Publications

Export 188 results:
2013
Huang G, Kaess M, Leonard JJ.  2013.  Consistent Sparsification for Graph Optimization. Proc of European Conference on Mobile Robots (ECMR).  (931.4 KB)
Whelan T, Kaess M, Leonard JJ, McDonald JB.  2013.  Deformation-based Loop Closure for Large Scale Dense RGB-D SLAM. iros.
VanMiddlesworth M, Kaess M, Hover FS, Leonard JJ.  2013.  Mapping 3D Underwater Environments with Smoothed Submaps.
Fallon MF, Johnnsson H, Kaess M, Leonard JJ.  2013.  The MIT Stata Center Dataset. 32:1695-1699.
McDonald J, Kaess M, Cadena C, Neira J, Leonard JJ.  2013.  Real-time 6-DOF Multi-session Visual SLAM over Large Scale Environments. Robotics and Autonomous Systems. 61:1144-1158. (3.36 MB)
Fallon MF, Folkesson J, McClelland H, Leonard JJ.  2013.  Relocating Underwater Features Autonomously Using Sonar-Based SLAM. IEEE Journal of Oceanic Engineering. 38(3) (3.07 MB)
Rosen DM, Kaess M, Leonard JJ.  2013.  Robust Incremental Online Inference Over Sparse Factor Graphs: Beyond the Gaussian Case. Intl. Conf. on Robotics and Automation (ICRA).  (419.86 KB)
Whelan T, Johnnsson H, Kaess M, Leonard JJ, McDonald JB.  2013.  Robust Real-Time Visual Odometry for Dense RGB-D Mapping. Intl. Conf. on Robotics and Automation (ICRA).  (4.56 MB)
Stachniss C, Leonard JJ, Thrun S.  2013.  Simultaneous Localization and Mapping. Springer Handbook of Robotics, Second Edition.
Fallon MF, Johnnsson H, Kaess M, Folkesson J, McClelland H, Englot BJ, Hover FS, Leonard JJ.  2013.  Simultaneous Localization and Mapping in Marine Environments. Marine Robot Autonomy.
Johnnsson H, Kaess M, Fallon MF, Leonard JJ.  2013.  Temporally Scalable Visual SLAM using a Reduced Pose Graph. Intl. Conf. on Robotics and Automation (ICRA).  (1.46 MB)
Finman R, Whelan T, Kaess M, Leonard JJ.  2013.  Toward Lifelong Object Segmentation from Change Detection in Dense RGB-D Maps. European Conference on Mobile Robotics.
Johnnsson H.  2013.  Toward Lifelong Visual Localization and Mapping.
Huang G, Truax R, Kaess M, Leonard JJ.  2013.  Unscented iSAM: A Consistent Incremental Solution to Cooperative Localization and Target Tracking. Proc of European Conference on Mobile Robots (ECMR).
2012
Hover FS, Eustice RM, Kim A, Englot BJ, Johnnsson H, Kaess M, Leonard JJ.  2012.  Advanced Perception, Navigation and Planning for Autonomous In-Water Ship Hull Inspection. 31:1445-1464. (9.74 MB)
Kaess M, Williams S, Indelman V, Roberts R, Leonard JJ, Dellaert F.  2012.  Concurrent Filtering and Smoothing.  (474.18 KB)
Walcott-Bryant A, Kaess M, Johnnsson H, Leonard JJ.  2012.  Dynamic Pose Graph SLAM: Long-term Mapping in Low Dynamic Environments. iros.  (2.2 MB)
Bahr A, Leonard JJ, Martinoli A.  2012.  Dynamic Positioning of Beacon Vehicles for Coop- erative Underwater Navigation.  (451.18 KB)
Fallon MF, Johnnsson H, Leonard JJ.  2012.  Efficient Scene Simulation for Robust Monte Carlo Localization using an RGB-D Camera.  (1.76 MB)
Rosen DM, Kaess M, Leonard JJ.  2012.  An Incremental Trust-Region Method for Robust Online Sparse Least-Squares Estimation. icra. :1262-1269. (670.94 KB)
Kaess M, Johnnsson H, Roberts R, Ila V, Leonard JJ, Dellaert F.  2012.  iSAM2: Incremental Smoothing and Mapping Using the Bayes Tree. The International Journal of Robotics Research. 31:217-236. (1.62 MB)
Whelan T, Kaess M, Fallon MF, Johnnsson H, Leonard JJ, McDonald JB.  2012.  Kintinuous: Spatially Extended KinectFusion. RSS Workshop on {RGB-D}: Advanced Reasoning with Depth Cameras.  (831.79 KB)
Whelan T, Johnnsson H, Kaess M, Leonard JJ, McDonald JB.  2012.  Robust Tracking for Real-Time Dense RGB-D Mapping with Kintinuous.
Fallon MF, Johnnsson H, Brookshire J, Teller S, Leonard JJ.  2012.  Sensor Fusion for Flexible Human-Portable Building-Scale Mapping.  (772.34 KB)
Johnnsson H, Kaess M, Fallon MF, Leonard JJ.  2012.  Temporally Scalable Visual SLAM using a Reduced Pose Graph. RSS Workshop on Long-term Operation of Autonomous Robotic Systems in Changing Environments.  (1.51 MB)

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