underwater Vehicles; Williams S, Blair A; Australian Research Council (ARC)/Discovery Projects (DP).
  • Autonomous Modelling of Sediment Dynamics; Williams S; University of Sydney/Research & Development.

2004

  • Development of second generation Rover sniper target system; Williams S, Hughes B; Dept of Defence (DSTO)/Research Grants.
  • Environment modelling of Great Barrier Reef habitats using autonomous transect surveying; Williams S, Salih A; Australian Research Council (ARC)/Linkage Projects (LP).
  • Not known; Williams S; DVC Research/Research and Development Scheme: Newly Appointed Staff (NAS).

2003

  • Fish-bird: autonomous interaction in a contemporary arts setting; Rye D, Scheding S, Velonaki M, Williams S, Lemckert C; Australian Research Council (ARC)/Linkage Projects (LP).

Selected publications & creative works

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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.
  • Brooks, A., Kaupp, T., Makarenko, A., Williams, S., Oreback, A. (2007). Orca: A component model and repository. In Prof. Davide Brugali (Eds.), Software Engineering for Experimental Robotics, (pp. 231-251). Berlin, Germany: Springer.
  • Williams, S., Mahon, I. (2006). A Terrain-Aided Tracking Algorithm for Marine Systems. In S.YUTA; H ASAMA; S THRUN; E PRASSLER; T TSUBUCHI (Eds.), Springer Tracts in Advanced Robotics - Field and Service Robotics: Recent Advances in Research and applications, (pp. 93-102). Heidelberg, Germany: Springer.

Journals

  • Hill, N., Lucieer, V., Barrett, N., Anderson, T., Williams, S. (2014). Filling the gaps: Predicting the distribution of temperate reef biota using high resolution biological and acoustic data. Estuarine, Coastal and Shelf Science, 147(June 2014), 137-147.
  • Steinberg, D., Pizarro, O., Williams, S. (2014). Hierarchical Bayesian models for unsupervised scene understanding. Computer Vision and Image Understanding.
  • 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]
  • Madanayake, A., Wijenayake, C., Dansereau, D., Gunaratne, T., Bruton, L., Williams, S. (2013). Multidimensional (MD) circuits and systems for emerging applications including cognitive radio, radio astronomy, robot vision and imaging. IEEE Circuits and Systems Magazine, 13(1), 10-43. [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]
  • Kitts, C., Bingham, B., Chen, Y., Griffiths, G., Kirkwood, W., Williams, S. (2012). Guest Editorial. IEEE-ASME Transactions on Mechatronics, 17(1), 1-7. [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]
  • Singh, S., Fitch, R., Williams, S. (2010). A research-driven approach to undergraduate robotics education. Computers in Education Journal, 1(4), 21-27.
  • 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.
  • Stachniss, C., Williams, S., Neira, J. (2010). Editorial: Visual navigation and mapping outdoors. Journal of Field Robotics, 27(5), 509-510.
  • 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]
  • 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]
  • 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.
  • Velonaki, M., Rye, D., Scheding, S., Williams, S. (2008). Fish-Bird: Cross-disciplinary collaboration. IEEE MultiMedia Magazine, 15(1), 10-12.
  • 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.
  • Brooks, A., Makarenko, A., Williams, S., Durrant-Whyte, H. (2006). Parametric POMDPs for planning in continuous state spaces. Robotics and Autonomous Systems, 54(11), 887-897. [More Information]
  • Williams, S., Durrant-Whyte, H., Dissanayake, G. (2003). Constrained Initialization of the Simultaneous Localization and Mapping Algorithm. International Journal of Robotics Research, 22(7-8), 541-564.
  • Rosenblatt, J., Williams, S., Durrant-Whyte, H. (2002). A behavior-based architecture for autonomous underwater exploration. Information Sciences, 145(1-2), 69-87.
  • Williams, S., Durrant-Whyte, H., Bailey, T., Dissanayake, G. (2002). Map management for efficient simultaneous localization and mapping (SLAM). Autonomous Robots, 12(3), 267-286.
  • Williams, S., Newman, P., Rosenblatt, J., Dissanayake, G., Durrant-Whyte, H. (2001). Autonomous underwater navigation and control. Robotica, 19, 481-496.
  • Williams, S., Dissanayake, G., Durrant-Whyte, H. (2001). Towards terrain-quided navigation for underwater robotics. Advanced Robotics, 15(5), 533-549.

