John J. Leonard

According to our database, John J. Leonard authored at least 203 papers between 1989 and 2024.

Collaborative distances:

• Dijkstra number of four.
• Erdős number of three.

2024

Certifiably Correct Range-Aided SLAM.

Alan Papalia, Andrew Fishberg, Brendan W. O'Neill, Jonathan P. How, David M. Rosen, John J. Leonard

IEEE Trans. Robotics, 2024

Learning from Feedback: Semantic Enhancement for Object SLAM Using Foundation Models.

Jungseok Hong, Ran Choi, John J. Leonard

CoRR, 2024

An Overview of the Burer-Monteiro Method for Certifiable Robot Perception.

Alan Papalia, Yulun Tian, David M. Rosen, Jonathan P. How, John J. Leonard

CoRR, 2024

SeaSplat: Representing Underwater Scenes with 3D Gaussian Splatting and a Physically Grounded Image Formation Model.

Daniel Yang, John J. Leonard, Yogesh A. Girdhar

CoRR, 2024

Open-Set Semantic Uncertainty Aware Metric-Semantic Graph Matching.

Kurran Singh, John J. Leonard

CoRR, 2024

ShapeICP: Iterative Category-level Object Pose and Shape Estimation from Depth.

Yihao Zhang, John J. Leonard

CoRR, 2024

LOSS-SLAM: Lightweight Open-Set Semantic Simultaneous Localization and Mapping.

Kurran Singh, Tim Magoun, John J. Leonard

CoRR, 2024

MAC: Maximizing Algebraic Connectivity for Graph Sparsification.

Kevin J. Doherty, Alan Papalia, Yewei Huang, David M. Rosen, Brendan J. Englot, John J. Leonard

CoRR, 2024

Opti-Acoustic Semantic SLAM with Unknown Objects in Underwater Environments.

Kurran Singh, Jungseok Hong, Nicholas R. Rypkema, John J. Leonard

Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2024

2023

Optimizing Fiducial Marker Placement for Improved Visual Localization.

Qiangqiang Huang, Joseph DeGol, Victor Fragoso, Sudipta N. Sinha, John J. Leonard

IEEE Robotics Autom. Lett., May, 2023

Incremental Non-Gaussian Inference for SLAM Using Normalizing Flows.

Qiangqiang Huang, Can Pu, Kasra Khosoussi, David M. Rosen, Dehann Fourie, Jonathan P. How, John J. Leonard

IEEE Trans. Robotics, April, 2023

GAME-UP: Game-Aware Mode Enumeration and Understanding for Trajectory Prediction.

Justin Lidard, Oswin So, Yanxia Zhang, Jonathan A. DeCastro, Xiongyi Cui, Xin Huang, Yen-Ling Kuo, John J. Leonard, Avinash Balachandran, Naomi Ehrich Leonard, Guy Rosman

CoRR, 2023

Probabilistic Volumetric Fusion for Dense Monocular SLAM.

Antoni Rosinol, John J. Leonard, Luca Carlone

Proceedings of the IEEE/CVF Winter Conference on Applications of Computer Vision, 2023

NeuSE: Neural SE(3)-Equivariant Embedding for Consistent Spatial Understanding with Objects.

Jiahui Fu, Yilun Du, Kurran Singh, Joshua B. Tenenbaum, John J. Leonard

Proceedings of the Robotics: Science and Systems XIX, Daegu, 2023

NeRF-SLAM: Real-Time Dense Monocular SLAM with Neural Radiance Fields.

Antoni Rosinol, John J. Leonard, Luca Carlone

IROS, 2023

GAPSLAM: Blending Gaussian Approximation and Particle Filters for Real-Time Non-Gaussian SLAM.

Qiangqiang Huang, John J. Leonard

IROS, 2023

Data-Association-Free Landmark-based SLAM.

Yihao Zhang, Odin A. Severinsen, John J. Leonard, Luca Carlone, Kasra Khosoussi

Proceedings of the IEEE International Conference on Robotics and Automation, 2023

SCORE: A Second-Order Conic Initialization for Range-Aided SLAM.

Alan Papalia, Joseph Morales, Kevin J. Doherty, David M. Rosen, John J. Leonard

Proceedings of the IEEE International Conference on Robotics and Automation, 2023

2022

AUV-Assisted Diver Navigation.

Jesse R. Pelletier, Brendan W. O'Neill, John J. Leonard, Lee Freitag, Eric Gallimore

IEEE Robotics Autom. Lett., 2022

Nested Sampling for Non-Gaussian Inference in SLAM Factor Graphs.

Qiangqiang Huang, Alan Papalia, John J. Leonard

IEEE Robotics Autom. Lett., 2022

PlaneSDF-Based Change Detection for Long-Term Dense Mapping.

Jiahui Fu, Chengyuan Lin, Yuichi Taguchi, Andrea Cohen, Yifu Zhang, Stephen Mylabathula, John J. Leonard

IEEE Robotics Autom. Lett., 2022

Discrete-Continuous Smoothing and Mapping.

Kevin J. Doherty, Ziqi Lu, Kurran Singh, John J. Leonard

IEEE Robotics Autom. Lett., 2022

SLAM-Supported Self-Training for 6D Object Pose Estimation.

Ziqi Lu, Yihao Zhang, Kevin J. Doherty, Odin Severinsen, Ethan Yang, John J. Leonard

Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2022

TIP: Task-Informed Motion Prediction for Intelligent Vehicles.

Xin Huang, Guy Rosman, Ashkan Jasour, Stephen G. McGill, John J. Leonard, Brian C. Williams

Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2022

Robust Change Detection Based on Neural Descriptor Fields.

Jiahui Fu, Yilun Du, Kurran Singh, Joshua B. Tenenbaum, John J. Leonard

Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2022

Spectral Measurement Sparsification for Pose-Graph SLAM.

