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Professor Stefan Williams

PhD, University of Sydney, 2001

Head of School - 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

School of Aerospace, Mechanical and Mechatronic Engineering

Research interests

Professor Stefan Williams' research in the field of marine robotics is enhancing our ability to document, understand and thus protect our deep-water marine habitats. His current focus is on the development and deployment of autonomous underwater vehicles whose visual and acoustic sensors can gather data for the purpose of generating high-resolution 3D models of underwater marine environments.

"My research focuses mainly on the development of techniques for high-resolution mapping of marine habitats. This work uses a combination of visual and acoustic sensors to generate detailed, three-dimensional models of underwater environments using data collected by autonomous underwater vehicles (AUVs).

"These AUV surveys are designed to collect high-resolution stereo imagery and oceanographic data to support studies in the fields of engineering science, ecology, biology, geoscience, archaeology and industrial applications.

"My recent work has focused on generating high-fidelity, three-dimensional models of the seafloor; precisely matching survey locations across years to allow scientists to understand variability in these environments; and identifying patterns in the data that facilitate automated classification of the resulting image sets.

"Insights gained from this work have been used, for example, to better understand the recovery of coral reefs from bleaching and cyclones, as well as the behaviour of temperate reef organisms such as fish, urchins and lobsters.

"My colleagues and I conduct these AUV-based surveys around Australia and internationally. We are currently undertaking arguably the world's first benthic (sea-floor) observing program to make extensive use of AUVs for the purpose of monitoring benthic habitats on such a large scale.

"I am particularly passionate about this area of research because it allows me to interact with such a dynamic group of peers in helping to document and understand marine habitats. Seeing our robotic systems and sensor systems being deployed on sensitive coral reefs, deep-water hydrothermal vent systems and temperate kelp forests is immensely satisfying, and is helping to change our understanding of the marine environment."

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Teaching and supervision

MTRX5700 - Experimental Robotics

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Current research students

Project title Research student
Autonomous Underwater Vehicles as a platform for stereovideo surveys of fish Nader BOUTROS
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Current projects

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Associations

President of the Australian Robotics and Automation Association
IEEE Robotics and Automation Society
IEEE Oceanographic Engineering Society

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In the media

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    Selected grants

    2017

    • Classification of Broadscale, Multi-resolution Visual Seafloor Mosaics; Williams S, Pizarro O, Bryson M; DVC Research/Bridging Support Grant.

    2016

    • Supervised autonomy for AUVs using limited bandwidth communication channels; Williams S, Pizarro O; Australian Research Council (ARC)/Linkage Projects (LP).
    • High Resolution Visual 3D Reconstructions for Rapid Archeological Characterization; Pizarro O, Williams S; University of Michigan/Research Grant.
    • Autonomous Acoustic Mapping And Tracking Facility; Williams S, Pizarro O, Bryson M, Ramos F, Webster J; University of Sydney/Equipment Grant.

    2015

    • Mobile annotation of benthic mosaics; Pizarro O, Williams S; University of St Andrews/Internal Research Grants.
    • A Photometric Imaging Model for Mobile Underwater Camera Design; Williams S, Pizarro O, Lumsdaine A, Roman C, Schechner Y; Australian Research Council (ARC)/Discovery Projects (DP).
    • Quantification of coral reef habitat structural complexity and community composition in a changing ocean using 3D models.; Byrne M, Williams S, Figueira W, Ferrari R, Bridge T, Pizarro O, Booth D; Great Barrier Reef Foundation/Research Support.

    2014

    • 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).
    • 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

    • 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).
    • The provision and deployment of Autonomous Underwater Vehicles to undertake navigated time series measurements of benthic habitats; Williams S; Department of Industry, Innovation and Science/National Collaborative Research Infrastructure Strategy (NCRIS).
    • 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.
    • 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 and Science/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 Industry, Innovation and Science/National Collaborative Research Infrastructure Strategy (NCRIS).
    • 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).
    • Autonomous Exploration and Characterization of Benthic Habitats Linked to Oceanographic Processes; Williams S; Australian Research Council (ARC)/Discovery Projects (DP).

    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; Defence Science and Technology Group./Research Grant.
    • 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).
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    Selected publications & creative works

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    Book Chapters

    • Bewley, M., Nourani-Vatani, N., Rao, D., Douillard, B., Pizarro, O., Williams, S. (2015). Hierarchical Classification in AUV Imagery. In Luis Mejias, Peter Corke, Jonathan Roberts (Eds.), Field and Service Robotics: Results of the 9th International Conference, (pp. 3-16). Cham: Springer. [More Information]
    • Nourani-Vatani, N., Lopez-Sastre, R., Williams, S. (2015). Structured Output Prediction with Hierarchical Loss Functions for Seafloor Imagery Taxonomic Categorization. In Roberto Paredes, Jaime S. Cardoso, Xose M. Pardo (Eds.), Pattern Recognition and Image Analysis, (pp. 173-183). Cham: Springer. [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. [More Information]
    • 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. [More Information]
    • 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. [More Information]

