publications

Singh on Google Scholar

V. Shah, H. Singh. Issues in the Design of Marine Vehicles: A Needs Based Analysis, 2018 IEEE/OES Autonomous Underwater Vehicle Workshop (AUV), 2018.

V. Shah, K. Schild, M. Lindeman, D. Duncan, D. Sutherland, C. Cenedese, F. Straneo, H. Singh. Multi-Sensor Mapping for Low Contrast, Quasi-Dynamic, Large Objects, IEEE Robotics and Automation Letters, Vol. 5 No. 2, pp. 470-476, April 2019.

C. Murphy, J. Walls, T. Schneider, H. Singh, et al. “CAPTURE: A Communications Architecture for Progressive Transmission via Underwater Relays with Eavesdropping,” IEEE Journal of Oceanic Engineering, 39(1), 2014, 1-13.

H. Singh, W. Freeman, et al. Camouflaging an Object from Many Viewpoints, Proceedings of the 2014 Computer Vision and Pattern Recognition Conference, 1-8.

K.E. Smith, H. Singh, H., et al. “Discovery of a Recent, Natural Whale Fall on the Continental Slope Off Anvers Island,” Western Antarctic Peninsula, Deep Sea Research Part I: Oceanographic Research Papers, 90, 2014, 76-80.

G. Williams, J. Wilkinson, T. Maksym, H. Singh, C. Kunz, et al. “Mapping Ice Thickness and Extreme Deformation of Antarctic sea Ice from an Autonomous Underwater Vehicle,” Nature Geoscience, 8, 2014, 61-67.

M. Yi Cheung, J. Leighton, U. Mitra, H. Singh, F.S. “Hover Performance of Bandit Methods in Acoustic Relay Positioning,” Proceedings of the 2014 Automatic Control Conference, 2014, 4708–4714C.

Kunz, H. Singh “Map Building Fusing Acoustic and Visual Information Using Autonomous Underwater Vehicles,” Journal of Field Robotics, 30(5), 2013, 1556-4967.

H. Singh, K. Nakamura, M. Jakobssen, T. Shank, et al. “Effusive and Explosive Volcanism on the Ultraslowspreading Gakkel Ridge,” 85°E, Geochemistry, Geophysics, Geosystems,13(10), 2012.

Underwater Imaging

T. Treibitz, C. Kunz, Y. Schechner, H. Singh, “Flat Refractive Geometry,” IEEE Pattern Analysis and Machine Intelligence Journal. In Press.

R. Eustice, O. Pizarro, H. Singh, Visually Augmented Navigation for Autonomous Underwater Vehicles, IEEE Journal of Oceanic Engineering, Vol. 33 No. 2, pp. 103-122, April 2008.

H. Singh, C. Roman, O. Pizarro, R. Eustice, A. Can, Towards High Resolution Imaging from Underwater Vehicles, International Journal of Robotics Research, Vol. 26 No. 1, pp. 55-74, January 2007.

R. Eustice, H. Singh, J. Leonard, Visually Mapping the RMS Titanic: Conservative Covariance Estimates for SLAM Information Filters, International Journal of Robotics Research, Vol. 25 No. 12, pp. 1223-1242, December 2006.

R. Eustice, H. Singh, J. Leonard, Exactly Sparse Delayed State Filters, in Proceedings of the IEEE International Conference on Robotics and Automation, pp. 2417-2424, Barcelona, Spain, 2005.

O. Pizarro, R. Eustice, H. Singh, Large Area 3D Reconstructions from Underwater Surveys, in Proceedings of the IEEE/MTS OCEANS Conference and Exhibition, pp. 678-687, Kobe, Japan, 2004.

H. Singh, J. Howland, O. Pizarro, Large Area Photomosaicking Underwater, IEEE Journal of Oceanic Engineering, Vol. 29 No. 3, pp. 872-886, 2004.

O. Pizarro, H. Singh, Towards Large Area Mosaicing for Underwater Scientific Applications, IEEE Journal of Oceanic Engineering, Special Issue on Underwater Image and Video Processing, Vol. 28 No. 4, pp. 651-672, 2003.

O. Pizarro, R. Eustice, H. Singh, Relative Pose Estimation for Instrumented, Calibrated Imaging Platforms, in Proceedings of the VIIth Digital Imaging Computing, Technologies and Applications Conference, pp. 601-612, Sydney, December 2003.

H. Singh, R. Eustice, O. Pizarro, “U-WIT: The Underwater Imaging Toolkit for Photomosaicking and Image-based Navigation”, in Proceedings of the UT2002 Underwater Technology Conference, pp. 141-145, April 2002.

AUV Polar Under-Ice Applications

C. Kunz, C. Murphy, H. Singh, C. Willis, R. Sohn, S. Singh, T. Sato, C. Roman, K. Nakamura, M. Jakuba, R. Eustice, R. Camilli, J. Bailey, Toward Extraplanetary Under-Ice Exploration: Robotic Steps in the Arctic, Journal of Field Robotics, Vol. 26 No. 4, pp. 411-429, April 2009.

