Publications
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2019. Multimodal Semantic SLAM with Probabilistic Data Association. Robotics and Automation (ICRA), 2019 IEEE International Conference on. 
(1.96 MB)
(1.96 MB).
2018. The manhattan frame model—manhattan world inference in the space of surface normals. IEEE transactions on pattern analysis and machine intelligence. 40:235–249. (1.36 MB)
(1.36 MB).
2018. Mapping and determining the center of mass of a rotating object using a moving observer. The International Journal of Robotics Research. 37:83–103. (4.92 MB)
(4.92 MB).
2018. Multibeam Data Processing for Underwater Mapping. 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). (822.67 KB)
(822.67 KB).
2016. Method for mapping an environment.
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2014. A Mixture of Manhattan Frames: Beyond the Manhattan World. Computer Vision and Pattern Recognition (CVPR), 2014 IEEE Conference on. (8.32 MB)
(8.32 MB).
2013. The MIT Stata Center Dataset. 32:1695-1699.
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2010. Mapping Complex Marine Environments with Autonomous Surface Craft. (2.43 MB)
(2.43 MB).
2010. A Measurement Distribution Framework for Cooperative Navigation using multiple AUVs. (361.45 KB)
(361.45 KB).
2010. Multiple Relative Pose Graphs for Robust Cooperative Mapping. (1.32 MB)
(1.32 MB).
2008. The MIT–Cornell collision and why it happened. Journal of Field Robotics. 25:775–807. (1.47 MB)
(1.47 MB).
2007. Minimizing Trilateration Errors in the Presence of Noisy Landmarks. European Conference on Mobile Robots. (181.27 KB)
(181.27 KB).
2002. Mapping Partially Observable Features from Multiple Uncertain Vantage Points. 7:943–975. (3.7 MB)
(3.7 MB).
2000. Mobile robot relocation from echolocation constraints. {IEEE} Trans Pattern Analysis and Machine Intelligence. 22:1035-1041.
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1998. Making Difficult Decisions Autonomously: The Impact of Integrated Mapping and Navigation. IEEE AUV. :125-132. (210.39 KB)
(210.39 KB).
1998. Multiple Target Tracking with Navigation Uncertainty. {IEEE} Int Conference on Decision and Control (CDC). :760-761. (122.97 KB)
(122.97 KB).
1997. A multiple hypothesis approach to concurrent mapping and localization for autonomous underwater vehicles. International Conference on Field and Service Robotics. (384.5 KB)
(384.5 KB).
1996. Map Based Navigation for Autonomous Underwater Vehicles. International Journal of Offshore and Polar Engineering. 6:9-18. (917.04 KB)
(917.04 KB).
1994. Modeling a dynamic environment using a Bayesian multiple hypothesis approach. Artificial Intelligence. :311-344. (7.23 MB)
(7.23 MB).
1992. Modeling Sonar Sensors. The Robotics Review II. :145-151. (1.38 MB)
(1.38 MB).
1991. Mobile Robot Localization by Tracking Geometric Beacons. {IEEE} Trans Robotics and Automation. 7:376-382. (628.04 KB)
(628.04 KB)