Publications
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2018. Inertial Odometry With Retroactive Sensor Calibration. 
(3.29 MB)
(3.29 MB).
2018. Optimal-state-constraint EKF for visual-inertial navigation. Robotics Research. :125–139.
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2017. Direction-Aware Semi-Dense SLAM. arXiv preprint arXiv:1709.05774. (2.59 MB)
(2.59 MB).
2017. SLAMinDB: Centralized graph databases for mobile robotics. Robotics and Automation (ICRA), 2017 IEEE International Conference on. (1.14 MB)
(1.14 MB).
2017. Sparse optimization for robust and efficient loop closing. Robotics and Autonomous Systems. 93:13–26. (2.71 MB)
(2.71 MB).
2016. 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)
(1.81 MB).
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)
(1.26 MB)