M. Jakuba, C. Roman, H. Singh, C. Murphy, C. Kunz, C. Willis, T. Sato, Long-Baseline Acoustic Navigation for Under-Ice AUV Operations, Journal of Field Robotics, Vol. 25 No. 11-12, pp 861-879, November-December 2008.

Underwater Robotics

R. Eustice, H. Singh, L. Whitcomb, Synchronous-Clock One-Way-Travel-Time Acoustic Navigation for Underwater Vehicles, Journal of Field Robotics, Special Issue on State of the Art in Maritime Autonomous Surface and Underwater Vehicles, Vol. 28 No. 1, pp. 121-136, 2011.

H. Singh, A. Can, R. Eustice, S. Lerner, N. McPhee, O. Pizarro, C. Roman, “Seabed AUV Offers New Platform for High-Resolution Imaging,” EOS, Transactions of the AGU, Vol. 85 No. 31, pp. 289, 294-295, August 2004.

H. Singh, R. Armstrong, F. Gilbes, R. Eustice, C. Roman, O. Pizarro, J. Torres, Imaging Coral I: Imaging Coral Habitats with The SeaBED AUV, Subsurface Sensing Technologies and Applications, Vol. 5 No. 1, pp. 25-42, 2004.

H. Singh, J. G. Bellingham, F. Hover, S. Lerner, B. A. Moran, K. von der Heydt, D. Yoerger, Docking for an Autonomous Ocean Sampling Network, IEEE Journal of Oceanic Engineering, Vol. 26 No. 4, pp. 498-514, 2001.

A. Bradley, M. D. Feezor, H. Singh, F. Y. Sorrell, Power Systems for AUVs, IEEE Journal of Oceanic Engineering, Vol. 26 No. 4, pp. 526-538, 2001.

L. Whitcomb, D. Yoerger, H. Singh, J. Howland, Advances in Underwater Robot Vehicles for Deep Ocean Exploration: Navigation, Control, and Survey Operations, Robotics Research – The Ninth International Symposium, pp. 439-448, Springer-Verlag Publications, London, 2000.

L. Whitcomb, D. Yoerger, H. Singh, “Combined Doppler/LBL Based Navigation of Underwater Vehicles,” in Proceedings of the 11th International Symposium on Unmanned Untethered Submersible Technology, Durham, New Hampshire, August 1999.

L. Whitcomb, D. Yoerger, H. Singh, Advances in Doppler-based Navigation of Underwater Robotic Vehicles, in Proceedings of the IEEE International Conference on Robotics and Automation, Vol. 1, pp. 399-406, May 1999.

L. Whitcomb, D. Yoerger, H. Singh, D. Mindell, Towards Precision Robotic Maneuvering, Survey, and Manipulation in Unstructured Undersea Environments, Robotics Research – The Eighth International Symposium, Ch. 2, pp. 45-54, Springer-Verlag Publications, London, 1998.

D. Yoerger, A. Bradley, H. Singh, R. Bachmayer, “Surveying a Subsea Lava Flow Using the Autonomous Benthic Explorer (ABE),” International Journal of Systems Science, Vol. 29 No.10, pp. 1031-1044, 1998. Also published as D. Yoerger, A. Bradley, B. Walden, H. Singh, R. Bachmayer, “Surveying a Subsea Lava Flow Using the Autonomous Benthic Explorer (ABE),” Journal of the Japan Society for Marine Surveys and Technology, Vol. 9 No. 1, pp. 43-60, March 1997 (in Japanese).

H. Singh, D. Yoerger, A. Bradley, “Issues in AUV Design and Deployment for Oceanographic Research,” in Proceedings of the 1997 IEEE International Conference on Robotics and Automation, Vol. 3, pp. 1857-1862, April 1997. (Invited Paper)

H. Singh, J. Catipovic, R. Eastwood, L. Freitag, H. Henrikson, F. Hover, D. Yoerger, J. G. Bellingham, B. A. Moran, “An Integrated Approach to Multiple AUV Communications, Navigation and Docking,” in Proceedings of the Oceans ’96 Conference, pp. 59-64, Fort Lauderdale, Florida, September 1996.

Microbathymetric Measurements and Acoustics

C. Roman, H. Singh, “Self Consistent Bathymetric Mapping from Robotic Vehicles in the Deep Ocean,” Journal of Field Robotics, Vol. 24 No. 1, pp. 23-50, February 2007.

R. Cleveland, A. Cohen, R. Roy, H. Singh, T. Szabo, “Imaging Coral II: Advances in Imaging of Coral Skeletons using Ultrasound,” Subsurface Sensing Technology and Applications, Vol. 5 No. 1, pp. 43-61, 2004.

H. Singh, L. Whitcomb, D. Yoerger, O. Pizarro, Microbathymetric Mapping from Underwater Vehicles in the Deep Ocean, Journal of Computer Vision and Image Understanding, Vol. 79 No. 1, pp. 143-161, 2000.

