Publications
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2016. High-Performance and Tunable Stereo Reconstruction. ICRA. 
(3.22 MB)
(3.22 MB).
2016. A Unified Resource-Constrained Framework for Graph SLAM. ICRA. (3.45 MB)
(3.45 MB).
2015. Appearance-based SLAM in a Network Space. International Conference on Robotics and Automation (ICRA). (851.71 KB)
(851.71 KB).
2015. Bridging Text Spotting and SLAM with Junction Features. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). (1.72 MB)
(1.72 MB).
2015. Communication-Constrained Multi-AUV Cooperative SLAM. International Conference on Robotics and Automation (ICRA). (1.68 MB)
(1.68 MB).
2015. Consistent Unscented Incremental Smoothing for Multi-robot Cooperative Target Tracking. Robotics and Autonomous Systems. 69
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2015. A Convex Relaxation for Approximate Global Optimization in Simultaneous Localization and Mapping. International Conference on Robotics and Automation (ICRA). (2.76 MB)
(2.76 MB).
2015. Location Utility-based Map Reduction. International Conference on Robotics and Automation (ICRA). (1.69 MB)
(1.69 MB).
2015. An Overview of MIT-Olin’s Approach in the AUVSI RobotX Competition. Field and Service Robotics. (4.75 MB)
(4.75 MB).
2015. Real-time large scale dense RGB-D SLAM with volumetric fusion. International Journal of Robotics Research. 34(4-5)
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2015. Toward Object-based Place Recognition in Dense RGB-D Maps. ICRA workshop on visual place recognition in changing environments. (4.56 MB)
(4.56 MB).
2015. Two-Stage Focused Inference for Resource-Constrained Collision-Free Navigation. Robotics Science and Systems. (1.95 MB)
(1.95 MB).
2014. Decentralized Cooperative Trajectory Estimation for Autonomous Underwater Vehicles. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). (1.68 MB)
(1.68 MB).
2014. Efficient Incremental Map Segmentation in Dense RGB-D Maps. International Conference on Robotics and Automation (ICRA). (2.93 MB)
(2.93 MB).
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).
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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)
(475.62 KB).
2014. A Mixture of Manhattan Frames: Beyond the Manhattan World. Computer Vision and Pattern Recognition (CVPR), 2014 IEEE Conference on. (8.32 MB)
(8.32 MB).
2014. An Online Sparsity-Cognizant Loop-Closure Algorithm for Visual Navigation. Robots: Science and Systems.
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2014. Optimized Visibility Motion Planning for Target Tracking and Localization. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).
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2014. Physical Words for Place Recognition in Dense RGB-D Maps. ICRA workshop on visual place recognition in changing environments. (10.33 MB)
(10.33 MB).
2014. RISE: An Incremental Trust-Region Method for Robust Online Sparse Least-Squares Estimation. IEEE Transactions on Robotics. 30(5) (2.11 MB)
(2.11 MB).
2014. Towards Consistent Visual-Inertial Navigation. International Conference on Robotics and Automation (ICRA). (825.86 KB)
(825.86 KB).
2013. Analytically-Selected Multi- Hypothesis Incremental MAP Estimation. International Conference on Acoustics, Speech, and Signal Processing. (100.31 KB)
(100.31 KB).
2013. Consistent Sparsification for Graph Optimization. Proc of European Conference on Mobile Robots (ECMR). (931.4 KB)
(931.4 KB)