Publications

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Huang G, Kaess M, Leonard JJ, Roumeliotis S.  2013.  Analytically-Selected Multi- Hypothesis Incremental MAP Estimation. International Conference on Acoustics, Speech, and Signal Processing.  (100.31 KB)
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)
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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)
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)
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, 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.
Leedekerken JC, Fallon MF, Leonard JJ.  2010.  Mapping Complex Marine Environments with Autonomous Surface Craft.  (2.43 MB)
Leonard JJ.  2000.  Cooperative mapping and navigation for multiple unmanned underwater vehicles. International Unmanned Undersea Vehicle Symposium, Naval Undersea Warfare Center.  (1.46 MB)
Leonard JJ, How J, Teller S, Berger M, Campbell S, Fiore G, Fletcher L, Frazzoli E, Huang A, Karaman S et al..  2008.  A perception-driven autonomous urban vehicle. 25:727–774.
Leonard JJ, Cox IJ, Durrant-Whyte HF.  1990.  Dynamic Map Building for an Autonomous Mobile Robot. Proc {IEEE} Int Workshop on Intelligent Robots and Systems.
Leonard JJ, Newman P, Rikoski R, Neira J, Tardós J.  2003.  Towards robust data association and feature modeling for concurrent mapping and localization. Robotics Research. :7–20. (726.34 KB)
Leonard JJ, Moran BA, Cox IJ, Miller ML.  1995.  Underwater Sonar Data Fusion Using an Efficient Multiple Hypothesis Algorithm. Proc {IEEE} Int Conf Robotics and Automation.
Leonard JJ, Feder HJS.  2001.  Decoupled stochastic mapping. {IEEE} J of Oceanic Eng. 26:561-571. (3.05 MB)

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