    Journals

    • Dornelas, M., Antao, L., Moyes, F., Bates, A., Magurran, A., Adam, D., Akhmetzhanova, A., Appeltans, W., Arcos, J., Pizarro, O., Williams, S., et al (2018). BioTIME: A database of biodiversity time series for the Anthropocene. Global Ecology and Biogeography, 27(7), 760-786. [More Information]
    • Bongiorno, D., Bryson, M., Bridge, T., Dansereau, D., Williams, S. (2018). Coregistered Hyperspectral and Stereo Image Seafloor Mapping from an Autonomous Underwater Vehicle. Journal of Field Robotics, 35(3), 312-329. [More Information]
    • Ferrari, R., Malcolm, H., Byrne, M., Friedman, A., Williams, S., Schultz, A., Jordan, A., Figueira, W. (2018). Habitat structural complexity metrics improve predictions of fish abundance and distribution. Ecography, 41(7), 1077-1091. [More Information]
    • Ferrari, R., Marzinelli, E., Ayroza, C., Jordan, A., Figueira, W., Byrne, M., Malcom, H., Williams, S., Steinberg, P. (2018). Large-scale assessment of benthic communities across multiple marine protected areas using an autonomous underwater vehicle. PloS One, 13(3), 1-20. [More Information]
    • Przeslawski, R., Huang, Z., Anderson, J., Carroll, A., Edmunds, M., Hurt, L., Williams, S. (2018). Multiple field-based methods to assess the potential impacts of seismic surveys on scallops. Marine Pollution Bulletin, 129(2), 750-761. [More Information]
    • Pizarro, O., Friedman, A., Bryson, M., Williams, S., Madin, J. (2017). A simple, fast, and repeatable survey method for underwater visual 3D benthic mapping and monitoring. Ecology and Evolution, 7, 1770-1782. [More Information]
    • Wilson, T., Williams, S. (2017). Adaptive path planning for depth-constrained bathymetric mapping with an autonomous surface vessel. Journal of Field Robotics, , 1-14. [More Information]
    • Bryson, M., Ferrari, R., Figueira, W., Pizarro, O., Madin, J., Williams, S., Byrne, M. (2017). Characterization of measurement errors using structure-from-motion and photogrammetry to measure marine habitat structural complexity. Ecology and Evolution, 7(15), 5669-5681. [More Information]
    • Rao, D., De Deuge, M., Nourani�Vatani, N., Williams, S., Pizarro, O. (2017). Multimodal learning and inference from visual and remotely sensed data. International Journal of Robotics Research, 36(1), 24-43. [More Information]
    • Thornton, B., Bodenmann, A., Pizarro, O., Williams, S., Friedman, A., Nakajima, R., Takai, K., Motoki, K., Watsuji, T., Hirayama, H., et al (2016). Biometric assessment of deep-sea vent megabenthic communities using multi-resolution 3D image reconstructions. Deep-Sea Research I, 116, 200-219. [More Information]
    • Ferguson, E., Ramakrishnan, R., Williams, S., Jin, C. (2016). Deep Learning Approach to Passive Monitoring of the Underwater Acoustic Environment. Journal of the Acoustical Society of America, 140(4), 3351-3351. [More Information]
    • Bryson, M., Duce, S., Harris, D., Webster, J., Thompson, A., Vila-Concejo, A., Williams, S. (2016). Geomorphic changes of a coral shingle cay measured using Kite Aerial Photography. Geomorphology, 270, 1-8. [More Information]
    • Medagoda, L., Williams, S., Pizarro, O., Kinsey, J., Jakuba, M. (2016). Mid-water current aided localization for autonomous underwater vehicles. Autonomous Robots, 40(7), 1207-1227. [More Information]
    • Monk, J., Barrett, N., Hill, N., Lucieer, V., Nichol, S., Siwabessy, P., Williams, S. (2016). Outcropping reef ledges drive patterns of epibenthic assemblage diversity on cross-shelf habitats. Biodiversity and Conservation, 25(3), 485-502. [More Information]
    • Ferrari, R., Bryson, M., Bridge, T., Hustache, J., Williams, S., Byrne, M., Figueira, W. (2016). Quantifying the response of structural complexity and community composition to environmental change in marine communities. Global Change Biology, 22(5), 1965-1975. [More Information]
    • Williams, S., Pizarro, O., Steinberg, D., Friedman, A., Bryson, M. (2016). Reflections on a decade of autonomous underwater vehicles operations for marine survey at the Australian Centre for Field Robotics. Annual Reviews in Control, 42, 158-165. [More Information]
    • Dansereau, D., Williams, S., Corke, P. (2016). Simple change detection from mobile light field cameras. Computer Vision and Image Understanding, 145, 160-171. [More Information]
    • Ling, S., Mahon, I., Marzloff, M., Pizarro, O., Johnson, C., Williams, S. (2016). Stereo-imaging AUV detects trends in sea urchin abundance on deep overgrazed reefs. Limnology and Oceanography: Methods, 14(5), 293-304. [More Information]
    • Bryson, M., Johnson-Roberson, M., Pizarro, O., Williams, S. (2016). True color correction of autonomous underwater vehicle imagery. Journal of Field Robotics, 33(6), 853-874. [More Information]
    • Bewley, M., Friedman, A., Ferrari, R., Hill, N., Hovey, R., Barrett, N., Pizarro, O., Figueira, W., Meyer, L., Babcock, R., Byrne, M., Williams, S., et al (2015). Australian sea-floor survey data, with images and expert annotations. Scientific Data, 2, 1-12. [More Information]
    • Johnson-Roberson, M., Bryson, M., Douillard, B., Pizarro, O., Williams, S. (2015). Discovering salient regions on 3D photo-textured maps: Crowdsourcing interaction data from multitouch smartphones and tablets. Computer Vision and Image Understanding, 131, 28-41. [More Information]
    • Steinberg, D., Pizarro, O., Williams, S. (2015). Hierarchical Bayesian models for unsupervised scene understanding. Computer Vision and Image Understanding, 131, 128-144. [More Information]
    • Marzinelli, E., Williams, S., Babcock, R., Barrett, N., Johnson, C., Jordan, A., Kendrick, G., Pizarro, O., Smale, D., Steinberg, P. (2015). Large-scale geographic variation in distribution and abundance of Australian deep-water kelp forests. PloS One, 10(2), 1-21. [More Information]
    • Dansereau, D., Pizarro, O., Williams, S. (2015). Linear volumetric focus for light field cameras. ACM Transactions on Graphics, 34(2), 1-20. [More Information]
    • Rigby, P., Pizarro, O., Williams, S. (2014). Estimation of Clustering Parameters Using Gaussian Process Regression. PloS One, 9(11), 1-13. [More Information]
    • 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, 137-147. [More Information]
    • Williams, S. (2014). Special issue on robotics: Science and systems 2013. International Journal of Robotics Research, 33(9), 1165-1166. [More Information]
    • Bridge, T., Ferrari, R., Bryson, M., Hovey, R., Figueira, W., Williams, S., Pizarro, O., Harborne, A., Byrne, M. (2014). Variable responses of benthic communities to anomalously warm sea temperatures on a high-latitude coral reef. PloS One, 9(11), 1-20. [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]
    • 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]
    • Roman, C., Inglis, G., Vaughn, J., Williams, S., Pizarro, O., Friedman, A., Steinberg, D. (2011). Development of High-Resolution Underwater Mapping Techniques. Oceanography, 24(Suppl 1), 14-17.
    • 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. [More Information]
    • 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. [More Information]
    • Stachniss, C., Williams, S., Neira, J. (2010). Editorial: Visual navigation and mapping outdoors. Journal of Field Robotics, 27(5), 509-510. [More Information]
    • 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. [More Information]
    • Velonaki, M., Rye, D., Scheding, S., Williams, S. (2008). Fish-Bird: Cross-disciplinary collaboration. IEEE MultiMedia Magazine, 15(1), 10-12. [More Information]
    • 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. [More Information]
    • 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. [More Information]
    • 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

