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The Bayes Tree: An Algorithmic Foundation for Probabilistic Robot Mapping. Intl Workshop on the Algorithmic Foundations of Robotics, WAFR.. 2010.
iSAM2: Incremental Smoothing and Mapping with Fluid Relinearization and Incremental Variable Reordering.. 2011.
Towards Autonomous Ship Hull Inspection using the Bluefin HAUV. Symposium on Technology and the Mine Problem.. 2010.
iSAM2: Incremental Smoothing and Mapping Using the Bayes Tree. The International Journal of Robotics Research. 31:217-236.. 2012.