Dense Surface Reconstruction from Monocular Vision and LiDAR
Zimo Li, Prakruti C. Gogia and Michael Kaess Conference Paper, Proc. IEEE Intl. Conf. on Robotics and Automation, ICRA, May, 2019MH-iSAM2: Multi-hypothesis iSAM using Bayes Tree and Hypo-tree
Ming Hsiao and Michael Kaess
Conference Paper, Proc. IEEE Intl. Conf. on Robotics and Automation, ICRA, May, 2019Multi-view Reconstruction of Wires using a Catenary Model
Ratnesh Madaan, Michael Kaess and Sebastian Scherer
Conference Paper, Proc. IEEE Intl. Conf. on Robotics and Automation, ICRA, May, 2019Surfel-Based Dense RGB-D Reconstruction with Global and Local Consistency
Yi Yang, Wei Dong and Michael Kaess
Conference Paper, Proc. IEEE Intl. Conf. on Robotics and Automation, ICRA, May, 2019EyeSAM: Graph-based Localization and Mapping of Retinal Vasculature during Intraocular Microsurgery
Shohin Mukherjee, Michael Kaess, Joseph N. Martel and Cameron N. Riviere
Journal Article, Intl. J. of Computer Assisted Radiology and Surgery, JCARS, Vol. 14, No. 5, pp. 819-828, May, 2019Through-water Stereo SLAM with Refraction Correction for AUV Localization
Sudharshan Suresh, Eric Westman and Michael Kaess
Journal Article, IEEE Robotics and Automation Letters, RA-L, Vol. 4, No. 2, pp. 692-699, April, 2019A Robust and Efficient Algorithm for the PnL Problem Using Algebraic Distance to Approximate the Reprojection Distance
Lipu Zhou, Yi Yang, Montiel Abello and Michael Kaess
Conference Paper, Proc. AAAI Conference on Artificial Intelligence, AAAI, January, 2019A Stable Algebraic Camera Pose Estimation for Minimal Configurations of 2D/3D Point and Line Correspondences
Lipu Zhou, Jiamin Ye and Michael Kaess
Conference Paper, Proc. Asian Conf. on Computer Vision, ACCV, December, 2018Underwater AprilTag SLAM and Calibration for High Precision Robot Localization
Eric Westman and Michael Kaess
Tech. Report, CMU-RI-TR-18-43, October, 2018Automatic 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, 2018Information 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, 2018Multibeam 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, 2018Virtual 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, 2018Pose-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, 2018Dense Planar-Inertial SLAM with Structural Constraints
Ming Hsiao, Eric Westman, and Michael Kaess
IEEE Intl. Conf. on Robotics and Automation, ICRA, May, 2018Feature-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, 2018Localized Imaging and Mapping for Underwater Fuel Storage Basins
Jerry Hsiung, Andrew Tallaksen, L. Papincak, Sudharshan Suresh, Heather Jones, Warren Whittaker, and Michael Kaess
Proceedings of the Symposium on Waste Management, March, 2018GravityFusion: 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, 2017Factor Graphs for Robot Perception
Frank Dellaert and Michael Kaess
Foundations and Trends in Robotics, Vol. 6, No. 1-2, pp. 1–139, August, 2017Keyframe-based Dense Planar SLAM
Ming Hsiao, Eric Westman, Guofeng Zhang, and Michael Kaess
IEEE Intl. Conf. on Robotics and Automation, ICRA, May, 2017Robust 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, 2017The 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, 2017Direct 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, 2017A 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, 2017A 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, 2016Incremental Data Association for Acoustic Structure from Motion
Tiffany Huang and Michael Kaess
IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems, IROS, October, 2016Long-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, 2016Pop-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, 2016Underwater 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, 2016On Degeneracy of Optimization-based State Estimation Problems
Ji Zhang, Michael Kaess, and Sanjiv Singh
2016 IEEE International Conference on Robotics and Automation, May, 2016Articulated Robot Motion for Simultaneous Localization and Mapping (ARM-SLAM)
Matthew Klingensmith, Siddhartha Srinivasa, and Michael Kaess
IEEE Robotics and Automation – Letters, January, 2016Bridging 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, 2015Towards 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, 2015Consistent 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, 2015Building 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, 2015Simultaneous Localization and Mapping with Infinite Planes
Michael Kaess
In IEEE Intl. Conf. on Robotics and Automation, May, 2015Real-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, 2015RISE: 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, 2014Generic 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, 2014Real-time Depth Enhanced Monocular Odometry
Ji Zhang, Michael Kaess, and Sanjiv Singh
