Publications

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Bennett AB, Leonard JJ.  1999.  Feature-relative navigation of an autonomous underwater vehicle. Proc Int Symp on Unmanned Untethered Submersible Technology.
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Folkesson J, Leedekerken J, Williams R, Leonard JJ.  2007.  Feature Tracking for Underwater Navigation using Sonar.  (4.33 MB)
Folkesson J, Leederkerken J, Williams R, Patrikalakis A, Leonard JJ.  2008.  A feature based navigation system for an autonomous underwater robot.  (9.49 MB)
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Olson E, Leonard JJ, Teller S.  2006.  Fast Iterative Alignment of Pose Graphs with Poor Initial Estimates. icra. :2262-2269. (790.61 KB)
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Smith CM, Leonard JJ, Bennett AA, Shaw C.  1997.  Feature-based concurrent mapping and localization for AUVs. OCEANS ’97 MTS/IEEE Conference Proceedings. 2:896-901. (309.97 KB)