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.
  • Nourani-Vatani, N., De Deuge, M., Douillard, B., Williams, S. (2013). An analysis of monochrome conversions and normalizations on the Local Binary Patterns texture descriptors. 14th IEEE International Conference on Computer Vision Workshops 2013, Sydney, Australia: IEEE. [More Information]
  • 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]
  • Bongiorno, D., Fairley, A., Bryson, M., Williams, S. (2013). Automatic spectrometer/RGB camera spatial calibration. 2013 IEEE International Geoscience & Remote Sensing Symposium. IEEE.
  • 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]
  • Bongiorno, D., Bryson, M., Williams, S. (2013). Dynamic spectral-based underwater colour correction. OCEANS'13 MTS/IEEE Conference. IEEE.
  • 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]
  • Bongiorno, D., Bryson, M., Dansereau, D., Williams, S. (2013). Spectral characterization of COTS RGB cameras using a linear variable edge filter. SPIE Digital Photography IX, USA: SPIE - International Society for Optical Engineering.
  • 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.
  • Medagoda, L., Williams, S. (2012). Model Predictive Control of an Autonomous Underwater Vehicle in an in situ Estimated Water Current Profile. Oceans 2012. (IEEE) Institute of Electrical and Electronics Engineers.
  • 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]
  • Beall, C., Dellaert, F., Mahon, I., Williams, S. (2011). Bundle adjustment in large-scale 3D reconstructions based on underwater robotic surveys. OCEANS 2011 Santander Spain. (IEEE) Institute of Electrical and Electronics Engineers.
  • 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.
  • Dansereau, D., Williams, S. (2011). Seabed Modeling and Distractor Extraction for Mobile AUVs Using Light Field Filtering. 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.
  • Williams, S., Barrett, N., Seiler, J., Anderson, T., Nichol, S., Hill, N. (2010). Autonomous underwater vehicle (AUV) for mapping marine biodiversity in coastal and shelf waters: Implications for marine management. Oceans '10 IEEE Sydney, 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.
  • Fang, C., Williams, S. (2010). Probabilistic resurvey mission planning. 2010 Australasian Conference on Robotics & Automation (ACRA 2010), Australia, USB stick: Australian Robotics and Automation Association (ARAA).
  • 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.
  • Rao, D., Williams, S. (2009). Large-scale path planning for underwater gliders in ocean currents. 2009 Australasian Conference on Robotics and Automation, Sydney: Australian Robotics and Automation Association (ARAA).
  • 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.
  • Bender, A., Steinberg, D., Friedman, A., Williams, S. (2008). Analysis of an Autonomous Underwater Glider. Australasian Conference on Robotics and Automation 2008, Canberra, Australia: Australian Robotics and Automation Association (ARAA).
  • Williams, S., Pizarro, O., Johnson-Roberson, M., Mahon, I., Webster, J. (2008). AUV-assisted surveying of Relic Reef sites. 2008 MTS/IEEE Oceans Conference.
  • Johnson-Roberson, M., Sureshkumar, S., Williams, S. (2006). Segmentation and Classification of Coral for Oceanographic Surveys: A Semi-Supervised Machine Learning Approach. Oceans'06 IEEE Asia Pacific, Piscataway, NJ: (IEEE) Institute of Electrical and Electronics Engineers.
  • 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).
  • Kaupp, T., Makarenko, A., Ramos, F., Upcroft, B., Williams, S., Durrant-Whyte, H. (2005). Adaptive Human Sensor Model in Sensor Networks. 8th International Conference on Information Fusion (Fusion 2005), United States of America: (IEEE) Institute of Electrical and Electronics Engineers.
  • Rigby, P., Williams, S. (2005). Adaptive Sensing for Localisation of an Autonomous Underwater Vehicles. 2005 Australiasian Conference on Robotics and Automation (ACRA), Sydney, Australia: Australian Robotics and Automation Association (ARAA).
  • Rye, D., Velonaki, M., Williams, S., Scheding, S. (2005). Fish-Bird: Human-Robot Interaction in a Contemporary Arts Setting. 2005 Australiasian Conference on Robotics and Automation (ACRA), Sydney, Australia: Australian Robotics and Automation Association (ARAA).
  • Kaupp, T., Makarenko, A., Sureshkumar, S., Upcroft, B., Williams, S. (2005). Operators as Information Sources in Sensor Networks. 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Canada: OmniPress.
  • Brooks, A., Makarenko, A., Williams, S., Durrant-Whyte, H. (2005). Planning in Continuous State Spaces with Parametric POMDPs. IJCAI Workshop Reasoning with Uncertainty in Robotics, United States of America: Professional Book Center.