Kevin J. Doherty, David M. Rosen, John J. Leonard

Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2022

Prioritized Planning for Cooperative Range-Only Localization in Multi-Robot Networks.

Alan Papalia, Nicole Thumma, John J. Leonard

Proceedings of the 2022 International Conference on Robotics and Automation, 2022

Trajectory Prediction with Linguistic Representations.

Yen-Ling Kuo, Xin Huang, Andrei Barbu, Stephen G. McGill, Boris Katz, John J. Leonard, Guy Rosman

Proceedings of the 2022 International Conference on Robotics and Automation, 2022

HYPER: Learned Hybrid Trajectory Prediction via Factored Inference and Adaptive Sampling.

Xin Huang, Guy Rosman, Igor Gilitschenski, Ashkan Jasour, Stephen G. McGill, John J. Leonard, Brian C. Williams

Proceedings of the 2022 International Conference on Robotics and Automation, 2022

Performance Guarantees for Spectral Initialization in Rotation Averaging and Pose-Graph SLAM.

Kevin J. Doherty, David M. Rosen, John J. Leonard

Proceedings of the 2022 International Conference on Robotics and Automation, 2022

2021

CARPAL: Confidence-Aware Intent Recognition for Parallel Autonomy.

Xin Huang, Stephen G. McGill, Jonathan A. DeCastro, Luke Fletcher, John J. Leonard, Brian C. Williams, Guy Rosman

IEEE Robotics Autom. Lett., 2021

TIP: Task-Informed Motion Prediction for Intelligent Systems.

Xin Huang, Guy Rosman, Ashkan Jasour, Stephen G. McGill, John J. Leonard, Brian C. Williams

CoRR, 2021

Online Incremental Non-Gaussian Inference for SLAM Using Normalizing Flows.

Qiangqiang Huang, Can Pu, Kasra Khosoussi, David M. Rosen, Dehann Fourie, Jonathan P. How, John J. Leonard

CoRR, 2021

On Reference Solutions to Non-Gaussian SLAM Factor Graphs.

Qiangqiang Huang, Alan Papalia, John J. Leonard

CoRR, 2021

A Front-End for Dense Monocular SLAM using a Learned Outlier Mask Prior.

Yihao Zhang, John J. Leonard

CoRR, 2021

Bootstrapped Self-Supervised Training with Monocular Video for Semantic Segmentation and Depth Estimation.

Yihao Zhang, John J. Leonard

CoRR, 2021

Advances in Inference and Representation for Simultaneous Localization and Mapping.

David M. Rosen, Kevin J. Doherty, Antonio Terán Espinoza, John J. Leonard

Annu. Rev. Control. Robotics Auton. Syst., 2021

Characterizing Marginalization and Incremental Operations on the Bayes Tree.

Dehann Fourie, Antonio Terán Espinoza, Michael Kaess, John J. Leonard

Proceedings of the Algorithmic Foundations of Robotics XIV, 2021

Bootstrapped Self-Supervised Training with Monocular Video for Semantic Segmentation and Depth Estimation.

Yihao Zhang, John J. Leonard

Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2021

Consensus-Informed Optimization Over Mixtures for Ambiguity-Aware Object SLAM.

Ziqi Lu, Qiangqiang Huang, Kevin J. Doherty, John J. Leonard

Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2021

A Multi-Hypothesis Approach to Pose Ambiguity in Object-Based SLAM.

Jiahui Fu, Qiangqiang Huang, Kevin J. Doherty, Yue Wang, John J. Leonard

Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2021

A Front-End for Dense Monocular SLAM using a Learned Outlier Mask Prior.

Yihao Zhang, John J. Leonard

Proceedings of the IEEE International Conference on Robotics and Automation, 2021

NF-iSAM: Incremental Smoothing and Mapping via Normalizing Flows.

Qiangqiang Huang, Can Pu, Dehann Fourie, Kasra Khosoussi, Jonathan P. How, John J. Leonard

Proceedings of the IEEE International Conference on Robotics and Automation, 2021

Lidar-Monocular Surface Reconstruction Using Line Segments.

Victor Amblard, Timothy P. Osedach, Arnaud Croux, Andrew Speck, John J. Leonard

Proceedings of the IEEE International Conference on Robotics and Automation, 2021

MAAD: A Model and Dataset for "Attended Awareness" in Driving.

Deepak E. Gopinath, Guy Rosman, Simon Stent, Katsuya Terahata, Luke Fletcher, Brenna Argall, John J. Leonard

Proceedings of the IEEE/CVF International Conference on Computer Vision Workshops, 2021

2020

DiversityGAN: Diversity-Aware Vehicle Motion Prediction via Latent Semantic Sampling.

Xin Huang, Stephen G. McGill, Jonathan A. DeCastro, Luke Fletcher, John J. Leonard, Brian C. Williams, Guy Rosman

IEEE Robotics Autom. Lett., 2020

Network Localization Based Planning for Autonomous Underwater Vehicles with Inter-Vehicle Ranging.

Alan Papalia, John J. Leonard

CoRR, 2020

Variational Filtering with Copula Models for SLAM.

John D. Martin, Kevin J. Doherty, Caralyn Cyr, Brendan J. Englot, John J. Leonard

Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2020

Towards Real-Time Non-Gaussian SLAM for Underdetermined Navigation.

Dehann Fourie, Nicholas R. Rypkema, Pedro Vaz Teixeira, Samuel Claassens, Erin M. Fischell, John J. Leonard

Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2020

Probabilistic Data Association via Mixture Models for Robust Semantic SLAM.

Kevin J. Doherty, David P. Baxter, Edward Schneeweiss, John J. Leonard

Proceedings of the 2020 IEEE International Conference on Robotics and Automation, 2020

2019

Where Do We Go From Here? Debates on the Future of Robotics Research at ICRA 2019 [From the Field].

