Publications

• Automatic Extrinsic Calibration of a Camera and a 3D LiDAR using Line and Plane Correspondences
  Lipu Zhou, Zimo Li, and Michael Kaess
  IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems, IROS, October, 2018
• Information Sparsification in Visual-Inertial Odometry
  Jerry Hsiung, Ming Hsiao, Eric Westman, Rafael Valencia, and Michael Kaess
  IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems, IROS, October, 2018
• Multibeam Data Processing for Underwater Mapping
  Pedro V. Teixeira, Michael Kaess, Franz S. Hover, and John J. Leonard
  IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems, IROS, October, 2018
• Virtual Occupancy Grid Map for Submap-based Pose Graph SLAM and Planning in 3D Environments
  Bing-Jui Ho, Paloma Sodhi, Pedro V. Teixeira, Ming Hsiao, Tushar Kusnur, and Michael Kaess
  IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems, IROS, October, 2018
• Pose-graph SLAM using Forward-looking Sonar
  Jie Li, Michael Kaess, Ryan Eustice, and Matthew Johnson-Roberson
  IEEE Robotics and Automation Letters, RA-L, Vol. 3, No. 3, pp. 2330-2337, July, 2018
• Dense Planar-Inertial SLAM with Structural Constraints
  Ming Hsiao, Eric Westman, and Michael Kaess
  IEEE Intl. Conf. on Robotics and Automation, ICRA, May, 2018
• Feature-based SLAM for Imaging Sonar with Under-constrained Landmarks
  Eric Westman, Akshay Hinduja, and Michael Kaess
  IEEE Intl. Conf. on Robotics and Automation, ICRA, May, 2018
• GravityFusion: Real-time Dense mapping without Pose Graph using Deformation and Orientation
  Puneet Puri, Daoyuan Jia, and Michael Kaess
  IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems, IROS, September, 2017
• Factor Graphs for Robot Perception
  Frank Dellaert and Michael Kaess
  Foundations and Trends in Robotics, Vol. 6, No. 1-2, pp. 1–139, August, 2017
• Keyframe-based Dense Planar SLAM
  Ming Hsiao, Eric Westman, Guofeng Zhang, and Michael Kaess
  IEEE Intl. Conf. on Robotics and Automation, ICRA, May, 2017
• Robust Stereo Matching with Surface Normal Prediction
  Shuangli Zhang, Weijian Xie, Guofeng Zhang, Hujun Bao, and Michael Kaess
  IEEE Intl. Conf. on Robotics and Automation, ICRA, May, 2017
• The Manifold Particle Filter for State Estimation on High-dimensional Implicit Manifolds
  Michael C. Koval, Matthew Klingensmith, Siddhartha S. Srinivasa, Nancy Pollard, and Michael Kaess
  IEEE Intl. Conf. on Robotics and Automation, ICRA, May, 2017
• Direct Visual Odometry in Low Light using Binary Descriptors
  Hatem Alismail, Michael Kaess, Brett Browning, and Simon Lucey
  IEEE Robotics and Automation Letters, RA-L, Vol. 2, pp. 444-451, April, 2017
• A Real-time Method for Depth Enhanced Monocular Odometry
  Ji Zhang, Michael Kaess, and Sanjiv Singh
  Autonomous Robots, AURO, Vol. 41, No. 1, pp. 31-43, January, 2017
• A Nonparametric Belief Solution to the Bayes Tree
  Dehann Fourie, John J. Leonard, and Michael Kaess
  IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems, IROS, October, 2016
• Incremental Data Association for Acoustic Structure from Motion
  Tiffany Huang and Michael Kaess
  IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems, IROS, October, 2016
• Long-range GPS-denied Aerial Inertial Navigation with LIDAR Localization
  Garrett Hemann, Sanjiv Singh, and Michael Kaess
  IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems, IROS, October, 2016
• Pop-up SLAM: Semantic Monocular Plane SLAM for Low-texture Environments
  Shichao Yang, Yu Song, Michael Kaess, and Sebastian Scherer
  IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), October, 2016