  • Brooks, A., Kaupp, T., Makarenko, A., Williams, S., Anders, O. (2005). Towards Component-Based Robotics. 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Canada: OmniPress.
  • Makarenko, A., Brooks, A., Williams, S., Durrant-Whyte, H., Grocholsky, B. (2004). A Decentralized Architecture For Active Sensor Networks. 2004 IEEE International Conference on Robotics & Automation (ICRA), Piscataway, N.J, USA: (IEEE) Institute of Electrical and Electronics Engineers.
  • Brooks, A., Williams, S., Makarenko, A. (2004). Automatic Online Localization Of Nodes In An Active Sensor Network. IEEE International Conference on Robotics and Automation ICRA 2004, United States: (IEEE) Institute of Electrical and Electronics Engineers.
  • Williams, S., Mahon, I. (2004). Design Of An Unmanned Underwater Vehicle For Reef Surveying. 3rd IFAC Symposium on Mechatronic Systems, Online: Elsevier.
  • Brooks, A., Makarenko, A., Kaupp, T., Williams, S., Durrant-Whyte, H. (2004). Implementation Of An Indoor Active Sensor Network. The 9th International Symposium on Experimental Robotics (ISER), Germany: Springer.
  • Ledwich, L., Williams, S. (2004). Reduced SIFT Features For Image Retrieval And Indoor Localisation. 2004 Australasian Conference on Robotics and Automation (ACRA), Australia: Australian Robotics and Automation Association (ARAA).
  • Williams, S., Mahon, I. (2004). Simultaneous Localisation And Mapping On The Great Barrier Reef. IEEE International Conference on Robotics and Automation ICRA 2004, United States: (IEEE) Institute of Electrical and Electronics Engineers.
  • Mahon, I., Williams, S. (2004). SLAM Using Natural Features In An Underwater Environment. 8th International Conference on Control, Automation, Robotics and Vision ICARCV 2004, United States: (IEEE) Institute of Electrical and Electronics Engineers.
  • Williams, S., Mahon, I. (2004). Terrain Aided Localisation And Mapping For Marine Environments. The 9th International Symposium on Experimental Robotics (ISER), Germany: Springer.
  • Williams, S. (2003). A terrain-aided tracking algorithm for marine systems.
  • Makarenko, A., Williams, S., Durrant-Whyte, H. (2003). Decentralized certainty grid maps. IEEE/RSJ International Conference on Intelligent Robots and Systems - IROS, USA: (IEEE) Institute of Electrical and Electronics Engineers.
  • Bachmann, A., Williams, S. (2003). Terrain aided underwater navigation - a deeper insight into generic Monte Carlo localization. Australasian Conference on Robotics and Automation 2003 (ACRA), CD: Australian Robotics and Automation Association (ARAA).
  • Mahon, I., Williams, S. (2003). Three-dimensional robotic mapping. Australasian Conference on Robotics and Automation 2003 (ACRA), CD: Australian Robotics and Automation Association (ARAA).
  • Brooks, A., Williams, S. (2003). Tracking people with networks of heterogeneous sensors. Australasian Conference on Robotics and Automation 2003 (ACRA), CD: Australian Robotics and Automation Association (ARAA).
  • Williams, S., Durrant-Whyte, H., Dissanayake, G. (2002). An efficient approach to the simultaneous localisation and mapping problem. IEEE International Conference on Robotics & Automation, 2002, Piscataway NJ USA: (IEEE) Institute of Electrical and Electronics Engineers.
  • Makarenko, A., Williams, S., Bourgault, F., Durrant-Whyte, H. (2002). An experiment in integrated exploration. IROS 2002, Piscataway NJ, USA: (IEEE) Institute of Electrical and Electronics Engineers.
  • Bourgault, F., Makarenko, A., Williams, S., Grocholsky, B., Durrant-Whyte, H. (2002). Information based adaptive robotic exploration. Proceediings International Conference on Intelligent Robots and Systems, Piscataway NJ, USA: (IEEE) Institute of Electrical and Electronics Engineers.
  • Williams, S., Durrant-Whyte, H., Dissanayake, G. (2002). Towards multi-vehicle simultaneous localisation and mapping. Proceedings 2002 IEEE International Conference on Robotics and Automation, Piscataway NJ USA: (IEEE) Institute of Electrical and Electronics Engineers.
  • Williams, S., Dissanayake, G., Durrant-Whyte, H. (2001). Constrained initialisation of the simultaneous localisation and mapping algorithm. 3rd International Conference on Field and Service Robotics. UNSW Australian Defence Force Academy.
  • Williams, S., Dissanayake, G., Durrant-Whyte, H. (2001). Efficient simultaneous localisation and mapping using local submaps. ACRA 2001: Australasian Conference on Robotics and Automation. Australian Robotics and Automation Association (ARAA).