    • Boutros, N., Pizarro, O., Williams, S. (2018). Integrated Image-Based Surveys of Reef Fish and Their Habitat. 55th Annual Australian Marine Sciences Association (AMSA) Conference � Canyons to Coasts, Adelaide: AMSA.
    • Perez, J., Sanz, P., Bryson, M., Williams, S. (2017). A benchmarking study on single image dehazing techniques for underwater autonomous vehicles. OCEANS 2017, Aberdeen: Institute of Electrical and Electronics Engineers (IEEE). [More Information]
    • Wilson, T., Williams, S. (2017). Active Sample Selection in Scalar Fields Exhibiting Non-Stationary Noise with Parametric Heteroscedastic Gaussian Process Regression. 2017 IEEE International Conference on Robotics and Automation (ICRA 2017), Piscataway: Institute of Electrical and Electronics Engineers (IEEE). [More Information]
    • Pizarro, O., Williams, S., Bryson, M., Friedman, A. (2017). Autonomous Benthic Monitoring Downunder. Marine Imaging Workshop. Geomar Helmholtz Centre for Ocean Research.
    • Ferguson, E., Ramakrishnan, R., Williams, S., Jin, C. (2017). Convolutional neural networks for passive monitoring of a shallow water environment using a single sensor. The 42nd IEEE International Conference on Acoustics, Speech and Signal Processing (ICASSP 2017), Piscataway: Institute of Electrical and Electronics Engineers (IEEE). [More Information]
    • Bongiorno, D., Fairley, A., Williams, S. (2017). Spatially informed spectral unmixing. 7th Workshop on Hyperspectral Image and Signal Processing:Evolution in Remote Sensing (Whispers 2015), Tokyo: Institute of Electrical and Electronics Engineers (IEEE). [More Information]
    • Rao, D., Bender, A., Williams, S., Pizarro, O. (2016). Multimodal information-theoretic measures for autonomous exploration. 2016 IEEE International Conference on Robotics and Automation (ICRA), New Jersey: Institute of Electrical and Electronics Engineers (IEEE). [More Information]
    • Hsu, K., O'Callaghan, S., Reid, A., Williams, S. (2015). Informative seafloor exploration using the linearised differential entropy of Gaussian process classifiers. 2015 Australasian Conference on Robotics and Automation (ACRA 2015), Canberra, ACT: Australian Robotics and Automation Association (ARAA).
    • Williams, S., Pizarro, O., Foley, B. (2015). Return to Antikythera: Multi-session SLAM based AUV mapping of a first century B.C. wreck site. Field and Service Robotics (FSR), Toronto: Springer. [More Information]
    • 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: Institute of Electrical and Electronics Engineers (IEEE). [More Information]
    • Dansereau, D., Wood, D., Montabone, S., Williams, S. (2014). Exploiting parallax in panoramic capture to construct light fields. Australasian Conference on Robotics and Automation 2014, Melbourne, VIC: University of Melbourne.
    • Toohey, L., Pizarro, O., Williams, S. (2014). Multi-Vehicle Localisation with Additive Compressed Factor Graphs. 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, Piscataway: Institute of Electrical and Electronics Engineers (IEEE). [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: Institute of Electrical and Electronics Engineers (IEEE). [More Information]
    • 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: Institute of Electrical and Electronics Engineers (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: Institute of Electrical and Electronics Engineers (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. Institute of Electrical and Electronics Engineers (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: Institute of Electrical and Electronics Engineers (IEEE). [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: Institute of Electrical and Electronics Engineers (IEEE). [More Information]
    • Dansereau, D., Pizarro, O., Williams, S. (2013). Decoding, Calibration and Rectification for Lenselet-Based Plenoptic Cameras. 26th IEEE Conference on Computer Vision and Pattern Recognition, Piscataway, New Jersey: Institute of Electrical and Electronics Engineers (IEEE). [More Information]
    • Bongiorno, D., Bryson, M., Williams, S. (2013). Dynamic spectral-based underwater colour correction. OCEANS'13 MTS/IEEE Conference. Institute of Electrical and Electronics Engineers (IEEE). [More Information]
    • Ferrari, R., Malcolm, H., Friedman, A., Williams, S., Jordan, A., Figueira, W., Byrne, M. (2013). Effect of structural complexity on fish abundance on deep reefs: a case study in the Solitary Islands Marine Park. 50th Australian Marine Sciences Association Conference, Gold Coast, Australia: Australian Marine Sciences Association Inc.
    • 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. [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: Institute of Electrical and Electronics Engineers (IEEE). [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. [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 2013), Piscataway: Institute of Electrical and Electronics Engineers (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: Institute of Electrical and Electronics Engineers (IEEE). [More Information]
