Accurate on-line 3D occupancy grids using Manhattan world constraints. - Brian Peasley; Stanley T. Birchfield; Alexander Cunningham; Frank Dellaert (IROS, 2012)

Replacing Projective Data Association with Lucas-Kanade for KinectFusion. - Brian Peasley; Stan Birchfield (ICRA, 2013)

Fast and accurate PoseSLAM by combining relative and global state spaces. - Brian Peasley; Stan Birchfield (ICRA, 2014)

Reliable kinect-based navigation in large indoor environments. - Mihai Jalobeanu; Greg Shirakyan; Gershon Parent; Harsha Kikkeri; Brian Peasley; Ashley Feniello (ICRA, 2015)

RGBD Point Cloud Alignment Using Lucas-Kanade Data Association and Automatic Error Metric Selection. - Brian Peasley; Stan Birchfield (IEEE Trans. Robotics, 2015)