Description: Author Posting. © The Author(s), 2015. This is the author's version of the work. It is posted here by permission of Springer for personal use, not for redistribution. The definitive version was published in Autonomous Robots 40 (2016): 1207–1227, doi:10.1007/s10514-016-9547-3.

Description: Survey-class Autonomous Underwater Vehi- cles (AUVs) typically rely on Doppler Velocity Logs (DVL) for precision localization near the seafloor. In cases where the seafloor depth is greater than the DVL bottom-lock range, localizing between the surface and the seafloor presents a localization problem since both GPS and DVL observations are unavailable in the mid- water column. This work proposes a solution to this problem that exploits the fact that current profile layers of the water column are near constant over short time scales (in the scale of minutes). Using observations of these currents obtained with the Acoustic Doppler Cur- rent Profiler (ADCP) mode of the DVL during descent, along with data from other sensors, the method dis- cussed herein constrains position error. The method is validated using field data from the Sirius AUV coupled with view-based Simultaneous Localization and Map- ping (SLAM) and on descents up to 3km deep with the Sentry AUV.

Description: This work is supported in part by NCRIS IMOS, the Australian Research Council (ARC), the New South Wales Government and the Woods Hole Oceanographic Institution.

Description: 2017-02-11

Description: © The Author(s), 2018]. This article is distributed under the terms of the Creative Commons Attribution License. The definitive version was published in Global Ecology and Biogeography 27 (2018): 760-786, doi:10.1111/geb.12729.

Description: The BioTIME database contains raw data on species identities and abundances in ecological assemblages through time. These data enable users to calculate temporal trends in biodiversity within and amongst assemblages using a broad range of metrics. BioTIME is being developed as a community‐led open‐source database of biodiversity time series. Our goal is to accelerate and facilitate quantitative analysis of temporal patterns of biodiversity in the Anthropocene. The database contains 8,777,413 species abundance records, from assemblages consistently sampled for a minimum of 2 years, which need not necessarily be consecutive. In addition, the database contains metadata relating to sampling methodology and contextual information about each record. BioTIME is a global database of 547,161 unique sampling locations spanning the marine, freshwater and terrestrial realms. Grain size varies across datasets from 0.0000000158 km2 (158 cm2) to 100 km2 (1,000,000,000,000 cm2). BioTIME records span from 1874 to 2016. The minimal temporal grain across all datasets in BioTIME is a year. BioTIME includes data from 44,440 species across the plant and animal kingdoms, ranging from plants, plankton and terrestrial invertebrates to small and large vertebrates.