• Underwater Inspection using Sonar-based Volumetric Submaps
  Pedro V. Teixeira, Michael Kaess, Franz S. Hover, and John J. Leonard
  IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems, IROS, October, 2016
• On Degeneracy of Optimization-based State Estimation Problems
  Ji Zhang, Michael Kaess, and Sanjiv Singh
  2016 IEEE International Conference on Robotics and Automation, May, 2016
• Articulated Robot Motion for Simultaneous Localization and Mapping (ARM-SLAM)
  Matthew Klingensmith, Siddhartha Srinivasa, and Michael Kaess
  IEEE Robotics and Automation – Letters, January, 2016
• Bridging Text Spotting and SLAM with Junction Features
  Hsueh-Cheng Wang, Chelsea Finn, Liam Paull, Michael Kaess, Ruth Rosenholtz, Seth Teller, and John Leonard
  In IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems, IROS, pp. 3701-3708, September, 2015
• Towards Acoustic Structure from Motion for Imaging Sonar
  Tiffany Huang and Michael Kaess
  In IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems, IROS, pp. 758-765, September, 2015
• Consistent Unscented Incremental Smoothing for Multi-robot Cooperative Target Tracking
  Guoquan Huang, Michael Kaess, and John J. Leonard
  Journal of Robotics and Autonomous Systems, Vol. 69, pp. 52-67, July, 2015
• Building 3D Mosaics from an Autonomous Underwater Vehicle, Doppler Velocity Log, and 2D Imaging Sonar
  Paul Ozog, Giancarlo Troni, Michael Kaess, Ryan M. Eustice, and Matthew Johnson-Roberson
  In IEEE Intl. Conf. on Robotics and Automation, May, 2015
• Simultaneous Localization and Mapping with Infinite Planes
  Michael Kaess
  In IEEE Intl. Conf. on Robotics and Automation, May, 2015
• Real-time large scale dense RGB-D SLAM with volumetric fusion
  Thomas Whelan, Michael Kaess, Hordur Johannsson, Maurice Fallon, John J. Leonard, and John McDonald
  The International Journal of Robotics Research, Vol. 34, pp. 598-626, April, 2015
• RISE: An Incremental Trust-Region Method for Robust Online Sparse Least-Squares Estimation
  David M. Rosen, Michael Kaess, and John J. Leonard
  IEEE Trans. on Robotics, TRO, Vol. 30, No. 5, pp. 1091-1108, October, 2014
• Generic Node Removal for Factor-Graph SLAM
  Nicholas Carlevaris-Bianco, Michael Kaess, and Ryan M. Eustice
  IEEE Robotics and Automation Society, Vol. 30, No. 6, September, 2014
• Real-time Depth Enhanced Monocular Odometry
  Ji Zhang, Michael Kaess, and Sanjiv Singh
  Intelligent Robots and Systems (IROS), Chicago, IL, USA, September, 2014
• 3D mapping, localisation and object retrieval using low cost robotic platforms: A robotic search engine for the real-world
  Thomas Whelan, Michael Kaess, Ross Finman, Maurice Fallon, Hordur Johannsson, John J. Leonard, and John McDonald
  In RSS Workshop on RGB-D: Advanced Reasoning with Depth Cameras, July, 2014
• Efficient Incremental Map Segmentation in Dense RGB-D Maps
  Ross Finman, Thomas Whelan, Michael Kaess, and John J. Leonard
  IEEE Intl. Conf. on Robotics and Automation, ICRA, (Hong Kong), June, 2014
• Towards Consistent Visual-Inertial Navigation
  Guoquan Huang, Michael Kaess, and John J. Leonard
  IEEE Intl. Conf. on Robotics and Automation, ICRA, June, 2014
• Mapping 3D Underwater Environments with Smoothed Submaps
  Mark VanMiddlesworth, Michael Kaess, Franz Hover, and John J. Leonard
  Conference on Field and Service Robotics (FSR), December, 2013
• The MIT Stata Center Dataset
  M. Fallon, H. Johannsson, Michael Kaess, and J.J. Leonard
  Intl. J. of Robotics Research, IJRR, Vol. 32, No. 14, pp. 1695-1699, December, 2013
• Deformation-based Loop Closure for Large Scale Dense RGB-D SLAM
  Thomas Whelan, Michael Kaess, John J. Leonard, and John McDonald
  IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS), November, 2013
• Real-time 6-DOF Multi-session Visual SLAM over Large Scale Environments
  J.B. McDonald, Michael Kaess, C. Cadena, J. Neira, and J.J. Leonard
  Journal of Robotics and Autonomous Systems, RAS, Vol. 61, No. 10, pp. 1144-1158, October, 2013
• Consistent Sparsification for Graph Optimization
  Guoquan Huang, Michael Kaess, and John J. Leonard
  European Conference on Mobile Robots (ECMR), September, 2013
• Toward Lifelong Object Segmentation from Change Detection in Dense RGB-D Maps
  Ross Finman, Thomas Whelan, Michael Kaess, and John J. Leonard
  European Conference on Mobile Robots (ECMR), September, 2013
• Unscented iSAM: A Consistent Incremental Solution to Cooperative Localization and Target Tracking
  Guoquan Huang, Robert Truax, Michael Kaess, and John J. Leonard
  European Conference on Mobile Robots (ECMR), September, 2013
• Information Fusion in Navigation Systems via Factor Graph Based Incremental Smoothing
  V. Indelman, S. Williams, Michael Kaess, and F. Dellaert
  Journal of Robotics and Autonomous Systems, RAS, Vol. 61, No. 8, pp. 721-738, August, 2013
• Analytically-Selected Multi-Hypothesis Incremental Map Estimation
  Guoquan Huang, Michael Kaess, John Leonard, and Stergios I. Roumeliotis
  Intl. Conf. on Acoustics, Speech, and Signal Proc. (ICASSP), May, 2013
• Robust Incremental Online Inference Over Sparse Factor Graphs: Beyond the Gaussian Case
  David M. Rosen, Michael Kaess, and John J. Leonard
  IEEE Intl. Conf. on Robotics and Automation, ICRA, May, 2013
• Robust Real-Time Visual Odometry for Dense RGB-D Mapping
  Thomas Whelan, Hordur Johannsson, Michael Kaess, John J. Leonard, and John McDonald
  IEEE Intl. Conf. on Robotics and Automation, ICRA, May, 2013
• Temporally Scalable Visual SLAM using a Reduced Pose Graph
  Hordur Johannsson, Michael Kaess, Maurice Fallon, and John J. Leonard
  IEEE Intl. Conf. on Robotics and Automation, ICRA, Best student paper finalist (one of five)., May, 2013
• Autonomous Flight in GPS-Denied Environments Using Monocular Vision and Inertial Sensors
  A. D. Wu, E. N. Johnson, Michael Kaess, F. Dellaert, and G. Chowdhary
  AIAA J. of Aerospace Information Systems (JAIS), Vol. 10, No. 4, pp. 172-186, April, 2013
• Advanced Perception, Navigation and Planning for Autonomous In-Water Ship Hull Inspection
  Franz S. Hover, Ryan M. Eustice, Ayoung Kim, Brendan Englot, Hordur Johannsson, Michael Kaess, and John J. Leonard
  Intl. J. of Robotics Research, IJRR, Vol. 31, No. 12, pp. 1445-1464, October, 2012
• Dynamic Pose Graph SLAM: Long-term Mapping in Low Dynamic Environments
  Aisha Walcott-Bryant, Michael Kaess, Hordur Johannsson, and John J. Leonard
  IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems, IROS, pp. 1871-1878, October, 2012
• Robust Tracking for Real-Time Dense RGB-D Mapping with Kintinuous
  Thomas Whelan, Hordur Johannsson, Michael Kaess, John J. Leonard, and John McDonald
  Computer Science and Artificial Intelligence Laboratory Technical Report MIT-CSAIL-TR-2012-031, September, 2012
• Concurrent Filtering and Smoothing
  Michael Kaess, Stephen Williams, Vadim Indelman, Richard Roberts, John J. Leonard, and Frank Dellaert
  Intl. Conf. on Information Fusion, FUSION, pp. 1300-1307, July, 2012
• Concurrent Filtering and Smoothing: A Parallel Architecture for Real-Time Navigation and Full Smoothing
  Stephen Williams, Vadim Indelman, Michael Kaess, Richard Roberts, John J. Leonard, and Frank Dellaert
  International Conference on Information Fusion, pp. 1300-1307, July, 2012
