Publications

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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.
Leonard JJ, Durrant-Whyte HF.  1991.  Simultaneous Map Building and Localization for an Autonomous Mobile Robot. Proc {IEEE} Int Workshop on Intelligent Robots and Systems.  (451.06 KB)
Olson E, Walter M, Teller S, Leonard JJ.  2005.  Single-Cluster Spectral Graph Partitioning for Robotics Applications. Proceedings of Robotics: Science and Systems.  (513.26 KB)
Walter M, Hover F, Leonard JJ.  2008.  SLAM for ship hull inspection using exactly sparse extended information filters. icra. :1463–1470. (585.03 KB)
Leonard JJ, Moran BA.  1992.  Sonar Data Fusion for 3-D Scene Reconstruction. SPIE Sensor Fusion V.  (3.03 MB)
Leonard JJ.  1991.  Sonar interpretation using regions of constant depth (RCDs). IEE Colloquium on Robot Sensors.
Walter MR.  2008.  Sparse Bayesian information filters for localization and mapping.
Eustice R, Walter M, Leonard JJ.  2005.  Sparse extended information filters: Insights into sparsification. Intelligent Robots and Systems, 2005(IROS 2005) 2005 IEEE/RSJ International Conference on.  (427.47 KB)
Olson E, Leonard JJ, Teller S.  2007.  Spatially-Adaptive Learning Rates for Online Incremental SLAM.  (1.55 MB)
Rikoski R, Leonard JJ, Newman P.  2002.  Stochastic Mapping Frameworks. Proc {IEEE} Int Conf Robotics and Automation. :426-433. (460.39 KB)
Leonard JJ, Carpenter R, Feder HJS.  2001.  Stochastic mapping using forward look sonar. Robotica. 19:467–480. (1.22 MB)
Leonard JJ, Carpenter RN, Feder HJS.  1999.  Stochastic Mapping Using Forward Look Sonar. International Conference on Field and Service Robotics.  (282.15 KB)
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Bellingham JG, Leonard JJ.  1994.  Task Configuration with Layered Control. Proceedings of the IARP 2nd Workshop on Mobile Robots for Subsea Environments.  (3.98 MB)
Cox IJ, Leonard JJ.  1991.  Temporal Integration of Multiple Sensor Observations for Dynamic World Modeling: A Multiple Hypothesis Approach. International Workshop on Information Processing for Autonomous Mobile Robots: Theory and Application.
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)
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)
VanMiddlesworth M.  2014.  Toward Autonomous Underwater Mapping in Partially Structured 3D Environments.
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.
Finman R, Paull L, Leonard JJ.  2015.  Toward Object-based Place Recognition in Dense RGB-D Maps. ICRA workshop on visual place recognition in changing environments.  (4.56 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)
Huang G, Kaess M, Leonard JJ.  2014.  Towards Consistent Visual-Inertial Navigation. International Conference on Robotics and Automation (ICRA).  (825.86 KB)
Newman PM, Leonard JJ, Rikoski RJ.  2005.  Towards constant-time SLAM on an autonomous underwater vehicle using synthetic aperture sonar. Robotics Research. :409–420. (1022.94 KB)
Maragh J.  2016.  Towards Improved Robustness of Acoustic Cooperative Localization. Mechanical Engineering. Master's Degree  (11.28 MB)
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)

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