    • 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. Institute of Electrical and Electronics Engineers (IEEE). [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. Institute of Electrical and Electronics Engineers (IEEE). [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: Institute of Electrical and Electronics Engineers (IEEE). [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: Institute of Electrical and Electronics Engineers (IEEE). [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. Institute of Electrical and Electronics Engineers (IEEE).
    • 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: Institute of Electrical and Electronics Engineers (IEEE). [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: Institute of Electrical and Electronics Engineers (IEEE). [More Information]
    • 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: Institute of Electrical and Electronics Engineers (IEEE). [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: Institute of Electrical and Electronics Engineers (IEEE). [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: Institute of Electrical and Electronics Engineers (IEEE).
    • 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: Institute of Electrical and Electronics Engineers (IEEE). [More Information]
    • 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: Institute of Electrical and Electronics Engineers (IEEE).
    • 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: Institute of Electrical and Electronics Engineers (IEEE).
    • Steinberg, D., Pizarro, O., Williams, S., Jakuba, M. (2010). Dirichlet process mixture models for autonomous habitat classification. Oceans '10 IEEE Sydney, USA: Institute of Electrical and Electronics Engineers (IEEE).
    • 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: Institute of Electrical and Electronics Engineers (IEEE).
    • 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: Institute of Electrical and Electronics Engineers (IEEE).
    • 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), Brisbane, Australia: 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, Anchorage, Alaska: Institute of Electrical and Electronics Engineers (IEEE). [More Information]
    • Friedman, A., Pizarro, O., Williams, S. (2010). Rugosity, slope and aspect from bathymetric stereo image reconstructions. Oceans '10 IEEE Sydney, USA: Institute of Electrical and Electronics Engineers (IEEE).
    • 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: Institute of Electrical and Electronics Engineers (IEEE). [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: Institute of Electrical and Electronics Engineers (IEEE). [More Information]
    • Medagoda, L., Jakuba, M., Pizarro, O., Williams, S. (2010). Water column current profile aided localisation for autonomous underwater vehicles. Oceans '10 IEEE Sydney, USA: Institute of Electrical and Electronics Engineers (IEEE).
    • 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: Institute of Electrical and Electronics Engineers (IEEE). [More Information]
    • 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), Camridge, MA. USA: 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, Kobe, Japan: Institute of Electrical and Electronics Engineers (IEEE). [More Information]
    • Pizarro, O., Williams, S., Colquhoun, J. (2009). Topic-based habitat classification using visual data. Oceans '09 IEEE Bremen, USA: Institute of Electrical and Electronics Engineers (IEEE).
    • 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: Institute of Electrical and Electronics Engineers (IEEE).
    • 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: Institute of Electrical and Electronics Engineers (IEEE).
    • 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: Institute of Electrical and Electronics Engineers (IEEE).
    • 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: Institute of Electrical and Electronics Engineers (IEEE).
    • 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: Institute of Electrical and Electronics Engineers (IEEE). [More Information]
    • 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). [More Information]
    • 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: Institute of Electrical and Electronics Engineers (IEEE).
    • 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: Institute of Electrical and Electronics Engineers (IEEE).
    • 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: Institute of Electrical and Electronics Engineers (IEEE).
    • 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). [More Information]
    • 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: Institute of Electrical and Electronics Engineers (IEEE).
    • Makarenko, A., Williams, S., Bourgault, F., Durrant-Whyte, H. (2002). An experiment in integrated exploration. IROS 2002, Piscataway NJ, USA: Institute of Electrical and Electronics Engineers (IEEE).
    • 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: Institute of Electrical and Electronics Engineers (IEEE).
    • 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: Institute of Electrical and Electronics Engineers (IEEE).
    • 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, Helsinki: 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.

