Publications
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2017. SLAMinDB: Centralized graph databases for mobile robotics. Robotics and Automation (ICRA), 2017 IEEE International Conference on. 
(1.14 MB)
(1.14 MB).
2017. Smoothing-based estimation of an inspector satellite trajectory relative to a passive object. (899.35 KB)
(899.35 KB).
2017. Sparse optimization for robust and efficient loop closing. Robotics and Autonomous Systems. 93:13–26. (2.71 MB)
(2.71 MB).
2017. System and method for extracting dominant orientations from a scene. (3.34 MB)
(3.34 MB).
2016. SE-Sync: A certifiably correct algorithm for synchronization over the special Euclidean group. arXiv preprint arXiv:1612.07386. (1.52 MB)
(1.52 MB).
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).
2013. Simultaneous Localization and Mapping. Springer Handbook of Robotics, Second Edition.
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2013. Simultaneous Localization and Mapping in Marine Environments. Marine Robot Autonomy.
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2012. Sensor Fusion for Flexible Human-Portable Building-Scale Mapping. (772.34 KB)
(772.34 KB).
2009. Simultaneous Local and Global State Estimation for Robotic Navigation. (352.44 KB)
(352.44 KB).
2008. SLAM for ship hull inspection using exactly sparse extended information filters. icra. :1463–1470. (585.03 KB)
(585.03 KB).
2007. Spatially-Adaptive Learning Rates for Online Incremental SLAM. (1.55 MB)
(1.55 MB).
2006. Short-Baseline Acoustic Tracking with Autonomous Surface Vehicles. Proceedings of the 2008 IFAC Workshop Navigation, Guidance, and Control of Underwater Vehicles.
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2005. SCOUT - A Low Cost Autonomous Surface Platform for Research in Cooperative Autonomy. (2.94 MB)
(2.94 MB).
2005. Single-Cluster Spectral Graph Partitioning for Robotics Applications. Proceedings of Robotics: Science and Systems. (513.26 KB)
(513.26 KB).
2005. Sparse extended information filters: Insights into sparsification. Intelligent Robots and Systems, 2005(IROS 2005) 2005 IEEE/RSJ International Conference on. (427.47 KB)
(427.47 KB).
2002. Stochastic Mapping Frameworks. Proc {IEEE} Int Conf Robotics and Automation. :426-433. (460.39 KB)
(460.39 KB).
2001. Stochastic mapping using forward look sonar. Robotica. 19:467–480. (1.22 MB)
(1.22 MB).
1999. Stochastic Mapping Using Forward Look Sonar. International Conference on Field and Service Robotics. (282.15 KB)
(282.15 KB).
1997. Sensor data fusion in marine robotics. Proceedings of the International Society of Offshore and Polar Engineering. (135.08 KB)
(135.08 KB).
1992. Sonar Data Fusion for 3-D Scene Reconstruction. SPIE Sensor Fusion V. (3.03 MB)
(3.03 MB).
1991. Simultaneous Map Building and Localization for an Autonomous Mobile Robot. Proc {IEEE} Int Workshop on Intelligent Robots and Systems. (451.06 KB)
(451.06 KB).
1991. Sonar interpretation using regions of constant depth (RCDs). IEE Colloquium on Robot Sensors.