Visual Art

  • Velonaki, M., Rye, D., Scheding, S., Williams, S. (2004). Fish-Bird Circle B-Movement C. In: Unnatural Selection. Ars Electronica 2004: Timeshift - The World in 25 Years, Linz, Austria.

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.
  • Hill, N., Lucieer, V., Barrett, N., Anderson, T., Williams, S. (2014). Filling the gaps: Predicting the distribution of temperate reef biota using high resolution biological and acoustic data. Estuarine, Coastal and Shelf Science, 147(June 2014), 137-147.
  • Steinberg, D., Pizarro, O., Williams, S. (2014). Hierarchical Bayesian models for unsupervised scene understanding. Computer Vision and Image Understanding.
  • 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

  • Nourani-Vatani, N., De Deuge, M., Douillard, B., Williams, S. (2013). An analysis of monochrome conversions and normalizations on the Local Binary Patterns texture descriptors. 14th IEEE International Conference on Computer Vision Workshops 2013, Sydney, Australia: IEEE. [More Information]
  • 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]
  • Bongiorno, D., Fairley, A., Bryson, M., Williams, S. (2013). Automatic spectrometer/RGB camera spatial calibration. 2013 IEEE International Geoscience & Remote Sensing Symposium. IEEE.
  • 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]
  • Bongiorno, D., Bryson, M., Williams, S. (2013). Dynamic spectral-based underwater colour correction. OCEANS'13 MTS/IEEE Conference. IEEE.
  • 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.
  • Madanayake, A., Wijenayake, C., Dansereau, D., Gunaratne, T., Bruton, L., Williams, S. (2013). Multidimensional (MD) circuits and systems for emerging applications including cognitive radio, radio astronomy, robot vision and imaging. IEEE Circuits and Systems Magazine, 13(1), 10-43. [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]
  • Bongiorno, D., Bryson, M., Dansereau, D., Williams, S. (2013). Spectral characterization of COTS RGB cameras using a linear variable edge filter. SPIE Digital Photography IX, USA: SPIE - International Society for Optical Engineering.
  • 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.
  • Kitts, C., Bingham, B., Chen, Y., Griffiths, G., Kirkwood, W., Williams, S. (2012). Guest Editorial. IEEE-ASME Transactions on Mechatronics, 17(1), 1-7. [More Information]
  • 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.
  • Medagoda, L., Williams, S. (2012). Model Predictive Control of an Autonomous Underwater Vehicle in an in situ Estimated Water Current Profile. Oceans 2012. (IEEE) Institute of Electrical and Electronics Engineers.
  • 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]
  • Beall, C., Dellaert, F., Mahon, I., Williams, S. (2011). Bundle adjustment in large-scale 3D reconstructions based on underwater robotic surveys. OCEANS 2011 Santander Spain. (IEEE) Institute of Electrical and Electronics Engineers.
  • 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.
