3D beamforming is used in a wide variety of applications, including acoustic source localization, echosounder mapping, and wireless point-to-point steered communications. We've developed a novel 3D beamforming method that is both computationally and memory efficient, which is especially useful...
Notes
Mon, 06/17/2019
I successfully defended my Ph.D thesis, entitled "Underwater & Out of Sight: Towards Ubiquity in Underwater Robotics", on June 14th 2019!!! (Slides)
Tue, 04/02/2019
I've written up a straightforward derivation of the matched filter here:
http://nrr.mit.edu/sites/default/files/documents/Matched_Filter.pdf
Wed, 12/12/2018
We were nominated for, and awarded the IROS ICROS Best Application Paper Award for our paper, "Closed-Loop Single-Beacon Passive Acoustic Navigation for Low-Cost Autonomous...
Tue, 09/12/2017
I gave a lecture about AUV navigation and localization for the MIT Unmanned Marine Vehicle Autonomy, Sensing and Communications (2.680) class. Here are the slides: Localization Presentation
Sun, 02/26/2017
A quick note about using the vtkOrientationMarkerWidget with PyQT. People have reported crashes while trying to use the widget:
Sat, 03/19/2016
I highly recommend a great introduction to Kalman filtering, Extended Kalman filtering and more at: https://github.com/rlabbe/Kalman-and-Bayesian-Filters-in-Python
Wed, 03/16/2016
Part 1: Introduction
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