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Richmond, K., and S. M. Rock, "Real-Time Visual Mosaicking and Navigation of the USS Macon", Proceedings of the Unmanned Untethered Submersible Technology Conference (UUST), Durham, NH, AUSI, Aug, 2007.
Richmond, K., D. Black-Schaffer, and S. M. Rock, "Automatic Determination of Vision Lock on the Seafloor in the Presence of Dust", Proceedings of the Unmanned Untethered Submersible Technology Conference (UUST), Durham, NH, AUSI, August, 2003.
Richmond, K., Real-Time Visual Mosaicking and Navigation on the Seafloor, , Stanford, CA 94305, Stanford University, March, 2009.
Richmond, K., and S. M. Rock, "A Real-Time Visual Mosaicking and Navigation System", Proceedings of the Unmanned Untethered Submersible Technology Conference (UUST), Durham, NH, AUSI, August, 2005.
Richmond, K., and S. M. Rock, "An Operational Real-Time Large-Scale Visual Mosaicking and Navigation System", Proceedings of the MTS/IEEE OCEANS Conference, Boston, MA, IEEE, September, 2006.
Richmond, K., and S. M. Rock, "An Operational Real-Time, Large-Scale Visual Mosaicking And Navigation System", Sea Technology, vol. 48, no. 3, pp. 10–13, Mar, 2007.