Lee E. Clement, Valentin Peretroukhin, Matthew Giamou, John J. Leonard, Hadas Kress-Gazit, Jonathan P. How, Michael Milford, Oliver Brock, Ryan Gariepy, Nicholas Roy, Hallie Siegel, Ludovic Righetti, Aude Billard, Jonathan Kelly

IEEE Robotics Autom. Mag., 2019

Probabilistic Risk Metrics for Navigating Occluded Intersections.

Stephen G. McGill, Guy Rosman, Teddy Ort, Alyssa Pierson, Igor Gilitschenski, Brandon Araki, Luke Fletcher, Sertac Karaman, Daniela Rus, John J. Leonard

IEEE Robotics Autom. Lett., 2019

SE-Sync: A certifiably correct algorithm for synchronization over the special Euclidean group.

David M. Rosen, Luca Carlone, Afonso S. Bandeira, John J. Leonard

Int. J. Robotics Res., 2019

Diversity-Aware Vehicle Motion Prediction via Latent Semantic Sampling.

Xin Huang, Stephen G. McGill, Jonathan A. DeCastro, Brian C. Williams, Luke Fletcher, John J. Leonard, Guy Rosman

CoRR, 2019

Self-Supervised Visual Place Recognition Learning in Mobile Robots.

Sudeep Pillai, John J. Leonard

CoRR, 2019

Quantifying protocol evaluation for autonomous collision avoidance - Toward establishing COLREGS compliance metrics.

Kyle Woerner, Michael R. Benjamin, Michael Novitzky, John J. Leonard

Auton. Robots, 2019

Dense, Sonar-based Reconstruction of Underwater Scenes.

Pedro V. Teixeira, Dehann Fourie, Michael Kaess, John J. Leonard

Proceedings of the 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2019

Non-parametric Mixed-Manifold Products using Multiscale Kernel Densities.

Dehann Fourie, Pedro Vaz Teixeira, John J. Leonard

Proceedings of the 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2019

Multimodal Semantic SLAM with Probabilistic Data Association.

Kevin J. Doherty, Dehann Fourie, John J. Leonard

Proceedings of the International Conference on Robotics and Automation, 2019

Non-Gaussian SLAM utilizing Synthetic Aperture Sonar.

Mei Yi Cheung, Dehann Fourie, Nicholas R. Rypkema, Pedro Vaz Teixeira, Henrik R. Schmidt, John J. Leonard

Proceedings of the International Conference on Robotics and Automation, 2019

2018

The Manhattan Frame Model - Manhattan World Inference in the Space of Surface Normals.

Julian Straub, Oren Freifeld, Guy Rosman, John J. Leonard, John W. Fisher III

IEEE Trans. Pattern Anal. Mach. Intell., 2018

Mapping and determining the center of mass of a rotating object using a moving observer.

Timothy P. Setterfield, David W. Miller, John J. Leonard, Alvar Saenz-Otero

Int. J. Robotics Res., 2018

Probabilistic cooperative mobile robot area coverage and its application to autonomous seabed mapping.

Liam Paull, Mae L. Seto, John J. Leonard, Howard Li

Int. J. Robotics Res., 2018

Multibeam Data Processing for Underwater Mapping.

Pedro V. Teixeira, Franz S. Hover, John J. Leonard, Michael Kaess

Proceedings of the 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2018

Electro-Optical System for Evaluation of Dynamic Inductive Wireless Power Transfer to Electric Vehicles.

Luiz A. Lisboa Cardoso, Dehann Fourie, John J. Leonard, Andrés A. Nogueiras Meléndez, João Luiz Afonso

Proceedings of the Green Energy and Networking, 2018

2017

Two-Stage Focused Inference for Resource-Constrained Minimal Collision Navigation.

Beipeng Mu, Liam Paull, Ali-Akbar Agha-Mohammadi, John J. Leonard, Jonathan P. How

IEEE Trans. Robotics, 2017

Sparse optimization for robust and efficient loop closing.

Yasir Latif, Guoquan Huang, John J. Leonard, José Neira

Robotics Auton. Syst., 2017

Direction-Aware Semi-Dense SLAM.

Julian Straub, Randi Cabezas, John J. Leonard, John W. Fisher III

CoRR, 2017

A parallel autonomy research platform.

Felix Naser, David L. Dorhout, Stephen Proulx, Scott Drew Pendleton, Hans Andersen, Wilko Schwarting, Liam Paull, Javier Alonso-Mora, Marcelo H. Ang, Sertac Karaman, Russ Tedrake, John J. Leonard, Daniela Rus

Proceedings of the IEEE Intelligent Vehicles Symposium, 2017

Towards visual ego-motion learning in robots.

Sudeep Pillai, John J. Leonard

Proceedings of the 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2017

Duckietown: An open, inexpensive and flexible platform for autonomy education and research.

Liam Paull, Jacopo Tani, Heejin Ahn, Javier Alonso-Mora, Luca Carlone, Michal Cáp, Yu Fan Chen, Changhyun Choi, Jeff Dusek, Yajun Fang, Daniel Hoehener, Shih-Yuan Liu, Michael Novitzky, Igor Franzoni Okuyama, Jason Pazis, Guy Rosman, Valerio Varricchio, Hsueh-Cheng Wang, Dmitry S. Yershov, Hang Zhao, Michael Benjamin, Christopher Carr, Maria T. Zuber, Sertac Karaman, Emilio Frazzoli, Domitilla Del Vecchio, Daniela Rus, Jonathan P. How, John J. Leonard, Andrea Censi

Proceedings of the 2017 IEEE International Conference on Robotics and Automation, 2017

SLAMinDB: Centralized graph databases for mobile robotics.

