A practical 3D bearing-only SLAM algorithm. - Thomas Lemaire; Simon Lacroix; Joan Solà (IROS, 2005)

Undelayed initialization in bearing only SLAM. - Joan Solà; André Monin; Michel Devy; Thomas Lemaire (IROS, 2005)

BiCamSLAM: Two times mono is more than stereo. - Joan Solà; André Monin; Michel Devy (ICRA, 2007)

Large-Scale Visual Odometry for Rough Terrain. - Kurt Konolige; Motilal Agrawal; Joan Solà (ISRR, 2007)

Fusing Monocular Information in Multicamera SLAM. - Joan Solà; André Monin; Michel Devy; Teresa A. Vidal-Calleja (IEEE Trans. Robotics, 2008)

Reactive stepping to prevent falling for humanoids. - Mitsuharu Morisawa; Kensuke Harada; Shuuji Kajita; Kenji Kaneko; Joan Solà; Eiichi Yoshida; Nicolas Mansard; Kazuhito Yokoi; Jean-Paul Laumond (Humanoids, 2009)

A new efficient nonlinear filter based on support vector machines for image denoising. - David A. Marquez-Gamez; Michel Devy; Joan Solà (ICIP, 2009)

Undelayed initialization of line segments in monocular SLAM. - Joan Solà; Teresa A. Vidal-Calleja; Michel Devy (IROS, 2009)

Environment Modeling for Cooperative Aerial/Ground Robotic Systems. - Teresa A. Vidal-Calleja; Cyrille Berger; Joan Solà; Simon Lacroix (ISRR, 2009)

Mapping, navigation, and learning for off-road traversal. - Kurt Konolige; Motilal Agrawal; Morten Rufus Blas; Robert C. Bolles; Brian P. Gerkey; Joan Solà; Aravind Sundaresan (J. Field Robotics, 2009)

Consistency of the monocular EKF-SLAM algorithm for three different landmark parametrizations. - Joan Solà (ICRA, 2010)

Combining suppression of the disturbance and reactive stepping for recovering balance. - Mitsuharu Morisawa; Fumio Kanehiro; Kenji Kaneko; Nicolas Mansard; Joan Solà; Eiichi Yoshida; Kazuhito Yokoi; Jean-Paul Laumond (IROS, 2010)

RT-SLAM: A Generic and Real-Time Visual SLAM Implementation. - Cyril Roussillon; Aurélien Gonzalez; Joan Solà; Jean-Marie Codol; Nicolas Mansard; Simon Lacroix; Michel Devy (ICVS, 2011)

Large scale multiple robot visual mapping with heterogeneous landmarks in semi-structured terrain. - Teresa A. Vidal-Calleja; Cyrille Berger; Joan Solà; Simon Lacroix (Robotics Auton. Syst., 2011)

Impact of Landmark Parametrization on Monocular EKF-SLAM with Points and Lines. - Joan Solà; Teresa A. Vidal-Calleja; Javier Civera 001; José María Martínez Montiel (Int. J. Comput. Vis., 2012)

High-frequency MAV state estimation using low-cost inertial and optical flow measurement units. - Angel Santamaria-Navarro; Joan Solà; Juan Andrade-Cetto (IROS, 2015)

Parallax angle parametrization in incremental SLAM. - Ellon Paiva Mendes; Simon Lacroix; Joan Solà (ICARCV, 2016)

Observability analysis and optimal sensor placement in stereo radar odometry. - Andreu Corominas Murtra; Joan Vallvé; Joan Solà; Ismael Flores; Juan Andrade-Cetto (ICRA, 2016)

Factor descent optimization for sparsification in graph SLAM. - Joan Vallve; Joan Solà; Juan Andrade-Cetto (ECMR, 2017)

Deconvolutional networks for point-cloud vehicle detection and tracking in driving scenarios. - Victor Vaquero; Iván del Pino; Francesc Moreno-Noguer; Joan Solà; Alberto Sanfeliu; Juan Andrade-Cetto (ECMR, 2017)

Low Resolution Lidar-Based Multi-Object Tracking for Driving Applications. - Iván del Pino; Victor Vaquero; Beatrice Masini; Joan Solà; Francesc Moreno-Noguer; Alberto Sanfeliu; Juan Andrade-Cetto (ROBOT (1), 2017)

Quaternion kinematics for the error-state Kalman filter. - Joan Solà (CoRR, 2017)

Word Ordering and Document Adjacency for Large Loop Closure Detection in 2-D Laser Maps. - Jérémie Deray; Joan Solà; Juan Andrade-Cetto (IEEE Robotics Autom. Lett., 2017)

Odometry Based on Auto-Calibrating Inertial Measurement Unit Attached to the Feet. - Dinesh Atchuthan; Angel Santamaria-Navarro; Nicolas Mansard; Olivier Stasse; Joan Solà (ECC, 2018)

Autonomous navigation of micro aerial vehicles using high-rate and low-cost sensors. - Angel Santamaria-Navarro; Giuseppe Loianno; Joan Solà; Vijay Kumar 001; Juan Andrade-Cetto (Auton. Robots, 2018)

A micro Lie theory for state estimation in robotics. - Joan Solà; Jérémie Deray; Dinesh Atchuthan (CoRR, 2018)

