John J. Leonard

According to our database1, John J. Leonard authored at least 155 papers between 1989 and 2020.

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Bibliography

2020
DiversityGAN: Diversity-Aware Vehicle Motion Prediction via Latent Semantic Sampling.
IEEE Robotics Autom. Lett., 2020

Variational Filtering with Copula Models for SLAM.
CoRR, 2020

CARPAL: Confidence-Aware Intent Recognition for Parallel Autonomy.
CoRR, 2020

Probabilistic Data Association via Mixture Models for Robust Semantic SLAM.
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].
IEEE Robotics Autom. Mag., 2019

Probabilistic Risk Metrics for Navigating Occluded Intersections.
IEEE Robotics Autom. Lett., 2019

SE-Sync: A certifiably correct algorithm for synchronization over the special Euclidean group.
Int. J. Robotics Res., 2019

Diversity-Aware Vehicle Motion Prediction via Latent Semantic Sampling.
CoRR, 2019

Self-Supervised Visual Place Recognition Learning in Mobile Robots.
CoRR, 2019

Quantifying protocol evaluation for autonomous collision avoidance - Toward establishing COLREGS compliance metrics.
Auton. Robots, 2019

Dense, Sonar-based Reconstruction of Underwater Scenes.
Proceedings of the 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2019

Non-parametric Mixed-Manifold Products using Multiscale Kernel Densities.
Proceedings of the 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2019

Multimodal Semantic SLAM with Probabilistic Data Association.
Proceedings of the International Conference on Robotics and Automation, 2019

Non-Gaussian SLAM utilizing Synthetic Aperture Sonar.
Proceedings of the International Conference on Robotics and Automation, 2019

2018
The Manhattan Frame Model - Manhattan World Inference in the Space of Surface Normals.
IEEE Trans. Pattern Anal. Mach. Intell., 2018

Mapping and determining the center of mass of a rotating object using a moving observer.
Int. J. Robotics Res., 2018

Probabilistic cooperative mobile robot area coverage and its application to autonomous seabed mapping.
Int. J. Robotics Res., 2018

Multibeam Data Processing for Underwater Mapping.
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.
Proceedings of the Green Energy and Networking, 2018

2017
Two-Stage Focused Inference for Resource-Constrained Minimal Collision Navigation.
IEEE Trans. Robotics, 2017

Sparse optimization for robust and efficient loop closing.
Robotics Auton. Syst., 2017

Direction-Aware Semi-Dense SLAM.
CoRR, 2017


Towards visual ego-motion learning in robots.
Proceedings of the 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2017


SLAMinDB: Centralized graph databases for mobile robotics.
Proceedings of the 2017 IEEE International Conference on Robotics and Automation, 2017

2016
Simultaneous Localization and Mapping.
Proceedings of the Springer Handbook of Robotics, 2016

Visual Place Recognition: A Survey.
IEEE Trans. Robotics, 2016

Past, Present, and Future of Simultaneous Localization and Mapping: Toward the Robust-Perception Age.
IEEE Trans. Robotics, 2016

Simultaneous Localization And Mapping: Present, Future, and the Robust-Perception Age.
CoRR, 2016

A Certifiably Correct Algorithm for Synchronization over the Special Euclidean Group.
Proceedings of the Algorithmic Foundations of Robotics XII, 2016

Underwater inspection using sonar-based volumetric submaps.
Proceedings of the 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2016

SLAM with objects using a nonparametric pose graph.
Proceedings of the 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2016

A nonparametric belief solution to the Bayes tree.
Proceedings of the 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2016

Towards lifelong feature-based mapping in semi-static environments.
Proceedings of the 2016 IEEE International Conference on Robotics and Automation, 2016

High-performance and tunable stereo reconstruction.
Proceedings of the 2016 IEEE International Conference on Robotics and Automation, 2016

A unified resource-constrained framework for graph SLAM.
Proceedings of the 2016 IEEE International Conference on Robotics and Automation, 2016

Duckietown: An Innovative Way to Teach Autonomy.
Proceedings of the Educational Robotics in the Makers Era, 2016

Information-based Active SLAM via topological feature graphs.
Proceedings of the 55th IEEE Conference on Decision and Control, 2016

2015
Consistent unscented incremental smoothing for multi-robot cooperative target tracking.
Robotics Auton. Syst., 2015

Factor Graph Modeling of Rigid-body Dynamics for Localization, Mapping, and Parameter Estimation of a Spinning Object in Space.
J. Field Robotics, 2015