Dehann Fourie, Samuel Claassens, Sudeep Pillai, Roxana Mata, John J. Leonard

Proceedings of the 2017 IEEE International Conference on Robotics and Automation, 2017

2016

Simultaneous Localization and Mapping.

Cyrill Stachniss, John J. Leonard, Sebastian Thrun

Proceedings of the Springer Handbook of Robotics, 2016

Visual Place Recognition: A Survey.

Stephanie M. Lowry, Niko Sünderhauf, Paul Newman, John J. Leonard, David D. Cox, Peter I. Corke, Michael J. Milford

IEEE Trans. Robotics, 2016

Past, Present, and Future of Simultaneous Localization and Mapping: Toward the Robust-Perception Age.

Cesar Cadena, Luca Carlone, Henry Carrillo, Yasir Latif, Davide Scaramuzza, José Neira, Ian Reid, John J. Leonard

IEEE Trans. Robotics, 2016

Simultaneous Localization And Mapping: Present, Future, and the Robust-Perception Age.

Cesar Cadena, Luca Carlone, Henry Carrillo, Yasir Latif, Davide Scaramuzza, José Neira, Ian D. Reid, John J. Leonard

CoRR, 2016

A Certifiably Correct Algorithm for Synchronization over the Special Euclidean Group.

David M. Rosen, Luca Carlone, Afonso S. Bandeira, John J. Leonard

Proceedings of the Algorithmic Foundations of Robotics XII, 2016

Underwater inspection using sonar-based volumetric submaps.

Pedro V. Teixeira, Michael Kaess, Franz S. Hover, John J. Leonard

Proceedings of the 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2016

SLAM with objects using a nonparametric pose graph.

Beipeng Mu, Shih-Yuan Liu, Liam Paull, John J. Leonard, Jonathan P. How

Proceedings of the 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2016

A nonparametric belief solution to the Bayes tree.

Dehann Fourie, John J. Leonard, Michael Kaess

Proceedings of the 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2016

Towards lifelong feature-based mapping in semi-static environments.

David M. Rosen, Julian Mason, John J. Leonard

Proceedings of the 2016 IEEE International Conference on Robotics and Automation, 2016

High-performance and tunable stereo reconstruction.

Sudeep Pillai, Srikumar Ramalingam, John J. Leonard

Proceedings of the 2016 IEEE International Conference on Robotics and Automation, 2016

A unified resource-constrained framework for graph SLAM.

Liam Paull, Guoquan Huang, John J. Leonard

Proceedings of the 2016 IEEE International Conference on Robotics and Automation, 2016

Duckietown: An Innovative Way to Teach Autonomy.

Jacopo Tani, Liam Paull, Maria T. Zuber, Daniela Rus, Jonathan P. How, John J. Leonard, Andrea Censi

Proceedings of the Educational Robotics in the Makers Era, 2016

Information-based Active SLAM via topological feature graphs.

Beipeng Mu, Matthew Giamou, Liam Paull, Ali-akbar Agha-mohammadi, John J. Leonard, Jonathan P. How

Proceedings of the 55th IEEE Conference on Decision and Control, 2016

2015

Consistent unscented incremental smoothing for multi-robot cooperative target tracking.

Guoquan Huang, Michael Kaess, John J. Leonard

Robotics Auton. Syst., 2015

Factor Graph Modeling of Rigid-body Dynamics for Localization, Mapping, and Parameter Estimation of a Spinning Object in Space.

Brent E. Tweddle, Alvar Saenz-Otero, John J. Leonard, David W. Miller

J. Field Robotics, 2015

Real-time large-scale dense RGB-D SLAM with volumetric fusion.

Thomas Whelan, Michael Kaess, Hordur Johannsson, Maurice F. Fallon, John J. Leonard, John McDonald

Int. J. Robotics Res., 2015

Multi-Volume High Resolution RGB-D Mapping with Dynamic Volume Placement.

Michael Salvato, Ross Finman, John J. Leonard

CoRR, 2015

Information-based Active SLAM via Topological Feature Graphs.

Beipeng Mu, Liam Paull, Ali-akbar Agha-mohammadi, John J. Leonard, Jonathan P. How

CoRR, 2015

Monocular SLAM Supported Object Recognition.

Sudeep Pillai, John J. Leonard

Proceedings of the Robotics: Science and Systems XI, Sapienza University of Rome, 2015

Two-Stage Focused Inference for Resource-Constrained Collision-Free Navigation.

Beipeng Mu, Ali-akbar Agha-mohammadi, Liam Paull, Matthew C. Graham, Jonathan P. How, John J. Leonard

Proceedings of the Robotics: Science and Systems XI, Sapienza University of Rome, 2015

Optimal-State-Constraint EKF for Visual-Inertial Navigation.

Guoquan Huang, Kevin Eckenhoff, John J. Leonard

Proceedings of the Robotics Research, 2015

Shape and pose recovery from planar pushing.

Kuan-Ting Yu, John J. Leonard, Alberto Rodriguez

Proceedings of the 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2015

Bridging text spotting and SLAM with junction features.

Hsueh-Cheng Wang, Chelsea Finn, Liam Paull, Michael Kaess, Ruth Rosenholtz, Seth J. Teller, John J. Leonard

Proceedings of the 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2015

Real-time manhattan world rotation estimation in 3D.

Julian Straub, Nishchal Bhandari, John J. Leonard, John W. Fisher III

Proceedings of the 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2015

Lagrangian duality in 3D SLAM: Verification techniques and optimal solutions.

Luca Carlone, David M. Rosen, Giuseppe Carlo Calafiore, John J. Leonard, Frank Dellaert

Proceedings of the 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2015

Location utility-based map reduction.