• Factor Graph Based Incremental Smoothing in Inertial Navigation Systems
  Vadim Indelman, Stephen Williams, Michael Kaess, and Frank Dellaert
  Intl. Conf. on Information Fusion, pp. 2154-2161, July, 2012
• Kintinuous: Spatially Extended KinectFusion
  Thomas Whelan, John McDonald, Michael Kaess, Maurice Fallon, Hordur Johannsson, and John J. Leonard
  RSS Workshop on RGB-D: Advanced Reasoning with Depth Cameras, July, 2012
• Mapping the MIT Stata Center: Large-scale Integrated Visual and RGB-D SLAM
  Maurice F. Fallon, Hordur Johannsson, Michael Kaess, David M. Rosen, Elias Muggler, and John J. Leonard
  RSS Workshop on RGB-D: Advanced Reasoning with Depth Cameras, July, 2012
• Temporally Scalable Visual SLAM using a Reduced Pose Graph
  Hordur Johannsson, Michael Kaess, Maurice Fallon, and John J. Leonard
  RSS Workshop on Long-term Operation of Autonomous Robotic Systems in Changing Environments, July, 2012
• An Incremental Trust-Region Method for Robust Online Sparse Least-Squares Estimation
  David M. Rosen, Michael Kaess, and John J. Leonard
  IEEE Intl. Conf. on Robotics and Automation, ICRA, pp. 1262-1269, May, 2012
• iSAM2: Incremental Smoothing and Mapping Using the Bayes Tree
  Michael Kaess, Hordur Johannsson, Richard Roberts, Viorela Ila, John Leonard, and Frank Dellaert
  Intl. J. of Robotics Research, IJRR, Vol. 31, No. 2, pp. 217-236, February, 2012
• 6-DOF Multi-session Visual SLAM using Anchor Nodes
  John McDonald, Michael Kaess, Cesar Cadena, Jos Neira, and John J. Leonard
  European Conference on Mobile Robots, ECMR, pp. 69-76, September, 2011
• Efficient AUV Navigation Fusing Acoustic Ranging and Side-scan Sonar
  Maurice F. Fallon, Michael Kaess, Hordur Johannsson, and John J. Leonard
  IEEE Intl. Conf. on Robotics and Automation, ICRA. Best automation paper finalist (one of five)., pp. 2398-2405, May, 2011
• iSAM2: Incremental Smoothing and Mapping with Fluid Relinearization and Incremental Variable Reordering
  Michael Kaess, Hordur Johannsson, Richard Roberts, Viorela Ila, John Leonard, and Frank Dellaert
  IEEE Intl. Conf. on Robotics and Automation, ICRA, pp. 3281-3288, May, 2011
• The Bayes Tree: An Algorithmic Foundation for Probabilistic Robot Mapping
  Michael Kaess, Viorela Ila, Richard Roberts, and Frank Dellaert
  Intl. Workshop on the Algorithmic Foundations of Robotics, WAFR, pp. 157-173, December, 2010
• Imaging Sonar-Aided Navigation for Autonomous Underwater Harbor Surveillance
  Hordur Johannsson, Michael Kaess, Brendan Englot, Franz Hover, and John Leonard
  IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems, IROS, October, 2010
• Multiple Relative Pose Graphs for Robust Cooperative Mapping
  Been Kim, Michael Kaess, Luke Fletcher, John Leonard, Abraham Bachrach, Nicholas Roy, and Seth Teller
  IEEE Intl. Conf. on Robotics and Automation, ICRA, pp. 3185-3192, May, 2010
• Towards Autonomous Ship Hull Inspection using the Bluefin HAUV
  Michael Kaess, Hordur Johannsson, Brendan Englot, Franz Hover, and John Leonard
  Ninth International Symposium on Technology and the Mine Problem, May, 2010
• Probabilistic Structure Matching for Visual SLAM with a Multi-Camera Rig
  Michael Kaess and Frank Dellaert
  Computer Vision and Image Understanding, CVIU, Vol. 114, No. 2, pp. 286-296, February, 2010
• The Bayes Tree: Enabling Incremental Reordering and Fluid Relinearization for Online Mapping
  Michael Kaess, Viorela Ila, Richard Roberts, and Frank Dellaert
  Computer Science and Artificial Intelligence Laboratory – Technical Report MIT-CSAIL-TR-2010-021, January, 2010
• Covariance Recovery from a Square Root Information Matrix for Data Association