Real-time large-scale dense RGB-D SLAM with volumetric fusion.
Int. J. Robotics Res., 2015

Multi-Volume High Resolution RGB-D Mapping with Dynamic Volume Placement.
CoRR, 2015

Information-based Active SLAM via Topological Feature Graphs.
CoRR, 2015

Monocular SLAM Supported Object Recognition.
Proceedings of the Robotics: Science and Systems XI, Sapienza University of Rome, 2015

Two-Stage Focused Inference for Resource-Constrained Collision-Free Navigation.
Proceedings of the Robotics: Science and Systems XI, Sapienza University of Rome, 2015

Optimal-State-Constraint EKF for Visual-Inertial Navigation.
Proceedings of the Robotics Research, 2015

Shape and pose recovery from planar pushing.
Proceedings of the 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2015

Bridging text spotting and SLAM with junction features.
Proceedings of the 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2015

Real-time manhattan world rotation estimation in 3D.
Proceedings of the 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2015

Lagrangian duality in 3D SLAM: Verification techniques and optimal solutions.
Proceedings of the 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2015

Location utility-based map reduction.
Proceedings of the IEEE International Conference on Robotics and Automation, 2015

A convex relaxation for approximate global optimization in simultaneous localization and mapping.
Proceedings of the IEEE International Conference on Robotics and Automation, 2015

Communication-constrained multi-AUV cooperative SLAM.
Proceedings of the IEEE International Conference on Robotics and Automation, 2015

Appearance-based SLAM in a network space.
Proceedings of the IEEE International Conference on Robotics and Automation, 2015

An Overview of MIT-Olin's Approach in the AUVSI RobotX Competition.
Proceedings of the Field and Service Robotics, 2015

2014
RISE: An Incremental Trust-Region Method for Robust Online Sparse Least-Squares Estimation.
IEEE Trans. Robotics, 2014

Concurrent filtering and smoothing: A parallel architecture for real-time navigation and full smoothing.
Int. J. Robotics Res., 2014

An Online Sparsity-Cognizant Loop-Closure Algorithm for Visual Navigation.
Proceedings of the Robotics: Science and Systems X, 2014

Optimized visibility motion planning for target tracking and localization.
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.
Proceedings of the 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2014

Decentralized cooperative trajectory estimation for autonomous underwater vehicles.
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.
Proceedings of the 2014 IEEE International Conference on Robotics and Automation, 2014

Towards consistent visual-inertial navigation.
Proceedings of the 2014 IEEE International Conference on Robotics and Automation, 2014

Efficient incremental map segmentation in dense RGB-D maps.
Proceedings of the 2014 IEEE International Conference on Robotics and Automation, 2014

Cognitively adequate topological robot localization and mapping.
Proceedings of the Sixth ACM SIGSPATIAL International Workshop on Indoor Spatial Awareness, 2014

A Mixture of Manhattan Frames: Beyond the Manhattan World.
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.
Robotics Auton. Syst., 2013

The MIT Stata Center dataset.
Int. J. Robotics Res., 2013

Robust real-time visual odometry for dense RGB-D mapping.
Proceedings of the 2013 IEEE International Conference on Robotics and Automation, 2013

Robust incremental online inference over sparse factor graphs: Beyond the Gaussian case.
Proceedings of the 2013 IEEE International Conference on Robotics and Automation, 2013

Temporally scalable visual SLAM using a reduced pose graph.
Proceedings of the 2013 IEEE International Conference on Robotics and Automation, 2013

Analytically-selected multi-hypothesis incremental MAP estimation.
Proceedings of the IEEE International Conference on Acoustics, 2013

Mapping 3D Underwater Environments with Smoothed Submaps.
Proceedings of the Field and Service Robotics, 2013

Unscented iSAM: A consistent incremental solution to cooperative localization and target tracking.
Proceedings of the 2013 European Conference on Mobile Robots, 2013

Consistent sparsification for graph optimization.
Proceedings of the 2013 European Conference on Mobile Robots, 2013

Toward lifelong object segmentation from change detection in dense RGB-D maps.
Proceedings of the 2013 European Conference on Mobile Robots, 2013

2012
iSAM2: Incremental smoothing and mapping using the Bayes tree.
Int. J. Robotics Res., 2012

Advanced perception, navigation and planning for autonomous in-water ship hull inspection.
Int. J. Robotics Res., 2012

Dynamic pose graph SLAM: Long-term mapping in low dynamic environments.
Proceedings of the 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2012