Ted J. Steiner, Guoquan Huang, John J. Leonard

Proceedings of the IEEE International Conference on Robotics and Automation, 2015

A convex relaxation for approximate global optimization in simultaneous localization and mapping.

David M. Rosen, Charles DuHadway, John J. Leonard

Proceedings of the IEEE International Conference on Robotics and Automation, 2015

Communication-constrained multi-AUV cooperative SLAM.

Liam Paull, Guoquan Huang, Mae L. Seto, John J. Leonard

Proceedings of the IEEE International Conference on Robotics and Automation, 2015

Appearance-based SLAM in a network space.

Padraig Corcoran, Ted J. Steiner, Michela Bertolotto, John J. Leonard

Proceedings of the IEEE International Conference on Robotics and Automation, 2015

An Overview of MIT-Olin's Approach in the AUVSI RobotX Competition.

Arthur Anderson, Erin M. Fischell, Thom Howe, Tom Miller, Arturo Parrales-Salinas, Nick Rypkema, David Barrett, Michael Benjamin, Alex Brennen, Michael DeFillipo, John J. Leonard, Liam Paull, Henrik R. Schmidt, Nick Wang, Alon Yaari

Proceedings of the Field and Service Robotics, 2015

2014

RISE: An Incremental Trust-Region Method for Robust Online Sparse Least-Squares Estimation.

David M. Rosen, Michael Kaess, John J. Leonard

IEEE Trans. Robotics, 2014

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, Frank Dellaert

Int. J. Robotics Res., 2014

An Online Sparsity-Cognizant Loop-Closure Algorithm for Visual Navigation.

Yasir Latif, Guoquan Huang, John J. Leonard, José Neira

Proceedings of the Robotics: Science and Systems X, 2014

Optimized visibility motion planning for target tracking and localization.

Hongchuan Wei, Wenjie Lu, Pingping Zhu, Guoquan Huang, John J. Leonard, Silvia Ferrari

Proceedings of the 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2014

Experimental evaluation of on-board, visual mapping of an object spinning in micro-gravity aboard the International Space Station.

Brent E. Tweddle, Timothy P. Setterfield, Alvar Saenz-Otero, David W. Miller, John J. Leonard

Proceedings of the 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2014

Decentralized cooperative trajectory estimation for autonomous underwater vehicles.

Liam Paull, Mae L. Seto, John J. Leonard

Proceedings of the 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2014

Inference over heterogeneous finite-/infinite-dimensional systems using factor graphs and Gaussian processes.

David M. Rosen, Guoquan Huang, John J. Leonard

Proceedings of the 2014 IEEE International Conference on Robotics and Automation, 2014

Towards consistent visual-inertial navigation.

Guoquan Huang, Michael Kaess, John J. Leonard

Proceedings of the 2014 IEEE International Conference on Robotics and Automation, 2014

Efficient incremental map segmentation in dense RGB-D maps.

Ross Finman, Thomas Whelan, Michael Kaess, John J. Leonard

Proceedings of the 2014 IEEE International Conference on Robotics and Automation, 2014

Cognitively adequate topological robot localization and mapping.

Padraig Corcoran, Michela Bertolotto, John J. Leonard

Proceedings of the Sixth ACM SIGSPATIAL International Workshop on Indoor Spatial Awareness, 2014

A Mixture of Manhattan Frames: Beyond the Manhattan World.

Julian Straub, Guy Rosman, Oren Freifeld, John J. Leonard, John W. Fisher III

Proceedings of the 2014 IEEE Conference on Computer Vision and Pattern Recognition, 2014

2013

Real-time 6-DOF multi-session visual SLAM over large-scale environments.

John McDonald, Michael Kaess, Cesar Dario Cadena Lerma, José Neira, John J. Leonard

Robotics Auton. Syst., 2013

The MIT Stata Center dataset.

Maurice F. Fallon, Hordur Johannsson, Michael Kaess, John J. Leonard

Int. J. Robotics Res., 2013

Deformation-based loop closure for large scale dense RGB-D SLAM.

Thomas Whelan, Michael Kaess, John J. Leonard, John McDonald

Proceedings of the 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2013

Robust real-time visual odometry for dense RGB-D mapping.

Thomas Whelan, Hordur Johannsson, Michael Kaess, John J. Leonard, John McDonald

Proceedings of the 2013 IEEE International Conference on Robotics and Automation, 2013

Robust incremental online inference over sparse factor graphs: Beyond the Gaussian case.

David M. Rosen, Michael Kaess, John J. Leonard

Proceedings of the 2013 IEEE International Conference on Robotics and Automation, 2013

Temporally scalable visual SLAM using a reduced pose graph.

Hordur Johannsson, Michael Kaess, Maurice F. Fallon, John J. Leonard

Proceedings of the 2013 IEEE International Conference on Robotics and Automation, 2013

Analytically-selected multi-hypothesis incremental MAP estimation.

Guoquan Huang, Michael Kaess, John J. Leonard, Stergios I. Roumeliotis

Proceedings of the IEEE International Conference on Acoustics, 2013

Mapping 3D Underwater Environments with Smoothed Submaps.

Mark VanMiddlesworth, Michael Kaess, Franz Hover, John J. Leonard

Proceedings of the Field and Service Robotics, 2013

Unscented iSAM: A consistent incremental solution to cooperative localization and target tracking.

Guoquan Huang, Robert Truax, Michael Kaess, John J. Leonard

Proceedings of the 2013 European Conference on Mobile Robots, 2013

Consistent sparsification for graph optimization.

Guoquan Huang, Michael Kaess, John J. Leonard

Proceedings of the 2013 European Conference on Mobile Robots, 2013

Toward lifelong object segmentation from change detection in dense RGB-D maps.

Ross Finman, Thomas Whelan, Michael Kaess, John J. Leonard

Proceedings of the 2013 European Conference on Mobile Robots, 2013

2012

iSAM2: Incremental smoothing and mapping using the Bayes tree.

