Publications

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2015
Huang G, Kaess M, Leonard JJ.  2015.  Consistent Unscented Incremental Smoothing for Multi-robot Cooperative Target Tracking. Robotics and Autonomous Systems. 69
Whelan T, Kaess M, Johnnsson H, Fallon MF, Leonard JJ, McDonald J.  2015.  Real-time large scale dense RGB-D SLAM with volumetric fusion. International Journal of Robotics Research. 34(4-5)
2014
Finman R, Whelan T, Kaess M, Leonard JJ.  2014.  Efficient Incremental Map Segmentation in Dense RGB-D Maps. International Conference on Robotics and Automation (ICRA).  (2.93 MB)
Rosen DM, Kaess M, Leonard JJ.  2014.  RISE: An Incremental Trust-Region Method for Robust Online Sparse Least-Squares Estimation. IEEE Transactions on Robotics. 30(5) (2.11 MB)
Huang G, Kaess M, Leonard JJ.  2014.  Towards Consistent Visual-Inertial Navigation. International Conference on Robotics and Automation (ICRA).  (825.86 KB)
2013
Huang G, Kaess M, Leonard JJ, Roumeliotis S.  2013.  Analytically-Selected Multi- Hypothesis Incremental MAP Estimation. International Conference on Acoustics, Speech, and Signal Processing.  (100.31 KB)
Huang G, Kaess M, Leonard JJ.  2013.  Consistent Sparsification for Graph Optimization. Proc of European Conference on Mobile Robots (ECMR).  (931.4 KB)
Whelan T, Kaess M, Leonard JJ, McDonald JB.  2013.  Deformation-based Loop Closure for Large Scale Dense RGB-D SLAM. iros.
VanMiddlesworth M, Kaess M, Hover FS, Leonard JJ.  2013.  Mapping 3D Underwater Environments with Smoothed Submaps.
Fallon MF, Johnnsson H, Kaess M, Leonard JJ.  2013.  The MIT Stata Center Dataset. 32:1695-1699.
McDonald J, Kaess M, Cadena C, Neira J, Leonard JJ.  2013.  Real-time 6-DOF Multi-session Visual SLAM over Large Scale Environments. Robotics and Autonomous Systems. 61:1144-1158. (3.36 MB)
Whelan T, Johnnsson H, Kaess M, Leonard JJ, McDonald JB.  2013.  Robust Real-Time Visual Odometry for Dense RGB-D Mapping. Intl. Conf. on Robotics and Automation (ICRA).  (4.56 MB)
Fallon MF, Johnnsson H, Kaess M, Folkesson J, McClelland H, Englot BJ, Hover FS, Leonard JJ.  2013.  Simultaneous Localization and Mapping in Marine Environments. Marine Robot Autonomy.
Johnnsson H, Kaess M, Fallon MF, Leonard JJ.  2013.  Temporally Scalable Visual SLAM using a Reduced Pose Graph. Intl. Conf. on Robotics and Automation (ICRA).  (1.46 MB)
Finman R, Whelan T, Kaess M, Leonard JJ.  2013.  Toward Lifelong Object Segmentation from Change Detection in Dense RGB-D Maps. European Conference on Mobile Robotics.
Huang G, Truax R, Kaess M, Leonard JJ.  2013.  Unscented iSAM: A Consistent Incremental Solution to Cooperative Localization and Target Tracking. Proc of European Conference on Mobile Robots (ECMR).
2012
Hover FS, Eustice RM, Kim A, Englot BJ, Johnnsson H, Kaess M, Leonard JJ.  2012.  Advanced Perception, Navigation and Planning for Autonomous In-Water Ship Hull Inspection. 31:1445-1464. (9.74 MB)
Kaess M, Williams S, Indelman V, Roberts R, Leonard JJ, Dellaert F.  2012.  Concurrent Filtering and Smoothing.  (474.18 KB)
Walcott-Bryant A, Kaess M, Johnnsson H, Leonard JJ.  2012.  Dynamic Pose Graph SLAM: Long-term Mapping in Low Dynamic Environments. iros.  (2.2 MB)
Rosen DM, Kaess M, Leonard JJ.  2012.  An Incremental Trust-Region Method for Robust Online Sparse Least-Squares Estimation. icra. :1262-1269. (670.94 KB)
Kaess M, Johnnsson H, Roberts R, Ila V, Leonard JJ, Dellaert F.  2012.  iSAM2: Incremental Smoothing and Mapping Using the Bayes Tree. The International Journal of Robotics Research. 31:217-236. (1.62 MB)
Whelan T, Kaess M, Fallon MF, Johnnsson H, Leonard JJ, McDonald JB.  2012.  Kintinuous: Spatially Extended KinectFusion. RSS Workshop on {RGB-D}: Advanced Reasoning with Depth Cameras.  (831.79 KB)
Whelan T, Johnnsson H, Kaess M, Leonard JJ, McDonald JB.  2012.  Robust Tracking for Real-Time Dense RGB-D Mapping with Kintinuous.
Johnnsson H, Kaess M, Fallon MF, Leonard JJ.  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)
2011
McDonald J, Kaess M, Cadena C, Neira J, Leonard JJ.  2011.  6-DOF Multi-session Visual SLAM using Anchor Nodes.  (2.23 MB)

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