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Doherty K, Fourie D, Leonard JJ.  2019.  Multimodal Semantic SLAM with Probabilistic Data Association. Robotics and Automation (ICRA), 2019 IEEE International Conference on.  (1.96 MB)
Straub J, Freifeld O, Rosman G, Leonard JJ, Fisher JW.  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)
Setterfield TP, Miller DW, Leonard JJ, Saenz-Otero A.  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)
Teixeira P.V, Hover F.S, Leonard J.J, Kaess M..  2018.  Multibeam Data Processing for Underwater Mapping. 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).  (822.67 KB)
Straub J, Rosman G, Freifed O, Leonard JJ, Fisher JW.  2014.  A Mixture of Manhattan Frames: Beyond the Manhattan World. Computer Vision and Pattern Recognition (CVPR), 2014 IEEE Conference on.  (8.32 MB)
Bahr A, Leonard JJ.  2007.  Minimizing Trilateration Errors in the Presence of Noisy Landmarks. European Conference on Mobile Robots.  (181.27 KB)
Lim JH, Leonard JJ.  2000.  Mobile robot relocation from echolocation constraints. {IEEE} Trans Pattern Analysis and Machine Intelligence. 22:1035-1041.
Tuohy ST, Leonard JJ, Bellingham JG, Patrikalakis NM, Chryssostomidis C.  1996.  Map Based Navigation for Autonomous Underwater Vehicles. International Journal of Offshore and Polar Engineering. 6:9-18. (917.04 KB)
Durrant-Whyte HF, Leonard JJ.  1992.  Modeling Sonar Sensors. The Robotics Review II. :145-151. (1.38 MB)
Leonard JJ, Durrant-Whyte HF.  1991.  Mobile Robot Localization by Tracking Geometric Beacons. {IEEE} Trans Robotics and Automation. 7:376-382. (628.04 KB)