Michael Kaess, Hordur Johannsson, Richard Roberts, Viorela Ila, John J. Leonard, Frank Dellaert

Int. J. Robotics Res., 2012

Advanced perception, navigation and planning for autonomous in-water ship hull inspection.

Franz S. Hover, Ryan M. Eustice, Ayoung Kim, Brendan J. Englot, Hordur Johannsson, Michael Kaess, John J. Leonard

Int. J. Robotics Res., 2012

Dynamic pose graph SLAM: Long-term mapping in low dynamic environments.

Aisha Walcott-Bryant, Michael Kaess, Hordur Johannsson, John J. Leonard

Proceedings of the 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2012

Sensor fusion for flexible human-portable building-scale mapping.

Maurice F. Fallon, Hordur Johannsson, Jonathan Brookshire, Seth J. Teller, John J. Leonard

Proceedings of the 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2012

Dynamic positioning of beacon vehicles for cooperative underwater navigation.

Alexander Bahr, John J. Leonard, Alcherio Martinoli

Proceedings of the 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2012

An incremental trust-region method for Robust online sparse least-squares estimation.

David M. Rosen, Michael Kaess, John J. Leonard

Proceedings of the IEEE International Conference on Robotics and Automation, 2012

Efficient scene simulation for robust monte carlo localization using an RGB-D camera.

Maurice F. Fallon, Hordur Johannsson, John J. Leonard

Proceedings of the IEEE International Conference on Robotics and Automation, 2012

Concurrent filtering and smoothing.

Michael Kaess, Stephen Williams, Vadim Indelman, Richard Roberts, John J. Leonard, Frank Dellaert

Proceedings of the 15th International Conference on Information Fusion, 2012

2011

Using prioritized relaxations to locate objects in points clouds for manipulation.

Robert Truax, Robert Platt Jr., John J. Leonard

Proceedings of the IEEE International Conference on Robotics and Automation, 2011

iSAM2: Incremental smoothing and mapping with fluid relinearization and incremental variable reordering.

Michael Kaess, Hordur Johannsson, Richard Roberts, Viorela Ila, John J. Leonard, Frank Dellaert

Proceedings of the IEEE International Conference on Robotics and Automation, 2011

Efficient AUV navigation fusing acoustic ranging and side-scan sonar.

Maurice F. Fallon, Michael Kaess, Hordur Johannsson, John J. Leonard

Proceedings of the IEEE International Conference on Robotics and Automation, 2011

6-DOF Multi-session Visual SLAM using Anchor Nodes.

John McDonald, Michael Kaess, Cesar Dario Cadena Lerma, José Neira, John J. Leonard

Proceedings of the 5^th European Conference on Mobile Robots, 2011

2010

Nested autonomy for unmanned marine vehicles with MOOS-IvP.

Michael R. Benjamin, Henrik Schmidt, Paul M. Newman, John J. Leonard

J. Field Robotics, 2010

A High-rate, Heterogeneous Data Set From The DARPA Urban Challenge.

Albert S. Huang, Matthew E. Antone, Edwin Olson, Luke Fletcher, David Moore, Seth J. Teller, John J. Leonard

Int. J. Robotics Res., 2010

Cooperative AUV Navigation using a Single Maneuvering Surface Craft.

Maurice F. Fallon, Georgios Papadopoulos, John J. Leonard, Nicholas M. Patrikalakis

Int. J. Robotics Res., 2010

Mapping Complex Marine Environments with Autonomous Surface Craft.

Jacques C. Leedekerken, Maurice F. Fallon, John J. Leonard

Proceedings of the Experimental Robotics, 2010

Cooperative localization of marine vehicles using nonlinear state estimation.

Georgios Papadopoulos, Maurice F. Fallon, John J. Leonard, Nicholas M. Patrikalakis

Proceedings of the 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2010

Imaging sonar-aided navigation for autonomous underwater harbor surveillance.

Hordur Johannsson, Michael Kaess, Brendan J. Englot, Franz Hover, John J. Leonard

Proceedings of the 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2010

Multiple relative pose graphs for robust cooperative mapping.

Been Kim, Michael Kaess, Luke Fletcher, John J. Leonard, Abraham Bachrach, Nicholas Roy, Seth J. Teller

Proceedings of the IEEE International Conference on Robotics and Automation, 2010

A measurement distribution framework for cooperative navigation using multiple AUVs.

Maurice F. Fallon, Georgios Papadopoulos, John J. Leonard

Proceedings of the IEEE International Conference on Robotics and Automation, 2010

2009

Cooperative Localization for Autonomous Underwater Vehicles.

Alexander Bahr, John J. Leonard, Maurice F. Fallon

Int. J. Robotics Res., 2009

Autonomy through SLAM for an Underwater Robot.

John Folkesson, John J. Leonard

Proceedings of the Robotics Research - The 14th International Symposium, 2009

Simultaneous local and global state estimation for robotic navigation.

David C. Moore, Albert S. Huang, Matthew R. Walter, Edwin Olson, Luke Fletcher, John J. Leonard, Seth J. Teller

Proceedings of the 2009 IEEE International Conference on Robotics and Automation, 2009

Consistent cooperative localization.

Alexander Bahr, Matthew R. Walter, John J. Leonard

Proceedings of the 2009 IEEE International Conference on Robotics and Automation, 2009

Cooperative AUV Navigation Using a Single Surface Craft.

Maurice F. Fallon, Georgios Papadopoulos, John J. Leonard

Proceedings of the Field and Service Robotics, Results of the 7th International Conference, 2009

2008

Simultaneous Localization and Mapping.

Sebastian Thrun, John J. Leonard

Proceedings of the Springer Handbook of Robotics, 2008

A perception-driven autonomous urban vehicle.