Intelligent Robots and Systems (IROS), Chicago, IL, USA, September, 20143D 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, 2014Efficient 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, 2014Towards Consistent Visual-Inertial Navigation
Guoquan Huang, Michael Kaess, and John J. Leonard
IEEE Intl. Conf. on Robotics and Automation, ICRA, June, 2014Mapping 3D Underwater Environments with Smoothed Submaps
Mark VanMiddlesworth, Michael Kaess, Franz Hover, and John J. Leonard
Conference on Field and Service Robotics (FSR), December, 2013The MIT Stata Center Dataset
Maurice Fallon, Hordur Johannsson, Michael Kaess, and John J. Leonard
Intl. J. of Robotics Research, IJRR, Vol. 32, No. 14, pp. 1695-1699, December, 2013Deformation-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, 2013Real-time 6-DOF Multi-session Visual SLAM over Large Scale Environments
John B. McDonald, Michael Kaess, Cesar Cadena, Jose Neira, and John J. Leonard
Journal of Robotics and Autonomous Systems, RAS, Vol. 61, No. 10, pp. 1144-1158, October, 2013Consistent Sparsification for Graph Optimization
Guoquan Huang, Michael Kaess, and John J. Leonard
European Conference on Mobile Robots (ECMR), September, 2013Toward 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, 2013Unscented 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, 2013Information Fusion in Navigation Systems via Factor Graph Based Incremental Smoothing
Vadim Indelman, Stephen Williams, Michael Kaess, and Frank Dellaert
Journal of Robotics and Autonomous Systems, RAS, Vol. 61, No. 8, pp. 721-738, August, 2013Analytically-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, 2013Robust 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, 2013Robust 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, 2013Temporally 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, 2013Autonomous Flight in GPS-Denied Environments Using Monocular Vision and Inertial Sensors
Allen D. Wu, Eric N. Johnson, Michael Kaess, Frank Dellaert, and Girish Chowdhary
AIAA J. of Aerospace Information Systems (JAIS), Vol. 10, No. 4, pp. 172-186, April, 2013Advanced 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, 2012Dynamic 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, 2012Robust 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, 2012Concurrent 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, 2012Concurrent 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, 2012Factor 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, 2012Kintinuous: 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, 2012Mapping 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, 2012Temporally 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, 2012An 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, 2012iSAM2: 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, 20126-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, 2011Efficient 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, 2011iSAM2: 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, 2011The 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, 2010Imaging 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, 2010Multiple 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, 2010Towards 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, 2010Probabilistic 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, 2010The 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, 2010Covariance 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, 2009Flow Separation for Fast and Robust Stereo Odometry
Michael Kaess, Kai Ni, and Frank Dellaert
IEEE Intl. Conf. on Robotics and Automation, ICRA, May, 2009Evaluating the Performance of Map Optimization Algorithms
Edwin Olson and Michael Kaess
Workshop on Good Experimental Methodology in Robotics, January, 2009iSAM: Incremental Smoothing and Mapping
Michael Kaess, Ananth Ranganathan, and Frank Dellaert
IEEE Trans. on Robotics, TRO, Vol. 24, No. 6, pp. 1365-1378, December, 2008Place 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, 2008Fast 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, 2007iSAM: 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, 2007Fast 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, 2007Loopy 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, 2007Square 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, 2006Visual 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, 2006A 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, 2005MCMC-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, 2004Reconstruction 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, 2003Compact 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, 2003Learning 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, 2002The 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