Publications
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2016. High-Performance and Tunable Stereo Reconstruction. ICRA. 
(3.22 MB)
(3.22 MB).
2016. Towards Improved Robustness of Acoustic Cooperative Localization. Mechanical Engineering. Master's Degree (11.28 MB)
(11.28 MB).
2016. A Unified Resource-Constrained Framework for Graph SLAM. ICRA. (3.45 MB)
(3.45 MB).
2015. Appearance-based SLAM in a Network Space. International Conference on Robotics and Automation (ICRA). (851.71 KB)
(851.71 KB).
2015. Bridging Text Spotting and SLAM with Junction Features. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). (1.72 MB)
(1.72 MB).
2015. Communication-Constrained Multi-AUV Cooperative SLAM. International Conference on Robotics and Automation (ICRA). (1.68 MB)
(1.68 MB).
2015. Consistent Unscented Incremental Smoothing for Multi-robot Cooperative Target Tracking. Robotics and Autonomous Systems. 69
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2015. A Convex Relaxation for Approximate Global Optimization in Simultaneous Localization and Mapping. International Conference on Robotics and Automation (ICRA). (2.76 MB)
(2.76 MB).
2015. Location Utility-based Map Reduction. International Conference on Robotics and Automation (ICRA). (1.69 MB)
(1.69 MB).
2015. An Overview of MIT-Olin’s Approach in the AUVSI RobotX Competition. Field and Service Robotics. (4.75 MB)
(4.75 MB).
2015. Real-time large scale dense RGB-D SLAM with volumetric fusion. International Journal of Robotics Research. 34(4-5)
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2015. Toward Object-based Place Recognition in Dense RGB-D Maps. ICRA workshop on visual place recognition in changing environments. (4.56 MB)
(4.56 MB).
2015. Two-Stage Focused Inference for Resource-Constrained Collision-Free Navigation. Robotics Science and Systems. (1.95 MB)
(1.95 MB).
2014. Decentralized Cooperative Trajectory Estimation for Autonomous Underwater Vehicles. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). (1.68 MB)
(1.68 MB).
2014. Efficient Incremental Map Segmentation in Dense RGB-D Maps. International Conference on Robotics and Automation (ICRA). (2.93 MB)
(2.93 MB).
2014. Experimental Evaluation of On-board, Visual Mapping of an Object Spinning in Micro-Gravity aboard the International Space Station. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).
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2014. Inference Over Heterogeneous Finite-/Infinite-Dimensional Systems Using Factor Graphs and Gaussian Processes. Proc of IEEE International Conference on Robotics and Automation (ICRA). (475.62 KB)
(475.62 KB).
2014. A Mixture of Manhattan Frames: Beyond the Manhattan World. Computer Vision and Pattern Recognition (CVPR), 2014 IEEE Conference on. (8.32 MB)
(8.32 MB).
2014. An Online Sparsity-Cognizant Loop-Closure Algorithm for Visual Navigation. Robots: Science and Systems.
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2014. Optimized Visibility Motion Planning for Target Tracking and Localization. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).
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2014. Physical Words for Place Recognition in Dense RGB-D Maps. ICRA workshop on visual place recognition in changing environments. (10.33 MB)
(10.33 MB).
2014. RISE: An Incremental Trust-Region Method for Robust Online Sparse Least-Squares Estimation. IEEE Transactions on Robotics. 30(5) (2.11 MB)
(2.11 MB).
2014. Towards Consistent Visual-Inertial Navigation. International Conference on Robotics and Automation (ICRA). (825.86 KB)
(825.86 KB).
2013. Analytically-Selected Multi- Hypothesis Incremental MAP Estimation. International Conference on Acoustics, Speech, and Signal Processing. (100.31 KB)
(100.31 KB)