John J. Leonard, Jonathan P. How, Seth J. Teller, Mitch Berger, Stefan Campbell, Gaston A. Fiore, Luke Fletcher, Emilio Frazzoli, Albert S. Huang, Sertac Karaman, Olivier Koch, Yoshiaki Kuwata, David Moore, Edwin Olson, Steve Peters, Justin Teo, Robert Truax, Matthew R. Walter, David Barrett, Alexander Epstein, Keoni Maheloni, Katy Moyer, Troy Jones, Ryan Buckley, Matthew E. Antone, Robert Galejs, Siddhartha Krishnamurthy, Jonathan Williams

J. Field Robotics, 2008

The MIT-Cornell collision and why it happened.

Luke Fletcher, Seth J. Teller, Edwin Olson, David Moore, Yoshiaki Kuwata, Jonathan P. How, John J. Leonard, Isaac Miller, Mark E. Campbell, Dan Huttenlocher, Aaron Nathan, Frank-Robert Kline

J. Field Robotics, 2008

SLAM for ship hull inspection using exactly sparse extended information filters.

Matthew R. Walter, Franz Hover, John J. Leonard

Proceedings of the 2008 IEEE International Conference on Robotics and Automation, 2008

2007

Exactly Sparse Extended Information Filters for Feature-based SLAM.

Matthew R. Walter, Ryan Eustice, John J. Leonard

Int. J. Robotics Res., 2007

Spatially-Adaptive Learning Rates for Online Incremental SLAM.

Edwin Olson, John J. Leonard, Seth J. Teller

Proceedings of the Robotics: Science and Systems III, 2007

Feature tracking for underwater navigation using sonar.

John Folkesson, John J. Leonard, Jacques Leederkerken, Rob Williams

Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, October 29, 2007

A Feature Based Navigation System for an Autonomous Underwater Robot.

John Folkesson, Jacques Leederkerken, Rob Williams, Andrew Patrikalakis, John J. Leonard

Proceedings of the Field and Service Robotics, Results of the 6th International Conference, 2007

Minimizing Trilateration Errors in the Presence of Uncertain Landmark Positions.

Alexander Bahr, John J. Leonard

Proceedings of the 3rd European Conference on Mobile Robots, 2007

2006

Exactly Sparse Delayed-State Filters for View-Based SLAM.

Ryan M. Eustice, Hanumant Singh, John J. Leonard

IEEE Trans. Robotics, 2006

A method for protocol-based collision avoidance between autonomous marine surface craft.

Michael R. Benjamin, John J. Leonard, Joseph A. Curcio, Paul M. Newman

J. Field Robotics, 2006

Visually Mapping the RMS Titanic: Conservative Covariance Estimates for SLAM Information Filters.

Ryan Eustice, Hanumant Singh, John J. Leonard, Matthew R. Walter

Int. J. Robotics Res., 2006

Passive Mobile Robot Localization within a Fixed Beacon Field.

Carrick Detweiler, John J. Leonard, Daniela Rus, Seth J. Teller

Proceedings of the Algorithmic Foundation of Robotics VII, 2006

Cooperative Localization for Autonomous Underwater Vehicles.

Alexander Bahr, John J. Leonard

Proceedings of the Experimental Robotics, 2006

Adaptive Control of Heterogeneous Marine Sensor Platforms in an Autonomous Sensor Network.

Donald P. Eickstedt, Michael R. Benjamin, Henrik Schmidt, John J. Leonard

Proceedings of the 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2006

Fast Iterative Alignment of Pose Graphs with Poor Initial Estimates.

Edwin Olson, John J. Leonard, Seth J. Teller

Proceedings of the 2006 IEEE International Conference on Robotics and Automation, 2006

Navigation of Unmanned Marine Vehicles in Accordance with the Rules of the Road.

Michael R. Benjamin, Joseph A. Curcio, John J. Leonard, Paul M. Newman

Proceedings of the 2006 IEEE International Conference on Robotics and Automation, 2006

2005

Single-Cluster Spectral Graph Partitioning for Robotics Applications.

Edwin Olson, Matthew R. Walter, Seth J. Teller, John J. Leonard

Proceedings of the Robotics: Science and Systems I, 2005

Visually Navigating the RMS Titanic with SLAM Information Filters.

Ryan Eustice, Hanumant Singh, John J. Leonard, Matthew R. Walter, Robert Ballard

Proceedings of the Robotics: Science and Systems I, 2005

A Provably Consistent Method for Imposing Sparsity in Feature-Based SLAM Information Filters.

Matthew R. Walter, Ryan Eustice, John J. Leonard

Proceedings of the Robotics Research: Results of the 12th International Symposium, 2005

Sparse extended information filters: insights into sparsification.

Ryan Eustice, Matthew R. Walter, John J. Leonard

Proceedings of the 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2005

Exactly Sparse Delayed-State Filters.

Ryan M. Eustice, Hanumant Singh, John J. Leonard

Proceedings of the 2005 IEEE International Conference on Robotics and Automation, 2005

2004

Simultaneous Localization and Map Building in Large-Scale Cyclic Environments Using the Atlas Framework.

Michael Bosse, Paul M. Newman, John J. Leonard, Seth J. Teller

Int. J. Robotics Res., 2004

Robust distributed network localization with noisy range measurements.

David C. Moore, John J. Leonard, Daniela Rus, Seth J. Teller

Proceedings of the 2nd International Conference on Embedded Networked Sensor Systems, 2004

Trajectory Sonar Perception in the Ligurian Sea.

Richard J. Rikoski, John J. Leonard, Paul M. Newman, Henrik Schmidt

Proceedings of the Experimental Robotics IX, 2004

2003

Vanishing points and three-dimensional lines from omni-directional video.