Description: European Research Council and EU, Grant/Award Number: AdG‐250189, PoC‐727440 and ERC‐SyG‐2013‐610028; Natural Environmental Research Council, Grant/Award Number: NE/L002531/1; National Science Foundation, Grant/Award Number: DEB‐1237733, DEB‐1456729, 9714103, 0632263, 0856516, 1432277, DEB‐9705814, BSR‐8811902, DEB 9411973, DEB 0080538, DEB 0218039, DEB 0620910, DEB 0963447, DEB‐1546686, DEB‐129764, OCE 95‐21184, OCE‐ 0099226, OCE 03‐52343, OCE‐0623874, OCE‐1031061, OCE‐1336206 and DEB‐1354563; National Science Foundation (LTER) , Grant/Award Number: DEB‐1235828, DEB‐1440297, DBI‐0620409, DEB‐9910514, DEB‐1237517, OCE‐0417412, OCE‐1026851, OCE‐1236905, OCE‐1637396, DEB 1440409, DEB‐0832652, DEB‐0936498, DEB‐0620652, DEB‐1234162 and DEB‐0823293; Fundação para a Ciência e Tecnologia, Grant/Award Number: POPH/FSE SFRH/BD/90469/2012, SFRH/BD/84030/2012, PTDC/BIA‐BIC/111184/2009; SFRH/BD/80488/2011 and PD/BD/52597/2014; Ciência sem Fronteiras/CAPES, Grant/Award Number: 1091/13‐1; Instituto Milenio de Oceanografía, Grant/Award Number: IC120019; ARC Centre of Excellence, Grant/Award Number: CE0561432; NSERC Canada; CONICYT/FONDECYT, Grant/Award Number: 1160026, ICM PO5‐002, CONICYT/FONDECYT, 11110351, 1151094, 1070808 and 1130511; RSF, Grant/Award Number: 14‐50‐00029; Gordon and Betty Moore Foundation, Grant/Award Number: GBMF4563; Catalan Government; Marie Curie Individual Fellowship, Grant/Award Number: QLK5‐CT2002‐51518 and MERG‐CT‐2004‐022065; CNPq, Grant/Award Number: 306170/2015‐9, 475434/2010‐2, 403809/2012‐6 and 561897/2010; FAPESP (São Paulo Research Foundation), Grant/Award Number: 2015/10714‐6, 2015/06743‐0, 2008/10049‐9, 2013/50714‐0 and 1999/09635‐0 e 2013/50718‐5; EU CLIMOOR, Grant/Award Number: ENV4‐CT97‐0694; VULCAN, Grant/Award Number: EVK2‐CT‐2000‐00094; Spanish, Grant/Award Number: REN2000‐0278/CCI, REN2001‐003/GLO and CGL2016‐79835‐P; Catalan, Grant/Award Number: AGAUR SGR‐2014‐453 and SGR‐2017‐1005; DFG, Grant/Award Number: 120/10‐2; Polar Continental Shelf Program; CENPES – PETROBRAS; FAPERJ, Grant/Award Number: E‐26/110.114/2013; German Academic Exchange Service; sDiv; iDiv; New Zealand Department of Conservation; Wellcome Trust, Grant/Award Number: 105621/Z/14/Z; Smithsonian Atherton Seidell Fund; Botanic Gardens and Parks Authority; Research Council of Norway; Conselleria de Innovació, Hisenda i Economia; Yukon Government Herschel Island‐Qikiqtaruk Territorial Park; UK Natural Environment Research Council ShrubTundra Grant, Grant/Award Number: NE/M016323/1; IPY; Memorial University; ArcticNet. DOI: 10.13039/50110000027. Netherlands Organization for Scientific Research in the Tropics NWO, grant W84‐194. Ciências sem Fronteiras and Coordenação de Pessoal de Nível Superior (CAPES, Brazil), Grant/Award Number: 1091/13‐1. National Science foundation (LTER), Award Number: OCE‐9982105, OCE‐0620276, OCE‐1232779. FCT ‐ SFRH / BPD / 82259 / 2011. U.S. Fish and Wildlife Service/State Wildlife federal grant number T‐15. Australian Research Council Centre of Excellence for Coral Reef Studies (CE140100020). Australian Research Council Future Fellowship FT110100609. M.B., A.J., K.P., J.S. received financial support from internal funds of University of Lódź. NSF DEB 1353139. Catalan Government fellowships (DURSI): 1998FI‐00596, 2001BEAI200208, MECD Post‐doctoral fellowship EX2002‐0022. National Science Foundation Award OPP‐1440435. FONDECYT 1141037 and FONDAP 15150003 (IDEAL). CNPq Grant 306595‐2014‐1

Description: Robust, scalable simultaneous localization and mapping (SLAM) algorithms support the successful deployment of robots in real-world applications. In many cases these platforms deliver vast amounts of sensor data from large-scale, unstructured environments. These data may be difficult to interpret by end users without further processing and suitable visualization tools. We present a robust, automated system for large-scale three-dimensional (3D) reconstruction and visualization that takes stereo imagery from an autonomous underwater vehicle (AUV) and SLAM-based vehicle poses to deliver detailed 3D models of the seafloor in the form of textured polygonal meshes. Our system must cope with thousands of images, lighting conditions that create visual seams when texturing, and possible inconsistencies between stereo meshes arising from errors in calibration, triangulation, and navigation. Our approach breaks down the problem into manageable stages by first estimating local structure and then combining these estimates to recover a composite georeferenced structure using SLAM-based vehicle pose estimates. A texture-mapped surface at multiple scales is then generated that is interactively presented to the user through a visualization engine. We adapt established solutions when possible, with an emphasis on quickly delivering approximate yet visually consistent reconstructions on standard computing hardware. This allows scientists on a research cruise to use our system to design follow-up deployments of the AUV and complementary instruments. To date, this system has been tested on several research cruises in Australian waters and has been used to reliably generate and visualize reconstructions for more than 60 dives covering diverse habitats and representing hundreds of linear kilometers of survey.