Graph SLAM Sparsification With Populated Topologies Using Factor Descent Optimization. - Joan Vallve; Joan Solà; Juan Andrade-Cetto (IEEE Robotics Autom. Lett., 2018)

Joint on-manifold self-calibration of odometry model and sensor extrinsics using pre-integration. - Jérémie Deray; Joan Solà; Juan Andrade-Cetto (ECMR, 2019)

Absolute humanoid localization and mapping based on IMU Lie group and fiducial markers. - Mederic Fourmy; Dinesh Atchuthan; Nicolas Mansard; Joan Solà; Thomas Flayols (Humanoids, 2019)

Timed-Elastic Smooth Curve Optimization for Mobile-Base Motion Planning. - Jérémie Deray; Bence Magyar; Joan Solà; Juan Andrade-Cetto (IROS, 2019)

Pose-graph SLAM sparsification using factor descent. - Joan Vallvé; Joan Solà; Juan Andrade-Cetto (Robotics Auton. Syst., 2019)

Visual Guidance of Unmanned Aerial Manipulators - Angel Santamaria-Navarro; Joan Solà; Juan Andrade-Cetto (Springer, 2019)

Odometry Estimation for Aerial Manipulators. - Angel Santamaria-Navarro; Joan Solà; Juan Andrade-Cetto (Aerial Robotic Manipulation, 2019)

High-speed event-based camera tracking. - William Chamorro; Juan Andrade-Cetto; Joan Solà (BMVC, 2020)

Squash-Box Feasibility Driven Differential Dynamic Programming. - Josep Marti-Saumell; Joan Solà; Carlos Mastalli; Angel Santamaria-Navarro (IROS, 2020)

A Direct-Indirect Hybridization Approach to Control-Limited DDP. - Carlos Mastalli; Wolfgang Merkt; Josep Marti-Saumell; Joan Solà; Nicolas Mansard; Sethu Vijayakumar (CoRR, 2020)

High Speed Event Camera TRacking. - William Chamorro; Juan Andrade-Cetto; Joan Solà (CoRR, 2020)

Manif: A micro Lie theory library for state estimation in robotics applications. - Jérémie Deray; Joan Solà (J. Open Source Softw., 2020)

Contact Forces Preintegration for Estimation in Legged Robotics using Factor Graphs. - Médéric Fourmy; Thomas Flayols; Pierre-Alexandre Léziart; Nicolas Mansard; Joan Solà (ICRA, 2021)

Full-Body Torque-Level Non-linear Model Predictive Control for Aerial Manipulation. - Josep Marti-Saumell; Joan Solà; Angel Santamaria-Navarro; Juan Andrade-Cetto (CoRR, 2021)

WOLF: A modular estimation framework for robotics based on factor graphs. - Joan Solà; Joan Vallvé-Navarro; Joaquim Casals; Jérémie Deray; Médéric Fourmy; Dinesh Atchuthan; Juan Andrade-Cetto (CoRR, 2021)

Dual-Branch CNNs for Vehicle Detection and Tracking on LiDAR Data. - Victor Vaquero; Iván del Pino; Francesc Moreno-Noguer; Joan Solà; Alberto Sanfeliu; Juan Andrade-Cetto (IEEE Trans. Intell. Transp. Syst., 2021)

IMU preintegration for 2D SLAM problems using Lie Groups. - Idril Geer; Joan Vallvé; Joan Solà (IROS, 2022)

A feasibility-driven approach to control-limited DDP. - Carlos Mastalli; Wolfgang Merkt; Josep Marti-Saumell; Henrique Ferrolho; Joan Solà; Nicolas Mansard; Sethu Vijayakumar (Auton. Robots, 2022)

Event-Based Line SLAM in Real-Time. - William Chamorro; Joan Solà; Juan Andrade-Cetto (IEEE Robotics Autom. Lett., 2022)

Wolf: A Modular Estimation Framework for Robotics Based on Factor Graphs. - Joan Solà; Joan Vallvé; Joaquim Casals; Jérémie Deray; Médéric Fourmy; Dinesh Atchuthan; Andreu Corominas Murtra; Juan Andrade-Cetto (IEEE Robotics Autom. Lett., 2022)

Event-IMU fusion strategies for faster-than-IMU estimation throughput. - William Chamorro; Joan Solà; Juan Andrade-Cetto (CVPR Workshops, 2023)

Borinot: an agile torque-controlled robot for hybrid flying and contact loco-manipulation (workshop version). - Josep Marti-Saumell; Joan Solà; Angel Santamaria-Navarro; Hugo Duarte (CoRR, 2023)

Borinot: an open thrust-torque-controlled robot for research on agile aerial-contact motion. - Josep Marti-Saumell; Hugo Duarte; Patrick Grosch; Juan Andrade-Cetto; Angel Santamaria-Navarro; Joan Solà (CoRR, 2023)

Underwater Pose SLAM using GMM scan matching for a mechanical profiling sonar. - Pau Vial; Narcís Palomeras; Joan Solà; Marc Carreras (J. Field Robotics, 2024)

On Lie Group IMU and Linear Velocity Preintegration for Autonomous Navigation Considering the Earth Rotation Compensation. - Pau Vial; Joan Solà; Narcís Palomeras; Marc Carreras (IEEE Trans. Robotics, 2025)