  • Dansereau, D., Williams, S. (2011). Seabed Modeling and Distractor Extraction for Mobile AUVs Using Light Field Filtering. 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

  • Singh, S., Fitch, R., Williams, S. (2010). A research-driven approach to undergraduate robotics education. Computers in Education Journal, 1(4), 21-27.
  • 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., Barrett, N., Seiler, J., Anderson, T., Nichol, S., Hill, N. (2010). Autonomous underwater vehicle (AUV) for mapping marine biodiversity in coastal and shelf waters: Implications for marine management. Oceans '10 IEEE Sydney, USA: (IEEE) Institute of Electrical and Electronics Engineers.
  • 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.
  • Stachniss, C., Williams, S., Neira, J. (2010). Editorial: Visual navigation and mapping outdoors. Journal of Field Robotics, 27(5), 509-510.
  • 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.
  • Fang, C., Williams, S. (2010). Probabilistic resurvey mission planning. 2010 Australasian Conference on Robotics & Automation (ACRA 2010), Australia, USB stick: Australian Robotics and Automation Association (ARAA).
  • 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.
  • 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.
  • Rao, D., Williams, S. (2009). Large-scale path planning for underwater gliders in ocean currents. 2009 Australasian Conference on Robotics and Automation, Sydney: Australian Robotics and Automation Association (ARAA).
  • 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

  • Bender, A., Steinberg, D., Friedman, A., Williams, S. (2008). Analysis of an Autonomous Underwater Glider. Australasian Conference on Robotics and Automation 2008, Canberra, Australia: Australian Robotics and Automation Association (ARAA).
  • 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.
  • Velonaki, M., Rye, D., Scheding, S., Williams, S. (2008). Fish-Bird: Cross-disciplinary collaboration. IEEE MultiMedia Magazine, 15(1), 10-12.
  • 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.
  • Brooks, A., Kaupp, T., Makarenko, A., Williams, S., Oreback, A. (2007). Orca: A component model and repository. In Prof. Davide Brugali (Eds.), Software Engineering for Experimental Robotics, (pp. 231-251). Berlin, Germany: Springer.

2006

  • Williams, S., Mahon, I. (2006). A Terrain-Aided Tracking Algorithm for Marine Systems. In S.YUTA; H ASAMA; S THRUN; E PRASSLER; T TSUBUCHI (Eds.), Springer Tracts in Advanced Robotics - Field and Service Robotics: Recent Advances in Research and applications, (pp. 93-102). Heidelberg, Germany: Springer.
  • Brooks, A., Makarenko, A., Williams, S., Durrant-Whyte, H. (2006). Parametric POMDPs for planning in continuous state spaces. Robotics and Autonomous Systems, 54(11), 887-897. [More Information]
  • Johnson-Roberson, M., Sureshkumar, S., Williams, S. (2006). Segmentation and Classification of Coral for Oceanographic Surveys: A Semi-Supervised Machine Learning Approach. Oceans'06 IEEE Asia Pacific, Piscataway, NJ: (IEEE) Institute of Electrical and Electronics Engineers.
  • 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).