J. Goff, W. K. Stewart, H. Singh, X. Tang, “Quantitative Analysis of Sea Ice Draft. 2. Application of Stochastic Modeling to Intersecting Topographic Profiles,” Journal of Geophysical Research, Vol. 100 No. C4, pp. 7705-7018, April 1995.

W. K. Stewart, D. Chu, S. Malik, S. Lerner, H. Singh, Quantitative Seafloor Characterization Using a Bathymetric Sidescan Sonar, IEEE Journal of Oceanic Engineering, Vol. 19 No. 4, pp. 599-610, October 1994.

Deep Water Archeology

B. P. Foley, K. DellaPorta, D. Sakellariou, B. Bingham, R. Camilli, R. Eustice, D. Evagelistis, V. Ferrini, K. Katsaros, D. Kourkoumelis, A. Mallios, P. Micha, D. Mindell, C. Roman, H. Singh, D. Switzer, R. Theodoulou, The 2005 Chios Ancient Shipwreck Survey: New Methods for Underwater Archaeology, Hesperia, Vol. 78, pp. 269-305, 2009.

D. Mindell, H. Singh, D. Yoerger, L. Whitcomb, J. Howland, “Precision mapping and imaging of underwater sites at Skerki Bank using robotic vehicles,” in A.M. McCann and J.P. Oleson, eds., Deep-water Shipwrecks off Skerki Bank: the 1997 Survey, Journal of Roman Archaeology, Suppl. Series, No. 58, pp. 25-30, 2004.

R. Ballard, L. Stager, D. Master, D. Yoerger, D. Mindell, L. Whitcomb, H. Singh, D. Piechota, Iron Age Shipwrecks in Deep Water off Ashkelon, Israel, American Journal of Archaeology, Vol. 106 No. 2, pp.151-168, 2002.

S. Webster, O. Pizarro, H. Singh, “Photomosaicking in Underwater Archaeology,” INA Quarterly, Vol. 28 No. 3, pp. 22-26, 2001.

R. Ballard, A. McCann, D. Yoerger, L. Whitcomb, D. Mindell, J. Oleson, H. Singh, B. Foley, J. Adams, D. Piechota, The Discovery of Ancient History in the Deep Sea Using Advanced Deep Submergence Technology, Deep-Sea Research Part I, Vol. 47, pp. 1591-1620, 2000.

H. Singh, J. Adams, B. P. Foley, D. Mindell, “Imaging for Underwater Archaeology,” American Journal of Field Archaeology, Vol. 27 No. 3, pp. 319-328, Fall 2000.

Fisheries and Coral Reef Ecology

M. E. Clarke, N. Tolimieri, H. Singh, “Using the Seabed AUV to Assess Populations of Groundfish in Untrawlable Areas,” The Future of Fisheries Science in North America, 357, R.J. Beamish and B.J. Rothschild (eds.), Fish & Fisheries Series, © Springer Science + Business Media B.V., 2009.

N. Tolimieri, M. E. Clarke, H. Singh, C. Goldfinger, “Development of the SeaBED AUV to monitor populations of westcoast groundfish in untrawlable habitat: an example with rosethorn rockfish, Sebastes helvomaculatus,” Marine Habitat Mapping Technology for Alaska, pp. 107-117, March 2008.

M. Ludvigsen, B. Sortland, G. Johnsen, H. Singh, “Applications of Geo-Referenced Underwater Photo Mosaics in Marine Biology and Archaeology,” Oceanography, Vol. 20 No. 4, pp. 74-83, January 2007.

R. Armstrong, H. Singh, J. Torres, R. Nemeth, L. Riggs, G. Garcia-Moliner, A. Can, R. Eustice, C. Roman, Characterizing the deep insular shelf coral reef habitat of the Hind Bank marine conservation district (US Virgin Islands) using the Seabed autonomous underwater vehicle, Continental Shelf Research, Vol. 26, pp. 194-205, 2006.

Marine Geology and Geophysics

R. Sohn, C. Willis, S. Humphris, T. Shank, H. Singh, H. Edmonds, C. Kunz, U. Hedman, E. Helmke, M. Jakuba, B. Liljebladh, J. Linder, C. Murphy, K. Nakamura, T. Sato, V. Schlindwein, C. Stranne, M. Tausenfreund, L. Upchurch, P. Winsor, M. Jakobsson, A. Soule, “Explosive volcanism on the ultraslow-spreading Gakkel Ridge, Arctic Ocean,” Nature, Vol. 453 No. 26, pp. 1236-1238, June 2008.

K. R. Newman, M. Cormier, J. K. Weissel, N. W. Driscoll, M. Kastner, E. A. Solomon, G. Robinson, J. C. Hill, H. Singh, R. Camilli, R. Eustice, “Active methane venting observed at giant seafloor pockmarks along the U.S. mid-Atlantic shelf break,” Earth and Planetary Science Letters, Vol. 267, pp. 341–352, March 2008.