    2018

    • Dornelas, M., Antao, L., Moyes, F., Bates, A., Magurran, A., Adam, D., Akhmetzhanova, A., Appeltans, W., Arcos, J., Pizarro, O., Williams, S., et al (2018). BioTIME: A database of biodiversity time series for the Anthropocene. Global Ecology and Biogeography, 27(7), 760-786. [More Information]
    • Bongiorno, D., Bryson, M., Bridge, T., Dansereau, D., Williams, S. (2018). Coregistered Hyperspectral and Stereo Image Seafloor Mapping from an Autonomous Underwater Vehicle. Journal of Field Robotics, 35(3), 312-329. [More Information]
    • Ferrari, R., Malcolm, H., Byrne, M., Friedman, A., Williams, S., Schultz, A., Jordan, A., Figueira, W. (2018). Habitat structural complexity metrics improve predictions of fish abundance and distribution. Ecography, 41(7), 1077-1091. [More Information]
    • Boutros, N., Pizarro, O., Williams, S. (2018). Integrated Image-Based Surveys of Reef Fish and Their Habitat. 55th Annual Australian Marine Sciences Association (AMSA) Conference � Canyons to Coasts, Adelaide: AMSA.
    • Ferrari, R., Marzinelli, E., Ayroza, C., Jordan, A., Figueira, W., Byrne, M., Malcom, H., Williams, S., Steinberg, P. (2018). Large-scale assessment of benthic communities across multiple marine protected areas using an autonomous underwater vehicle. PloS One, 13(3), 1-20. [More Information]
    • Przeslawski, R., Huang, Z., Anderson, J., Carroll, A., Edmunds, M., Hurt, L., Williams, S. (2018). Multiple field-based methods to assess the potential impacts of seismic surveys on scallops. Marine Pollution Bulletin, 129(2), 750-761. [More Information]

