Publications

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Journal Article
Eustice RM, Singh H, Leonard JJ, Walter MR.  2006.  Visually Mapping the RMS Titanic: Conservative Covariance Estimates for SLAM Information Filters. 25:1223-1242. (8.27 MB)
Bosse M, Rikoski R, Leonard JJ, Teller S.  2003.  Vanishing points and three-dimensional lines from omni-directional video. The Visual Computer. 19:417–430. (4.92 MB)
Rikoski R, Leonard JJ, Newman P, Schmidt H.  2006.  Trajectory sonar perception in the Ligurian Sea. Experimental Robotics IX. :557–570.
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)
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)
Leonard JJ, Carpenter R, Feder HJS.  2001.  Stochastic mapping using forward look sonar. Robotica. 19:467–480. (1.22 MB)
Bosse M, Newman P, Leonard JJ, Teller S.  2004.  Simultaneous Localization and Map Building in Large-Scale Cyclic Environments Using the Atlas Framework. 23:1113-1139.
Olson E, Leonard JJ, Teller S.  2006.  Robust Range-Only Beacon Localization. IEEE Journal of Oceanic Engineering. 31:949–958. (1.68 MB)
Tardós JD, Neira J, Newman PM, Leonard JJ.  2002.  Robust Mapping and Localization in Indoor Environments using Sonar Data. 21:311-330. (739.17 KB)
Dragone M, O’Donoghue R, Leonard JJ, O’Hare G, Duffy B, Patrikalakis A, Leederkerken J.  2005.  Robot Soccer Anywhere: Achieving Persistent Autonomous Navigation, Mapping and Object Vision Tracking in Dynamic Environments. Proceedings of SPIE Opto Ireland.  (3.34 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)
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)
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)

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