Publications
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2018.
Optimal-state-constraint EKF for visual-inertial navigation. Robotics Research. :125–139.
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2018. Direction-Aware Semi-Dense SLAM. arXiv preprint arXiv:1709.05774.
(2.59 MB)
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2017. 
SLAMinDB: Centralized graph databases for mobile robotics. Robotics and Automation (ICRA), 2017 IEEE International Conference on.
(1.14 MB)
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2017. 
Sparse optimization for robust and efficient loop closing. Robotics and Autonomous Systems. 93:13–26.
(2.71 MB)
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2017. 
Duckietown: an innovative way to teach autonomy. International Conference EduRobotics 2016.
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2016. Information-based active SLAM via topological feature graphs. Decision and Control (CDC), 2016 IEEE 55th Conference on.
(1.81 MB)
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2016. 
A nonparametric belief solution to the Bayes tree. Intelligent Robots and Systems (IROS), 2016 IEEE/RSJ International Conference on.
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2016. Slam with objects using a nonparametric pose graph. Intelligent Robots and Systems (IROS), 2016 IEEE/RSJ International Conference on.
(1.26 MB)
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2016. 