    2017

    • Perez, J., Sanz, P., Bryson, M., Williams, S. (2017). A benchmarking study on single image dehazing techniques for underwater autonomous vehicles. OCEANS 2017, Aberdeen: Institute of Electrical and Electronics Engineers (IEEE). [More Information]
    • Pizarro, O., Friedman, A., Bryson, M., Williams, S., Madin, J. (2017). A simple, fast, and repeatable survey method for underwater visual 3D benthic mapping and monitoring. Ecology and Evolution, 7, 1770-1782. [More Information]
    • Wilson, T., Williams, S. (2017). Active Sample Selection in Scalar Fields Exhibiting Non-Stationary Noise with Parametric Heteroscedastic Gaussian Process Regression. 2017 IEEE International Conference on Robotics and Automation (ICRA 2017), Piscataway: Institute of Electrical and Electronics Engineers (IEEE). [More Information]
    • Wilson, T., Williams, S. (2017). Adaptive path planning for depth-constrained bathymetric mapping with an autonomous surface vessel. Journal of Field Robotics, , 1-14. [More Information]
    • Pizarro, O., Williams, S., Bryson, M., Friedman, A. (2017). Autonomous Benthic Monitoring Downunder. Marine Imaging Workshop. Geomar Helmholtz Centre for Ocean Research.
    • Bryson, M., Ferrari, R., Figueira, W., Pizarro, O., Madin, J., Williams, S., Byrne, M. (2017). Characterization of measurement errors using structure-from-motion and photogrammetry to measure marine habitat structural complexity. Ecology and Evolution, 7(15), 5669-5681. [More Information]
    • Ferguson, E., Ramakrishnan, R., Williams, S., Jin, C. (2017). Convolutional neural networks for passive monitoring of a shallow water environment using a single sensor. The 42nd IEEE International Conference on Acoustics, Speech and Signal Processing (ICASSP 2017), Piscataway: Institute of Electrical and Electronics Engineers (IEEE). [More Information]
    • Rao, D., De Deuge, M., Nourani�Vatani, N., Williams, S., Pizarro, O. (2017). Multimodal learning and inference from visual and remotely sensed data. International Journal of Robotics Research, 36(1), 24-43. [More Information]
    • Bongiorno, D., Fairley, A., Williams, S. (2017). Spatially informed spectral unmixing. 7th Workshop on Hyperspectral Image and Signal Processing:Evolution in Remote Sensing (Whispers 2015), Tokyo: Institute of Electrical and Electronics Engineers (IEEE). [More Information]

    2016

    • Thornton, B., Bodenmann, A., Pizarro, O., Williams, S., Friedman, A., Nakajima, R., Takai, K., Motoki, K., Watsuji, T., Hirayama, H., et al (2016). Biometric assessment of deep-sea vent megabenthic communities using multi-resolution 3D image reconstructions. Deep-Sea Research I, 116, 200-219. [More Information]
    • Ferguson, E., Ramakrishnan, R., Williams, S., Jin, C. (2016). Deep Learning Approach to Passive Monitoring of the Underwater Acoustic Environment. Journal of the Acoustical Society of America, 140(4), 3351-3351. [More Information]
    • Bryson, M., Duce, S., Harris, D., Webster, J., Thompson, A., Vila-Concejo, A., Williams, S. (2016). Geomorphic changes of a coral shingle cay measured using Kite Aerial Photography. Geomorphology, 270, 1-8. [More Information]
    • Medagoda, L., Williams, S., Pizarro, O., Kinsey, J., Jakuba, M. (2016). Mid-water current aided localization for autonomous underwater vehicles. Autonomous Robots, 40(7), 1207-1227. [More Information]
    • Rao, D., Bender, A., Williams, S., Pizarro, O. (2016). Multimodal information-theoretic measures for autonomous exploration. 2016 IEEE International Conference on Robotics and Automation (ICRA), New Jersey: Institute of Electrical and Electronics Engineers (IEEE). [More Information]
    • Monk, J., Barrett, N., Hill, N., Lucieer, V., Nichol, S., Siwabessy, P., Williams, S. (2016). Outcropping reef ledges drive patterns of epibenthic assemblage diversity on cross-shelf habitats. Biodiversity and Conservation, 25(3), 485-502. [More Information]
    • Ferrari, R., Bryson, M., Bridge, T., Hustache, J., Williams, S., Byrne, M., Figueira, W. (2016). Quantifying the response of structural complexity and community composition to environmental change in marine communities. Global Change Biology, 22(5), 1965-1975. [More Information]
    • Williams, S., Pizarro, O., Steinberg, D., Friedman, A., Bryson, M. (2016). Reflections on a decade of autonomous underwater vehicles operations for marine survey at the Australian Centre for Field Robotics. Annual Reviews in Control, 42, 158-165. [More Information]
    • Dansereau, D., Williams, S., Corke, P. (2016). Simple change detection from mobile light field cameras. Computer Vision and Image Understanding, 145, 160-171. [More Information]
    • Ling, S., Mahon, I., Marzloff, M., Pizarro, O., Johnson, C., Williams, S. (2016). Stereo-imaging AUV detects trends in sea urchin abundance on deep overgrazed reefs. Limnology and Oceanography: Methods, 14(5), 293-304. [More Information]
    • Bryson, M., Johnson-Roberson, M., Pizarro, O., Williams, S. (2016). True color correction of autonomous underwater vehicle imagery. Journal of Field Robotics, 33(6), 853-874. [More Information]

