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).
2014
Paull L, Seto M, Leonard JJ.  2014.  Decentralized Cooperative Trajectory Estimation for Autonomous Underwater Vehicles. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).  (1.68 MB)
Finman R, Whelan T, Kaess M, Leonard JJ.  2014.  Efficient Incremental Map Segmentation in Dense RGB-D Maps. International Conference on Robotics and Automation (ICRA).  (2.93 MB)
Tweddle B, Setterfield TP, Saenz-Otero A, Miller DW, Leonard JJ.  2014.  Experimental Evaluation of On-board, Visual Mapping of an Object Spinning in Micro-Gravity aboard the International Space Station. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).
Rosen DM, Huang G, Leonard JJ.  2014.  Inference Over Heterogeneous Finite-/Infinite-Dimensional Systems Using Factor Graphs and Gaussian Processes. Proc of IEEE International Conference on Robotics and Automation (ICRA).  (475.62 KB)
Straub J, Rosman G, Freifed O, Leonard JJ, Fisher JW.  2014.  A Mixture of Manhattan Frames: Beyond the Manhattan World. Computer Vision and Pattern Recognition (CVPR), 2014 IEEE Conference on.  (8.32 MB)
Latif Y, Huang G, Leonard JJ, Neira J.  2014.  An Online Sparsity-Cognizant Loop-Closure Algorithm for Visual Navigation. Robots: Science and Systems.
Wei H, Lu W, Zhu P, Huang G, Leonard JJ, Ferrari S.  2014.  Optimized Visibility Motion Planning for Target Tracking and Localization. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).
Finman R, Whelan T, Paull L, Leonard JJ.  2014.  Physical Words for Place Recognition in Dense RGB-D Maps. ICRA workshop on visual place recognition in changing environments.  (10.33 MB)
Rosen DM, Kaess M, Leonard JJ.  2014.  RISE: An Incremental Trust-Region Method for Robust Online Sparse Least-Squares Estimation. IEEE Transactions on Robotics. 30(5) (2.11 MB)
VanMiddlesworth M.  2014.  Toward Autonomous Underwater Mapping in Partially Structured 3D Environments.
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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