Papers
2
Total Citations
20
H-Index
2
About
Dr. Jane Lehr is a pioneer in the intersection of marine robotics and underwater archaeology, specializing in the mapping and reconstruction of ancient, enclosed water systems. Her major contributions lie in developing novel, sensor-limited SLAM (Simultaneous Localization and Mapping) techniques that allow small, low-cost Remotely Operated Vehicles (ROVs) to create detailed maps where traditional navigation fails. Her most cited works, including "Surface Reconstruction of Maltese Cisterns Using ROV Sonar Data for Archeological Study" and "Mapping and visualizing ancient water storage systems with an ROV," each with 10 citations, are foundational in this niche field. Notably, her 2012 paper introduces a groundbreaking method for constructing 2D maps of confined underwater structures using only a 2D scanning sonar, compass, and depth sensor—critically, without any motion model or odometry. By applying a two-step offline SLAM approach, Lehr solved the challenge of navigating and mapping featureless, dark cisterns, providing archaeologists with unprecedented, high-fidelity visualizations of historical water systems. Her work demonstrates how clever algorithmic design can overcome severe hardware limitations, opening new doors for non-invasive exploration of submerged cultural heritage.
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Top Papers
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