Publications
Consistent Unscented Incremental Smoothing for Multi-robot Cooperative Target Tracking. Robotics and Autonomous Systems. 69
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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. Efficient Incremental Map Segmentation in Dense RGB-D Maps. International Conference on Robotics and Automation (ICRA).
(2.93 MB)
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2014. 
RISE: An Incremental Trust-Region Method for Robust Online Sparse Least-Squares Estimation. IEEE Transactions on Robotics. 30(5)
(2.11 MB)
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2014. 
Towards Consistent Visual-Inertial Navigation. International Conference on Robotics and Automation (ICRA).
(825.86 KB)
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2014. 
Analytically-Selected Multi- Hypothesis Incremental MAP Estimation. International Conference on Acoustics, Speech, and Signal Processing.
(100.31 KB)
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2013. 
Consistent Sparsification for Graph Optimization. Proc of European Conference on Mobile Robots (ECMR).
(931.4 KB)
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2013. 
The MIT Stata Center Dataset. 32:1695-1699.
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2013. Real-time 6-DOF Multi-session Visual SLAM over Large Scale Environments. Robotics and Autonomous Systems. 61:1144-1158.
(3.36 MB)
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2013. 
Robust Real-Time Visual Odometry for Dense RGB-D Mapping. Intl. Conf. on Robotics and Automation (ICRA).
(4.56 MB)
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2013. 
Simultaneous Localization and Mapping in Marine Environments. Marine Robot Autonomy.
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2013. Temporally Scalable Visual SLAM using a Reduced Pose Graph. Intl. Conf. on Robotics and Automation (ICRA).
(1.46 MB)
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2013. 
Toward Lifelong Object Segmentation from Change Detection in Dense RGB-D Maps. European Conference on Mobile Robotics.
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2013. Unscented iSAM: A Consistent Incremental Solution to Cooperative Localization and Target Tracking. Proc of European Conference on Mobile Robots (ECMR).
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2013. Advanced Perception, Navigation and Planning for Autonomous In-Water Ship Hull Inspection. 31:1445-1464.
(9.74 MB)
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2012. 
Concurrent Filtering and Smoothing.
(474.18 KB)
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2012. .
2012. 
An Incremental Trust-Region Method for Robust Online Sparse Least-Squares Estimation. icra. :1262-1269.
(670.94 KB)
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2012. 
iSAM2: Incremental Smoothing and Mapping Using the Bayes Tree. The International Journal of Robotics Research. 31:217-236.
(1.62 MB)
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2012. 
Kintinuous: Spatially Extended KinectFusion. RSS Workshop on {RGB-D}: Advanced Reasoning with Depth Cameras.
(831.79 KB)
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2012. .
2012. 
Temporally Scalable Visual SLAM using a Reduced Pose Graph. RSS Workshop on Long-term Operation of Autonomous Robotic Systems in Changing Environments.
(1.51 MB)
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2012. 
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