2005

  • Kaupp, T., Makarenko, A., Ramos, F., Upcroft, B., Williams, S., Durrant-Whyte, H. (2005). Adaptive Human Sensor Model in Sensor Networks. 8th International Conference on Information Fusion (Fusion 2005), United States of America: (IEEE) Institute of Electrical and Electronics Engineers.
  • Rigby, P., Williams, S. (2005). Adaptive Sensing for Localisation of an Autonomous Underwater Vehicles. 2005 Australiasian Conference on Robotics and Automation (ACRA), Sydney, Australia: Australian Robotics and Automation Association (ARAA).
  • Rye, D., Velonaki, M., Williams, S., Scheding, S. (2005). Fish-Bird: Human-Robot Interaction in a Contemporary Arts Setting. 2005 Australiasian Conference on Robotics and Automation (ACRA), Sydney, Australia: Australian Robotics and Automation Association (ARAA).
  • Kaupp, T., Makarenko, A., Sureshkumar, S., Upcroft, B., Williams, S. (2005). Operators as Information Sources in Sensor Networks. 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Canada: OmniPress.
  • Brooks, A., Makarenko, A., Williams, S., Durrant-Whyte, H. (2005). Planning in Continuous State Spaces with Parametric POMDPs. IJCAI Workshop Reasoning with Uncertainty in Robotics, United States of America: Professional Book Center.
  • Brooks, A., Kaupp, T., Makarenko, A., Williams, S., Anders, O. (2005). Towards Component-Based Robotics. 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Canada: OmniPress.

2004

  • Makarenko, A., Brooks, A., Williams, S., Durrant-Whyte, H., Grocholsky, B. (2004). A Decentralized Architecture For Active Sensor Networks. 2004 IEEE International Conference on Robotics & Automation (ICRA), Piscataway, N.J, USA: (IEEE) Institute of Electrical and Electronics Engineers.
  • Brooks, A., Williams, S., Makarenko, A. (2004). Automatic Online Localization Of Nodes In An Active Sensor Network. IEEE International Conference on Robotics and Automation ICRA 2004, United States: (IEEE) Institute of Electrical and Electronics Engineers.
  • Williams, S., Mahon, I. (2004). Design Of An Unmanned Underwater Vehicle For Reef Surveying. 3rd IFAC Symposium on Mechatronic Systems, Online: Elsevier.
  • Velonaki, M., Rye, D., Scheding, S., Williams, S. (2004). Fish-Bird Circle B-Movement C. In: Unnatural Selection. Ars Electronica 2004: Timeshift - The World in 25 Years, Linz, Austria.
  • Brooks, A., Makarenko, A., Kaupp, T., Williams, S., Durrant-Whyte, H. (2004). Implementation Of An Indoor Active Sensor Network. The 9th International Symposium on Experimental Robotics (ISER), Germany: Springer.
  • Ledwich, L., Williams, S. (2004). Reduced SIFT Features For Image Retrieval And Indoor Localisation. 2004 Australasian Conference on Robotics and Automation (ACRA), Australia: Australian Robotics and Automation Association (ARAA).
  • Williams, S., Mahon, I. (2004). Simultaneous Localisation And Mapping On The Great Barrier Reef. IEEE International Conference on Robotics and Automation ICRA 2004, United States: (IEEE) Institute of Electrical and Electronics Engineers.
  • Mahon, I., Williams, S. (2004). SLAM Using Natural Features In An Underwater Environment. 8th International Conference on Control, Automation, Robotics and Vision ICARCV 2004, United States: (IEEE) Institute of Electrical and Electronics Engineers.
  • Williams, S., Mahon, I. (2004). Terrain Aided Localisation And Mapping For Marine Environments. The 9th International Symposium on Experimental Robotics (ISER), Germany: Springer.