  Michael Kaess and Frank Dellaert
  Journal of Robotics and Autonomous Systems, RAS, Vol. 57, No. 12, pp. 1198-1210, December, 2009
• Flow Separation for Fast and Robust Stereo Odometry
  Michael Kaess, Kai Ni, and Frank Dellaert
  IEEE Intl. Conf. on Robotics and Automation, ICRA, May, 2009
• Evaluating the Performance of Map Optimization Algorithms
  Edwin Olson and Michael Kaess
  Workshop on Good Experimental Methodology in Robotics, January, 2009
• iSAM: Incremental Smoothing and Mapping
  Michael Kaess, Ananth Ranganathan, and Frank Dellaert
  IEEE Trans. on Robotics, TRO, Vol. 24, No. 6, pp. 1365-1378, December, 2008
• Place Recognition-based Fixed-Lag Smoothing for Environments with Unreliable GPS
  Roozbeh Mottaghi, Michael Kaess, Ananth Ranganathan, Richard Roberts, and Frank Dellaert
  IEEE Intl. Conf. on Robotics and Automation, ICRA, May, 2008
• Fast 3D Pose Estimation With Out-of-Sequence Measurements
  Ananth Ranganathan, Michael Kaess, and Frank Dellaert
  IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems, IROS, pp. 2486-2493, October, 2007
• iSAM: Fast Incremental Smoothing and Mapping with Efficient Data Association
  Michael Kaess, Ananth Ranganathan, and Frank Dellaert
  IEEE Intl. Conf. on Robotics and Automation, ICRA, pp. 1670-1677, April, 2007
• Fast Incremental Square Root Information Smoothing∗
  Michael Kaess, Ananth Ranganathan, and Frank Dellaert
  Intl. Joint Conf. on Artificial Intelligence, IJCAI, Oral presentation acceptance ratio 15.7% (212 of 1353), pp. 2129-2134, January, 2007
• Loopy SAM
  Ananth Ranganathan, Michael Kaess, and Frank Dellaert
  Intl. Joint Conf. on Artificial Intelligence, IJCAI, Oral presentation acceptance ratio 15.7% (212 of 1353), pp. 2191-2196, January, 2007
• Square Root SAM: Simultaneous Localization and Mapping via Square Root Information Smoothing
  Frank Dellaert and Michael Kaess
  Intl. J. of Robotics Research, IJRR, Vol. 25, No. 12, pp. 1181-1204, December, 2006
• Visual SLAM with a Multi-Camera Rig
  Michael Kaess and Frank Dellaert
  College of Computing, Georgia Institute of Technology – Technical Report GIT-GVU-06-06, February, 2006
• A Markov Chain Monte Carlo Approach to Closing the Loop in SLAM
  Michael Kaess and Frank Dellaert
  IEEE Intl. Conf. on Robotics and Automation, ICRA, pp. 645-650, April, 2005
• MCMC-based Multiview Reconstruction of Piecewise Smooth Subdivision Curves with a Variable Number of Control Points
  Michael Kaess, Rafal Zboinski, and Frank Dellaert
  Eur. Conf. on Computer Vision, ECCV, Acceptance ratio 34.2% (190 of 555), pp. 329-341, May, 2004
• Reconstruction of Objects with Jagged Edges through Rao-Blackwellized Fitting of Piecewise Smooth Subdivision Curves
  Michael Kaess and Frank Dellaert
  Proceedings of the IEEE 1st International Workshop on Higher-Level Knowledge in 3D Modeling and Motion Analysis, pp. 39-47, October, 2003
• Compact Encoding of Robot-Generated 3D Maps for Efficient Wireless Transmission
  Michael Kaess, Ronald C. Arkin, and Jarek Rossignac
  IEEE Intl. Conf. on Advanced Robotics, ICAR, pp. 324-331, June, 2003
• Learning Behavioral Parameterization Using Spatio-Temporal Case-Based Reasoning*
  Maxim Likhachev, Michael Kaess, and Ronald C. Arkin
  IEEE Intl. Conf. on Robotics and Automation, ICRA, pp. 1282-1289, May, 2002
• The Georgia Tech Yellow Jackets: A Marsupial Team for Urban Search and Rescue
  Frank Dellaert, Tucker Balch, Michael Kaess, Ramprasad Ravichandran, Fernando Alegre, Marc Berhault, Robert McGuire, Ernest Merrill, Lilia Moshkina, and Daniel Walker
  AAAI Mobile Robot Competition, pp. 44-49, January, 2002