Publications

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2011
Fallon MF, Kaess M, Johnnsson H, Leonard JJ.  2011.  Efficient AUV Navigation Fusing Acoustic Ranging and Side-scan Sonar.  (1 MB)
Kaess M, Johnnsson H, Roberts R, Ila V, Leonard JJ, Dellaert F.  2011.  iSAM2: Incremental Smoothing and Mapping with Fluid Relinearization and Incremental Variable Reordering.  (1.16 MB)
2010
Kaess M, Ila V, Roberts R, Dellaert F.  2010.  The Bayes Tree: An Algorithmic Foundation for Probabilistic Robot Mapping. Intl Workshop on the Algorithmic Foundations of Robotics, WAFR.  (386.04 KB)
Kaess M, Ila V, Roberts R, Dellaert F.  2010.  The Bayes Tree: Enabling Incremental Reordering and Fluid Relinearization for Online Mapping.  (527.18 KB)
Johnnsson H, Kaess M, Englot B, Hover F, Leonard JJ.  2010.  Imaging Sonar-Aided Navigation for Autonomous Underwater Harbor Surveillance.  (1.25 MB)
Kim B, Kaess M, Fletcher L, Leonard JJ, Bachrach A, Roy N, Teller S.  2010.  Multiple Relative Pose Graphs for Robust Cooperative Mapping.  (1.32 MB)
Kaess M, Johnnsson H, Englot B, Hover F, Leonard JJ.  2010.  Towards Autonomous Ship Hull Inspection using the Bluefin HAUV. Symposium on Technology and the Mine Problem.  (1.3 MB)

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