Sensor fusion for flexible human-portable building-scale mapping.
Proceedings of the 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2012

Dynamic positioning of beacon vehicles for cooperative underwater navigation.
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.
Proceedings of the IEEE International Conference on Robotics and Automation, 2012

Efficient scene simulation for robust monte carlo localization using an RGB-D camera.
Proceedings of the IEEE International Conference on Robotics and Automation, 2012

Concurrent filtering and smoothing.
Proceedings of the 15th International Conference on Information Fusion, 2012

2011
Using prioritized relaxations to locate objects in points clouds for manipulation.
Proceedings of the IEEE International Conference on Robotics and Automation, 2011

iSAM2: Incremental smoothing and mapping with fluid relinearization and incremental variable reordering.
Proceedings of the IEEE International Conference on Robotics and Automation, 2011

Efficient AUV navigation fusing acoustic ranging and side-scan sonar.
Proceedings of the IEEE International Conference on Robotics and Automation, 2011

6-DOF Multi-session Visual SLAM using Anchor Nodes.
Proceedings of the 5<sup>th</sup> European Conference on Mobile Robots, 2011

2010
Nested autonomy for unmanned marine vehicles with MOOS-IvP.
J. Field Robotics, 2010

A High-rate, Heterogeneous Data Set From The DARPA Urban Challenge.
Int. J. Robotics Res., 2010

Cooperative AUV Navigation using a Single Maneuvering Surface Craft.
Int. J. Robotics Res., 2010

Mapping Complex Marine Environments with Autonomous Surface Craft.
Proceedings of the Experimental Robotics, 2010

Cooperative localization of marine vehicles using nonlinear state estimation.
Proceedings of the 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2010

Imaging sonar-aided navigation for autonomous underwater harbor surveillance.
Proceedings of the 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2010

Multiple relative pose graphs for robust cooperative mapping.
Proceedings of the IEEE International Conference on Robotics and Automation, 2010

A measurement distribution framework for cooperative navigation using multiple AUVs.
Proceedings of the IEEE International Conference on Robotics and Automation, 2010

2009
Cooperative Localization for Autonomous Underwater Vehicles.
Int. J. Robotics Res., 2009

Autonomy through SLAM for an Underwater Robot.
Proceedings of the Robotics Research - The 14th International Symposium, 2009

Simultaneous local and global state estimation for robotic navigation.
Proceedings of the 2009 IEEE International Conference on Robotics and Automation, 2009

Consistent cooperative localization.
Proceedings of the 2009 IEEE International Conference on Robotics and Automation, 2009

Cooperative AUV Navigation Using a Single Surface Craft.
Proceedings of the Field and Service Robotics, Results of the 7th International Conference, 2009

2008
Simultaneous Localization and Mapping.
Proceedings of the Springer Handbook of Robotics, 2008

A perception-driven autonomous urban vehicle.
J. Field Robotics, 2008

The MIT-Cornell collision and why it happened.
J. Field Robotics, 2008

SLAM for ship hull inspection using exactly sparse extended information filters.
Proceedings of the 2008 IEEE International Conference on Robotics and Automation, 2008

2007
Exactly Sparse Extended Information Filters for Feature-based SLAM.
Int. J. Robotics Res., 2007

Spatially-Adaptive Learning Rates for Online Incremental SLAM.
Proceedings of the Robotics: Science and Systems III, 2007

A Feature Based Navigation System for an Autonomous Underwater Robot.
Proceedings of the Field and Service Robotics, Results of the 6th International Conference, 2007

Minimizing Trilateration Errors in the Presence of Uncertain Landmark Positions.
Proceedings of the 3rd European Conference on Mobile Robots, 2007

2006
Exactly Sparse Delayed-State Filters for View-Based SLAM.
IEEE Trans. Robotics, 2006

A method for protocol-based collision avoidance between autonomous marine surface craft.
J. Field Robotics, 2006

Visually Mapping the RMS Titanic: Conservative Covariance Estimates for SLAM Information Filters.
Int. J. Robotics Res., 2006

Passive Mobile Robot Localization within a Fixed Beacon Field.
Proceedings of the Algorithmic Foundation of Robotics VII, 2006

Cooperative Localization for Autonomous Underwater Vehicles.
Proceedings of the Experimental Robotics, 2006

Adaptive Control of Heterogeneous Marine Sensor Platforms in an Autonomous Sensor Network.
Proceedings of the 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2006