2003

  • Williams, S. (2003). A terrain-aided tracking algorithm for marine systems.
  • Williams, S., Durrant-Whyte, H., Dissanayake, G. (2003). Constrained Initialization of the Simultaneous Localization and Mapping Algorithm. International Journal of Robotics Research, 22(7-8), 541-564.
  • Makarenko, A., Williams, S., Durrant-Whyte, H. (2003). Decentralized certainty grid maps. IEEE/RSJ International Conference on Intelligent Robots and Systems - IROS, USA: (IEEE) Institute of Electrical and Electronics Engineers.
  • Bachmann, A., Williams, S. (2003). Terrain aided underwater navigation - a deeper insight into generic Monte Carlo localization. Australasian Conference on Robotics and Automation 2003 (ACRA), CD: Australian Robotics and Automation Association (ARAA).
  • Mahon, I., Williams, S. (2003). Three-dimensional robotic mapping. Australasian Conference on Robotics and Automation 2003 (ACRA), CD: Australian Robotics and Automation Association (ARAA).
  • Brooks, A., Williams, S. (2003). Tracking people with networks of heterogeneous sensors. Australasian Conference on Robotics and Automation 2003 (ACRA), CD: Australian Robotics and Automation Association (ARAA).

2002

  • Rosenblatt, J., Williams, S., Durrant-Whyte, H. (2002). A behavior-based architecture for autonomous underwater exploration. Information Sciences, 145(1-2), 69-87.
  • Williams, S., Durrant-Whyte, H., Dissanayake, G. (2002). An efficient approach to the simultaneous localisation and mapping problem. IEEE International Conference on Robotics & Automation, 2002, Piscataway NJ USA: (IEEE) Institute of Electrical and Electronics Engineers.
  • Makarenko, A., Williams, S., Bourgault, F., Durrant-Whyte, H. (2002). An experiment in integrated exploration. IROS 2002, Piscataway NJ, USA: (IEEE) Institute of Electrical and Electronics Engineers.
  • Bourgault, F., Makarenko, A., Williams, S., Grocholsky, B., Durrant-Whyte, H. (2002). Information based adaptive robotic exploration. Proceediings International Conference on Intelligent Robots and Systems, Piscataway NJ, USA: (IEEE) Institute of Electrical and Electronics Engineers.
  • Williams, S., Durrant-Whyte, H., Bailey, T., Dissanayake, G. (2002). Map management for efficient simultaneous localization and mapping (SLAM). Autonomous Robots, 12(3), 267-286.
  • Williams, S., Durrant-Whyte, H., Dissanayake, G. (2002). Towards multi-vehicle simultaneous localisation and mapping. Proceedings 2002 IEEE International Conference on Robotics and Automation, Piscataway NJ USA: (IEEE) Institute of Electrical and Electronics Engineers.

2001

  • Williams, S., Newman, P., Rosenblatt, J., Dissanayake, G., Durrant-Whyte, H. (2001). Autonomous underwater navigation and control. Robotica, 19, 481-496.
  • Williams, S., Dissanayake, G., Durrant-Whyte, H. (2001). Constrained initialisation of the simultaneous localisation and mapping algorithm. 3rd International Conference on Field and Service Robotics. UNSW Australian Defence Force Academy.
  • Williams, S., Dissanayake, G., Durrant-Whyte, H. (2001). Efficient simultaneous localisation and mapping using local submaps. ACRA 2001: Australasian Conference on Robotics and Automation. Australian Robotics and Automation Association (ARAA).
  • Williams, S., Dissanayake, G., Durrant-Whyte, H. (2001). Towards terrain-quided navigation for underwater robotics. Advanced Robotics, 15(5), 533-549.

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