An efficient approach to bathymetric SLAM. - Stephen Barkby; Stefan B. Williams; Oscar Pizarro; Michael V. Jakuba (IROS, 2009)

Bathymetric SLAM with no map overlap using Gaussian processes. - Stephen Barkby; Stefan B. Williams; Oscar Pizarro; Michael V. Jakuba (IROS, 2011)

A featureless approach to efficient bathymetric SLAM using distributed particle mapping. - Stephen Barkby; Stefan B. Williams; Oscar Pizarro; Michael V. Jakuba (J. Field Robotics, 2011)

Bathymetric particle filter SLAM using trajectory maps. - Stephen Barkby; Stefan B. Williams; Oscar Pizarro; Michael V. Jakuba (Int. J. Robotics Res., 2012)