    2015

    • Bewley, M., Friedman, A., Ferrari, R., Hill, N., Hovey, R., Barrett, N., Pizarro, O., Figueira, W., Meyer, L., Babcock, R., Byrne, M., Williams, S., et al (2015). Australian sea-floor survey data, with images and expert annotations. Scientific Data, 2, 1-12. [More Information]
    • Johnson-Roberson, M., Bryson, M., Douillard, B., Pizarro, O., Williams, S. (2015). Discovering salient regions on 3D photo-textured maps: Crowdsourcing interaction data from multitouch smartphones and tablets. Computer Vision and Image Understanding, 131, 28-41. [More Information]
    • Steinberg, D., Pizarro, O., Williams, S. (2015). Hierarchical Bayesian models for unsupervised scene understanding. Computer Vision and Image Understanding, 131, 128-144. [More Information]
    • Bewley, M., Nourani-Vatani, N., Rao, D., Douillard, B., Pizarro, O., Williams, S. (2015). Hierarchical Classification in AUV Imagery. In Luis Mejias, Peter Corke, Jonathan Roberts (Eds.), Field and Service Robotics: Results of the 9th International Conference, (pp. 3-16). Cham: Springer. [More Information]
    • Hsu, K., O'Callaghan, S., Reid, A., Williams, S. (2015). Informative seafloor exploration using the linearised differential entropy of Gaussian process classifiers. 2015 Australasian Conference on Robotics and Automation (ACRA 2015), Canberra, ACT: Australian Robotics and Automation Association (ARAA).
    • Marzinelli, E., Williams, S., Babcock, R., Barrett, N., Johnson, C., Jordan, A., Kendrick, G., Pizarro, O., Smale, D., Steinberg, P. (2015). Large-scale geographic variation in distribution and abundance of Australian deep-water kelp forests. PloS One, 10(2), 1-21. [More Information]
    • Dansereau, D., Pizarro, O., Williams, S. (2015). Linear volumetric focus for light field cameras. ACM Transactions on Graphics, 34(2), 1-20. [More Information]
    • Williams, S., Pizarro, O., Foley, B. (2015). Return to Antikythera: Multi-session SLAM based AUV mapping of a first century B.C. wreck site. Field and Service Robotics (FSR), Toronto: Springer. [More Information]
    • Nourani-Vatani, N., Lopez-Sastre, R., Williams, S. (2015). Structured Output Prediction with Hierarchical Loss Functions for Seafloor Imagery Taxonomic Categorization. In Roberto Paredes, Jaime S. Cardoso, Xose M. Pardo (Eds.), Pattern Recognition and Image Analysis, (pp. 173-183). Cham: Springer. [More Information]

    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: Institute of Electrical and Electronics Engineers (IEEE). [More Information]
    • Rigby, P., Pizarro, O., Williams, S. (2014). Estimation of Clustering Parameters Using Gaussian Process Regression. PloS One, 9(11), 1-13. [More Information]
    • Dansereau, D., Wood, D., Montabone, S., Williams, S. (2014). Exploiting parallax in panoramic capture to construct light fields. Australasian Conference on Robotics and Automation 2014, Melbourne, VIC: University of Melbourne.
    • 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, 137-147. [More Information]
    • Toohey, L., Pizarro, O., Williams, S. (2014). Multi-Vehicle Localisation with Additive Compressed Factor Graphs. 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, Piscataway: Institute of Electrical and Electronics Engineers (IEEE). [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: Institute of Electrical and Electronics Engineers (IEEE). [More Information]
    • Williams, S. (2014). Special issue on robotics: Science and systems 2013. International Journal of Robotics Research, 33(9), 1165-1166. [More Information]
    • Bridge, T., Ferrari, R., Bryson, M., Hovey, R., Figueira, W., Williams, S., Pizarro, O., Harborne, A., Byrne, M. (2014). Variable responses of benthic communities to anomalously warm sea temperatures on a high-latitude coral reef. PloS One, 9(11), 1-20. [More Information]

    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: Institute of Electrical and Electronics Engineers (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: Institute of Electrical and Electronics Engineers (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. Institute of Electrical and Electronics Engineers (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: Institute of Electrical and Electronics Engineers (IEEE). [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: Institute of Electrical and Electronics Engineers (IEEE). [More Information]
    • Dansereau, D., Pizarro, O., Williams, S. (2013). Decoding, Calibration and Rectification for Lenselet-Based Plenoptic Cameras. 26th IEEE Conference on Computer Vision and Pattern Recognition, Piscataway, New Jersey: Institute of Electrical and Electronics Engineers (IEEE). [More Information]
    • Bongiorno, D., Bryson, M., Williams, S. (2013). Dynamic spectral-based underwater colour correction. OCEANS'13 MTS/IEEE Conference. Institute of Electrical and Electronics Engineers (IEEE). [More Information]
    • Ferrari, R., Malcolm, H., Friedman, A., Williams, S., Jordan, A., Figueira, W., Byrne, M. (2013). Effect of structural complexity on fish abundance on deep reefs: a case study in the Solitary Islands Marine Park. 50th Australian Marine Sciences Association Conference, Gold Coast, Australia: Australian Marine Sciences Association Inc.
    • 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. [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]
    • 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: Institute of Electrical and Electronics Engineers (IEEE). [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. [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 2013), Piscataway: Institute of Electrical and Electronics Engineers (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: Institute of Electrical and Electronics Engineers (IEEE). [More Information]
    • 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. [More Information]
    • Medagoda, L., Williams, S. (2012). Model Predictive Control of an Autonomous Underwater Vehicle in an in situ Estimated Water Current Profile. Oceans 2012. Institute of Electrical and Electronics Engineers (IEEE). [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]
    • 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. Institute of Electrical and Electronics Engineers (IEEE). [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: Institute of Electrical and Electronics Engineers (IEEE). [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: Institute of Electrical and Electronics Engineers (IEEE). [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. Institute of Electrical and Electronics Engineers (IEEE).
    • Roman, C., Inglis, G., Vaughn, J., Williams, S., Pizarro, O., Friedman, A., Steinberg, D. (2011). Development of High-Resolution Underwater Mapping Techniques. Oceanography, 24(Suppl 1), 14-17.
    • 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: Institute of Electrical and Electronics Engineers (IEEE). [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: Institute of Electrical and Electronics Engineers (IEEE). [More Information]
    • 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: Institute of Electrical and Electronics Engineers (IEEE). [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]
    • 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: Institute of Electrical and Electronics Engineers (IEEE). [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: Institute of Electrical and Electronics Engineers (IEEE).
    • 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: Institute of Electrical and Electronics Engineers (IEEE). [More Information]

