Robot Mapping and Localisation for Feature Sparse Water Pipes Using Voids as Landmarks. - Ke Ma 011; Juanjuan Zhu; Tony J. Dodd; Richard Collins; Sean R. Anderson (TAROS, 2015)

PipeSLAM: Simultaneous localisation and mapping in feature sparse water pipes using the Rao-Blackwellised particle filter. - Ke Ma 011; Michele M. Schirru; Ali Hassan Zahraee; Rob Dwyer-Joyce; Joby B. Boxall; Tony J. Dodd; Richard Collins; Sean R. Anderson (AIM, 2017)

Robot mapping and localisation in metal water pipes using hydrophone induced vibration and map alignment by dynamic time warping. - Ke Ma 011; Michele M. Schirru; Ali Hassan Zahraee; Rob Dwyer-Joyce; Joby B. Boxall; Tony J. Dodd; Richard Collins; Sean R. Anderson (ICRA, 2017)

Robot Localization in Water Pipes Using Acoustic Signals and Pose Graph Optimization. - Rob Worley; Ke Ma 011; Gavin Sailor; Michele M. Schirru; Rob Dwyer-Joyce; Joby B. Boxall; Tony J. Dodd; Richard Collins; Sean R. Anderson (Sensors, 2020)