- 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.
Details | pdf (765KB) | Copyrighted - 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.
Details | pdf (4MB) | Copyrighted - 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.
Details | pdf (3MB) | Copyrighted - 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.
Details | pdf (3MB) | Copyrighted - Underwater Inspection using Sonar-based Volumetric Submaps
Pedro V. Teixeira, Michael Kaess, Franz S. Hover, and and John J. Leonard
IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems, IROS, October, 2016.
Details | pdf (2MB) | Copyrighted - 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.
Details | pdf (2MB) | Copyrighted - Articulated Robot Motion for Simultaneous Localization and Mapping (ARM-SLAM)
Matthew Klingensmith, Siddhartha Srinivasa, and Michael Kaess
IEEE Robotics and Automation – Letters, January, 2016.
Details | pdf (4MB) | Copyrighted - 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, September, 2015, pp. 3701-3708.
Details | pdf (2MB) | Copyrighted - Towards Acoustic Structure from Motion for Imaging Sonar
Tiffany Huang and Michael Kaess
In IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems, IROS, September, 2015, pp. 758-765.
Details | pdf (2MB) | Copyrighted - 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.
Details | pdf (940KB) | Copyrighted - 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.
Details | pdf (1MB) | Copyrighted - Simultaneous Localization and Mapping with Infinite Planes
Michael Kaess
In IEEE Intl. Conf. on Robotics and Automation, May, 2015.
Details | pdf (2MB) | Copyrighted - 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, No. 4-5, pp. 598-626, April, 2015.
Details | pdf (32MB) | Copyrighted - 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.
Details | pdf (2MB) | Copyrighted - 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.
Details | pdf (3MB) | Copyrighted - Real-time Depth Enhanced Monocular Odometry
Ji Zhang, Michael Kaess, and Sanjiv Singh
Intelligent Robots and Systems (IROS), Chicago, IL, USA, September, 2014.
Details | pdf (2MB) | Copyrighted - 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.
Details | pdf (755KB) | Copyrighted - 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.
Details | pdf (3MB) | Copyrighted - Towards Consistent Visual-Inertial Navigation
Guoquan Huang, Michael Kaess, and John J. Leonard
IEEE Intl. Conf. on Robotics and Automation, ICRA, June, 2014.
Details | pdf (846KB) | Copyrighted - 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.
Details | pdf (2MB) | Copyrighted - 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.
Details | pdf (1MB) | Copyrighted - 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.
Details | pdf (2MB) | Copyrighted - 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.
Details | pdf (4MB) | Copyrighted - Consistent Sparsification for Graph Optimization
Guoquan Huang, Michael Kaess, and John J. Leonard
European Conference on Mobile Robots (ECMR), September, 2013.
Details | pdf (954KB) | Copyrighted - 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.
Details | pdf (2MB) | Copyrighted - 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.
Details | pdf (183KB) | Copyrighted - 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.
Details | pdf (5MB) | Copyrighted - 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.
Details | pdf (103KB) | Copyrighted - 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.
Details | pdf (430KB) | Copyrighted - 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.
Details | pdf (5MB) | Copyrighted - 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.
Details | pdf (1MB) | Copyrighted - 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.
Details | pdf (3MB) | Copyrighted - 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.
Details | pdf (10MB) | Copyrighted - 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, October, 2012, pp. 1871-1878.
Details | pdf (2MB) | Copyrighted - 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.
Details | pdf (7MB) | Copyrighted - Concurrent Filtering and Smoothing
Michael Kaess, Stephen Williams, Vadim Indelman, Richard Roberts, John J. Leonard, and Frank Dellaert
Intl. Conf. on Information Fusion, FUSION, July, 2012, pp. 1300-1307.
Details | pdf (486KB) | Copyrighted - 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.
Details | pdf (2MB) | Copyrighted - Factor Graph Based Incremental Smoothing in Inertial Navigation Systems
Vadim Indelman, Stephen Williams, Michael Kaess, and Frank Dellaert
Intl. Conf. on Information Fusion, July, 2012, pp. 2154-2161.
Details | pdf (848KB) | Copyrighted - 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.
Details | pdf (760KB) | Copyrighted - 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.
Details | pdf (3MB) | Copyrighted - 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.
Details | pdf (2MB) | Copyrighted - 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, May, 2012, pp. 1262-1269.
Details | pdf (687KB) | Copyrighted - 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, March, 2012.
Details | pdf (2MB) | Copyrighted - 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, September, 2011, pp. 69-76.
Details | pdf (2MB) | Copyrighted - 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)., May, 2011, pp. 2398-2405.
Details | pdf (1MB) | Copyrighted - 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, May, 2011, pp. 3281-3288.
Details | pdf (1MB) | Copyrighted - 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 , December, 2010, pp. 157-173.
Details | pdf (395KB) | Copyrighted - 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.
Details | pdf (1MB) | Copyrighted - 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, May, 2010, pp. 3185-3192.
Details | pdf (1MB) | Copyrighted - 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
Details | pdf (1MB) | Copyrighted - 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, March, 2010.
Details | pdf (2MB) | Copyrighted - 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.
Details | pdf (540KB) | Copyrighted - 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.
Details | pdf (3MB) | Copyrighted - 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.
Details | pdf (471KB) | Copyrighted - Evaluating the Performance of Map Optimization Algorithms
Edwin Olson and Michael Kaess
Workshop on Good Experimental Methodology in Robotics, 2009
Details | pdf (681KB) | Copyrighted - 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.
Details | - 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.
Details | pdf (715KB) | Copyrighted - 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, October, 2007, pp. 2486-2493.
Details | pdf (1MB) | Copyrighted - 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, April, 2007, pp. 1670-1677.
Details | pdf (975KB) | Copyrighted - 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), January, 2007, pp. 2129-2134.
Details | pdf (840KB) | Copyrighted - 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), January, 2007, pp. 2191-2196.
Details | pdf (613KB) | Copyrighted - 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.
Details | pdf (1MB) | Copyrighted - 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, March, 2006.
Details | pdf (485KB) | Copyrighted - 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, April, 2005, pp. 645-650.
Details | pdf (297KB) | Copyrighted - 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), May, 2004, pp. 329-341.
Details | pdf (757KB) | Copyrighted - 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, October, 2003, pp. 39-47.
Details | pdf (1MB) | Copyrighted - 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, June, 2003, pp. 324-331.
Details | pdf (557KB) | Copyrighted - 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, May, 2002, pp. 1282-1289.
Details | pdf (912KB) | Copyrighted - 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, 2002
Details | pdf (456KB) | Copyrighted