    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: Institute of Electrical and Electronics Engineers (IEEE).
    • 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. [More Information]
    • 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: Institute of Electrical and Electronics Engineers (IEEE).
    • 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. [More Information]
    • Steinberg, D., Pizarro, O., Williams, S., Jakuba, M. (2010). Dirichlet process mixture models for autonomous habitat classification. Oceans '10 IEEE Sydney, USA: Institute of Electrical and Electronics Engineers (IEEE).
    • Stachniss, C., Williams, S., Neira, J. (2010). Editorial: Visual navigation and mapping outdoors. Journal of Field Robotics, 27(5), 509-510. [More Information]
    • 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: Institute of Electrical and Electronics Engineers (IEEE).
    • 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: Institute of Electrical and Electronics Engineers (IEEE).
    • 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), Brisbane, Australia: 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, Anchorage, Alaska: Institute of Electrical and Electronics Engineers (IEEE). [More Information]
    • Friedman, A., Pizarro, O., Williams, S. (2010). Rugosity, slope and aspect from bathymetric stereo image reconstructions. Oceans '10 IEEE Sydney, USA: Institute of Electrical and Electronics Engineers (IEEE).
    • 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: Institute of Electrical and Electronics Engineers (IEEE). [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: Institute of Electrical and Electronics Engineers (IEEE). [More Information]
    • Medagoda, L., Jakuba, M., Pizarro, O., Williams, S. (2010). Water column current profile aided localisation for autonomous underwater vehicles. Oceans '10 IEEE Sydney, USA: Institute of Electrical and Electronics Engineers (IEEE).

    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: Institute of Electrical and Electronics Engineers (IEEE). [More Information]
    • 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), Camridge, MA. USA: 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. [More Information]
    • 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, Kobe, Japan: Institute of Electrical and Electronics Engineers (IEEE). [More Information]
    • Pizarro, O., Williams, S., Colquhoun, J. (2009). Topic-based habitat classification using visual data. Oceans '09 IEEE Bremen, USA: Institute of Electrical and Electronics Engineers (IEEE).
    • 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: Institute of Electrical and Electronics Engineers (IEEE).

    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. [More Information]
    • Velonaki, M., Rye, D., Scheding, S., Williams, S. (2008). Fish-Bird: Cross-disciplinary collaboration. IEEE MultiMedia Magazine, 15(1), 10-12. [More Information]
    • 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. [More Information]
    • 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: Institute of Electrical and Electronics Engineers (IEEE).
    • 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: Institute of Electrical and Electronics Engineers (IEEE).
    • 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: Institute of Electrical and Electronics Engineers (IEEE).
    • 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: Institute of Electrical and Electronics Engineers (IEEE). [More Information]
    • 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). [More Information]
    • 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: Institute of Electrical and Electronics Engineers (IEEE).
    • 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: Institute of Electrical and Electronics Engineers (IEEE).
    • 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: Institute of Electrical and Electronics Engineers (IEEE).
    • 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). [More Information]

    2002

    • Rosenblatt, J., Williams, S., Durrant-Whyte, H. (2002). A behavior-based architecture for autonomous underwater exploration. Information Sciences, 145(1-2), 69-87. [More Information]
    • 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: Institute of Electrical and Electronics Engineers (IEEE).
    • Makarenko, A., Williams, S., Bourgault, F., Durrant-Whyte, H. (2002). An experiment in integrated exploration. IROS 2002, Piscataway NJ, USA: Institute of Electrical and Electronics Engineers (IEEE).
    • 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: Institute of Electrical and Electronics Engineers (IEEE).
    • 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. [More Information]
    • 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: Institute of Electrical and Electronics Engineers (IEEE).

    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, Helsinki: 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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