Michael Bosse, Richard J. Rikoski, John J. Leonard, Seth J. Teller

Vis. Comput., 2003

Towards Constant-Time SLAM on an Autonomous Underwater Vehicle Using Synthetic Aperture Sonar.

Paul M. Newman, John J. Leonard, Richard J. Rikoski

Proceedings of the Robotics Research, The Eleventh International Symposium, 2003

Consistent, Convergent, and Constant-Time SLAM.

John J. Leonard, Paul M. Newman

Proceedings of the IJCAI-03, 2003

Trajectory sonar perceptio.

Richard J. Rikoski, John J. Leonard

Proceedings of the 2003 IEEE International Conference on Robotics and Automation, 2003

Pure range-only sub-sea SLAM.

Paul M. Newman, John J. Leonard

Proceedings of the 2003 IEEE International Conference on Robotics and Automation, 2003

Autonomous feature-based exploration.

Paul M. Newman, Michael Bosse, John J. Leonard

Proceedings of the 2003 IEEE International Conference on Robotics and Automation, 2003

An atlas framework for scalable mapping.

Michael Bosse, Paul M. Newman, John J. Leonard, Martin Soika, Wendelin Feiten, Seth J. Teller

Proceedings of the 2003 IEEE International Conference on Robotics and Automation, 2003

2002

Robust Mapping and Localization in Indoor Environments Using Sonar Data.

Juan D. Tardós, José Neira, Paul M. Newman, John J. Leonard

Int. J. Robotics Res., 2002

Mapping Partially Observable Features from Multiple Uncertain Vantage Points.

John J. Leonard, Richard J. Rikoski, Paul M. Newman, Michael Bosse

Int. J. Robotics Res., 2002

Stochastic Mapping Frameworks.

Richard J. Rikoski, John J. Leonard, Paul M. Newman

Proceedings of the 2002 IEEE International Conference on Robotics and Automation, 2002

Explore and Return: Experimental Validation of Real-Time Concurrent Mapping and Localization.

Paul M. Newman, John J. Leonard, Juan D. Tardós, José Neira

Proceedings of the 2002 IEEE International Conference on Robotics and Automation, 2002

Cooperative Concurrent Mapping and Localization.

John W. Fenwick, Paul M. Newman, John J. Leonard

Proceedings of the 2002 IEEE International Conference on Robotics and Automation, 2002

Vanishing points and 3D lines from omnidirectional video.

Michael Bosse, Richard J. Rikoski, John J. Leonard, Seth J. Teller

Proceedings of the 2002 International Conference on Image Processing, 2002

2001

Stochastic mapping using forward look sonar.

John J. Leonard, Robert N. Carpenter, Hans Jacob S. Feder

Robotica, 2001

Towards Robust Data Association and Feature Modeling for Concurrent Mapping and Localization.

John J. Leonard, Paul M. Newman, Richard J. Rikoski, José Neira, Juan D. Tardós

Proceedings of the Robotics Research, The Tenth International Symposium, 2001

2000

Mobile Robot Relocation from Echolocation Constraints.

Jong Hwan Lim, John J. Leonard

IEEE Trans. Pattern Anal. Mach. Intell., 2000

Incorporation of Delayed Decision Making into Stochastic Mapping.

John J. Leonard, Richard J. Rikoski

Proceedings of the Experimental Robotics VII [ISER 2000, 2000

1999

Adaptive Mobile Robot Navigation and Mapping.

Hans Jacob S. Feder, John J. Leonard, Christopher M. Smith

Int. J. Robotics Res., 1999

Experimental Analysis of Adaptive Concurrent Mapping and Localization Using Sonar.

John J. Leonard, Hans Jacob S. Feder

Proceedings of the Experimental Robotics VI, 1999

Mobile robot relocation using echolocation constraints.

Jong Hwan Lim, John J. Leonard, Seung Kyun Kang

Proceedings of the Proceedings 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human and Environment Friendly Robots with High Intelligence and Emotional Quotients, 1999

1998

Comparison of fix computation and filtering for autonomous acoustic navigation.

Jerome Vaganay, James G. Bellingham, John J. Leonard

Int. J. Syst. Sci., 1998

Adaptive concurrent mapping and localization using sonar.

Hans Jacob S. Feder, John J. Leonard, Christopher M. Smith

Proceedings of the Proceedings 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems. Innovations in Theory, 1998

1996

Outlier rejection for autonomous acoustic navigation.

Jerome Vaganay, John J. Leonard, James G. Bellingham

Proceedings of the 1996 IEEE International Conference on Robotics and Automation, 1996

1995

Underwater Sonar Data Fusion Using Efficient Multiple Hypothesis Algorithm.

John J. Leonard, Bradley A. Moran, Ingemar J. Cox, Matthew L. Miller

Proceedings of the 1995 International Conference on Robotics and Automation, 1995

1994

Modeling a Dynamic Environment Using a Bayesian Multiple Hypothesis Approach.

Ingemar J. Cox, John J. Leonard

Artif. Intell., 1994

1991

Mobile robot localization by tracking geometric beacons.

John J. Leonard, Hugh F. Durrant-Whyte

IEEE Trans. Robotics Autom., 1991

Simultaneous map building and localization for an autonomous mobile robot.

John J. Leonard, Hugh F. Durrant-Whyte

Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 1991

1990

Dynamic map building for autonomous mobile robot.

John J. Leonard, Hugh F. Durrant-Whyte, Ingemar J. Cox

Proceedings of the IEEE International Workshop on Intelligent Robots and Systems '90, 1990

1989

Navigation by Correlating Geometric Sensor Data.

Hugh F. Durrant-Whyte, John J. Leonard

Proceedings of the IEEE International Workshop on Intelligent Robots and Systems '89, 1989