Publications

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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).
Huang G, Kaess M, Leonard JJ.  2014.  Towards Consistent Visual-Inertial Navigation. International Conference on Robotics and Automation (ICRA).  (825.86 KB)
Huang G, Kaess M, Leonard JJ.  2013.  Consistent Sparsification for Graph Optimization. Proc of European Conference on Mobile Robots (ECMR).  (931.4 KB)
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Kaess M, Ila V, Roberts R, Dellaert F.  2010.  The Bayes Tree: Enabling Incremental Reordering and Fluid Relinearization for Online Mapping.  (527.18 KB)
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, 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)
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)
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)
Kaess M, Williams S, Indelman V, Roberts R, Leonard JJ, Dellaert F.  2012.  Concurrent Filtering and Smoothing.  (474.18 KB)
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)
Kim JH, Moran BA, Leonard JJ, Bellingham JG, Tuohy ST.  1996.  Experiments in remote monitoring and control of autonomous underwater vehicles. IEEE Oceans.  (164.21 KB)
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Latif Y, Huang G, Leonard JJ, Neira J.  2014.  An Online Sparsity-Cognizant Loop-Closure Algorithm for Visual Navigation. Robots: Science and Systems.
Leedekerken JC, Fallon MF, Leonard JJ.  2010.  Mapping Complex Marine Environments with Autonomous Surface Craft.  (2.43 MB)
Leedekerken JC, Leonard JJ, Bosse MC, Balasuriya A.  2006.  Real-time Obstacle Avoidance and Mapping for AUVs Operating in Complex Environments. Proceedings of the Seventh International Symposium on Technology and the Mine Problem: May 2-4, 2006, Naval Postgraduate School. 1:35. (295.25 KB)
Leedekerken JC, Williams R, Leonard JJ.  2006.  Short-Baseline Acoustic Tracking with Autonomous Surface Vehicles. Proceedings of the 2008 IFAC Workshop Navigation, Guidance, and Control of Underwater Vehicles.
Leonard JJ, Carpenter RN, Feder HJS.  1999.  Stochastic Mapping Using Forward Look Sonar. International Conference on Field and Service Robotics.  (282.15 KB)
Leonard JJ, Durrant-Whyte HF.  1990.  Application of Multi-target Tracking to Sonar-based Mobile Robot Navigation. 29th {IEEE} Int Conference on Decision and Control.  (4.48 MB)
Leonard JJ.  2000.  Large-scale concurrent mapping and localization. Proceedings of SPIE.  (924.74 KB)
Leonard JJ, Durrant-Whyte HF.  1991.  Mobile Robot Localization by Tracking Geometric Beacons. {IEEE} Trans Robotics and Automation. 7:376-382. (628.04 KB)
Leonard JJ, Carpenter R, Feder HJS.  2001.  Stochastic mapping using forward look sonar. Robotica. 19:467–480. (1.22 MB)
Leonard JJ, Durrant-Whyte HF.  1992.  Directed Sonar Sensing for Mobile Robot Navigation.  (1.48 MB)

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