Multi-Sensor SLAM with Online Self-Calibration and Change Detection. - Fernando Nobre; Christoffer R. Heckman; Gabe T. Sibley (ISER, 2016)

Drift-correcting self-calibration for visual-inertial SLAM. - Fernando Nobre; Michael Kasper; Christoffer R. Heckman (ICRA, 2017)

Reinforcement Learning for Assisted Visual-Inertial Robotic Calibration. - Fernando Nobre; Christoffer Heckman (ISRR, 2017)

Online Probabilistic Change Detection in Feature-Based Maps. - Fernando Nobre; Christoffer R. Heckman; Paul Ozog; Ryan W. Wolcott; Jeffrey M. Walls (ICRA, 2018)

FastCal: Robust Online Self-calibration for Robotic Systems. - Fernando Nobre; Christoffer R. Heckman (ISER, 2018)

Learning to calibrate: Reinforcement learning for guided calibration of visual-inertial rigs. - Fernando Nobre; Christoffer Heckman (Int. J. Robotics Res., 2019)

Unsupervised Metric Relocalization Using Transform Consistency Loss. - Mike Kasper; Fernando Nobre; Christoffer Heckman; Nima Keivan (CoRL, 2020)