Fast Iterative Alignment of Pose Graphs with Poor Initial Estimates.
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.
Proceedings of the 2006 IEEE International Conference on Robotics and Automation, 2006

2005
Single-Cluster Spectral Graph Partitioning for Robotics Applications.
Proceedings of the Robotics: Science and Systems I, 2005

Visually Navigating the RMS Titanic with SLAM Information Filters.
Proceedings of the Robotics: Science and Systems I, 2005

A Provably Consistent Method for Imposing Sparsity in Feature-Based SLAM Information Filters.
Proceedings of the Robotics Research: Results of the 12th International Symposium, 2005

Sparse extended information filters: insights into sparsification.
Proceedings of the 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2005

Exactly Sparse Delayed-State Filters.
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.
Int. J. Robotics Res., 2004

Robust distributed network localization with noisy range measurements.
Proceedings of the 2nd International Conference on Embedded Networked Sensor Systems, 2004

Trajectory Sonar Perception in the Ligurian Sea.
Proceedings of the Experimental Robotics IX, 2004

2003
Vanishing points and three-dimensional lines from omni-directional video.
Vis. Comput., 2003

Towards Constant-Time SLAM on an Autonomous Underwater Vehicle Using Synthetic Aperture Sonar.
Proceedings of the Robotics Research, The Eleventh International Symposium, 2003

Consistent, Convergent, and Constant-Time SLAM.
Proceedings of the IJCAI-03, 2003

Trajectory sonar perceptio.
Proceedings of the 2003 IEEE International Conference on Robotics and Automation, 2003

Pure range-only sub-sea SLAM.
Proceedings of the 2003 IEEE International Conference on Robotics and Automation, 2003

Autonomous feature-based exploration.
Proceedings of the 2003 IEEE International Conference on Robotics and Automation, 2003

An atlas framework for scalable mapping.
Proceedings of the 2003 IEEE International Conference on Robotics and Automation, 2003

2002
Robust Mapping and Localization in Indoor Environments Using Sonar Data.
Int. J. Robotics Res., 2002

Mapping Partially Observable Features from Multiple Uncertain Vantage Points.
Int. J. Robotics Res., 2002

Stochastic Mapping Frameworks.
Proceedings of the 2002 IEEE International Conference on Robotics and Automation, 2002

Explore and Return: Experimental Validation of Real-Time Concurrent Mapping and Localization.
Proceedings of the 2002 IEEE International Conference on Robotics and Automation, 2002

Cooperative Concurrent Mapping and Localization.
Proceedings of the 2002 IEEE International Conference on Robotics and Automation, 2002

Vanishing points and 3D lines from omnidirectional video.
Proceedings of the 2002 International Conference on Image Processing, 2002

2001
Stochastic mapping using forward look sonar.
Robotica, 2001

Towards Robust Data Association and Feature Modeling for Concurrent Mapping and Localization.
Proceedings of the Robotics Research, The Tenth International Symposium, 2001

2000
Mobile Robot Relocation from Echolocation Constraints.
IEEE Trans. Pattern Anal. Mach. Intell., 2000

Incorporation of Delayed Decision Making into Stochastic Mapping.
Proceedings of the Experimental Robotics VII [ISER 2000, 2000

1999
Adaptive Mobile Robot Navigation and Mapping.
Int. J. Robotics Res., 1999

Experimental Analysis of Adaptive Concurrent Mapping and Localization Using Sonar.
Proceedings of the Experimental Robotics VI, 1999

Mobile robot relocation using echolocation constraints.
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.
Int. J. Syst. Sci., 1998

Adaptive concurrent mapping and localization using sonar.
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.
Proceedings of the 1996 IEEE International Conference on Robotics and Automation, 1996

1995
Underwater Sonar Data Fusion Using Efficient Multiple Hypothesis Algorithm.
Proceedings of the 1995 International Conference on Robotics and Automation, 1995

1994
Modeling a Dynamic Environment Using a Bayesian Multiple Hypothesis Approach.
Artif. Intell., 1994

1991
Mobile robot localization by tracking geometric beacons.
IEEE Trans. Robotics Autom., 1991

Simultaneous map building and localization for an autonomous mobile robot.
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 1991

1990
Dynamic map building for autonomous mobile robot.
Proceedings of the IEEE International Workshop on Intelligent Robots and Systems '90, 1990

1989
Navigation by Correlating Geometric Sensor Data.
Proceedings of the IEEE International Workshop on Intelligent Robots and Systems '89, 1989


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