Navigation by Correlating Geometric Sensor Data. - Hugh F. Durrant-Whyte; John J. Leonard (IROS, 1989)

Dynamic map building for autonomous mobile robot. - John J. Leonard; Hugh F. Durrant-Whyte; Ingemar J. Cox (IROS, 1990)

Simultaneous map building and localization for an autonomous mobile robot. - John J. Leonard; Hugh F. Durrant-Whyte (IROS, 1991)

Mobile robot localization by tracking geometric beacons. - John J. Leonard; Hugh F. Durrant-Whyte (IEEE Trans. Robotics Autom., 1991)

Modeling a Dynamic Environment Using a Bayesian Multiple Hypothesis Approach. - Ingemar J. Cox; John J. Leonard (Artif. Intell., 1994)

Underwater Sonar Data Fusion Using Efficient Multiple Hypothesis Algorithm. - John J. Leonard; Bradley A. Moran; Ingemar J. Cox; Matthew L. Miller (ICRA, 1995)

Outlier rejection for autonomous acoustic navigation. - Jerome Vaganay; John J. Leonard; James G. Bellingham (ICRA, 1996)

Adaptive concurrent mapping and localization using sonar. - Hans Jacob S. Feder; John J. Leonard; Christopher M. Smith (IROS, 1998)

Comparison of fix computation and filtering for autonomous acoustic navigation. - Jerome Vaganay; James G. Bellingham; John J. Leonard (Int. J. Syst. Sci., 1998)

Mobile robot relocation using echolocation constraints. - Jong Hwan Lim; John J. Leonard; Seung Kyun Kang (IROS, 1999)

Experimental Analysis of Adaptive Concurrent Mapping and Localization Using Sonar. - John J. Leonard; Hans Jacob S. Feder (ISER, 1999)

Adaptive Mobile Robot Navigation and Mapping. - Hans Jacob S. Feder; John J. Leonard; Christopher M. Smith (Int. J. Robotics Res., 1999)

Incorporation of Delayed Decision Making into Stochastic Mapping. - John J. Leonard; Richard J. Rikoski (ISER, 2000)

Mobile Robot Relocation from Echolocation Constraints. - Jong Hwan Lim; John J. Leonard (IEEE Trans. Pattern Anal. Mach. Intell., 2000)

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 (ISRR, 2001)

Stochastic mapping using forward look sonar. - John J. Leonard; Robert N. Carpenter; Hans Jacob S. Feder (Robotica, 2001)

Vanishing points and 3D lines from omnidirectional video. - Michael Bosse; Richard J. Rikoski; John J. Leonard; Seth J. Teller (ICIP (3), 2002)

Cooperative Concurrent Mapping and Localization. - John W. Fenwick; Paul M. Newman; John J. Leonard (ICRA, 2002)

Explore and Return: Experimental Validation of Real-Time Concurrent Mapping and Localization. - Paul M. Newman; John J. Leonard; Juan D. Tardós; José Neira (ICRA, 2002)

Stochastic Mapping Frameworks. - Richard J. Rikoski; John J. Leonard; Paul M. Newman (ICRA, 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)

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)

An atlas framework for scalable mapping. - Michael Bosse; Paul M. Newman; John J. Leonard; Martin Soika; Wendelin Feiten; Seth J. Teller (ICRA, 2003)

Autonomous feature-based exploration. - Paul M. Newman; Michael Bosse; John J. Leonard (ICRA, 2003)

Pure range-only sub-sea SLAM. - Paul M. Newman; John J. Leonard (ICRA, 2003)

Trajectory sonar perceptio. - Richard J. Rikoski; John J. Leonard (ICRA, 2003)

Consistent, Convergent, and Constant-Time SLAM. - John J. Leonard; Paul M. Newman (IJCAI, 2003)

Towards Constant-Time SLAM on an Autonomous Underwater Vehicle Using Synthetic Aperture Sonar. - Paul M. Newman; John J. Leonard; Richard J. Rikoski (ISRR, 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)

Trajectory Sonar Perception in the Ligurian Sea. - Richard J. Rikoski; John J. Leonard; Paul M. Newman; Henrik Schmidt (ISER, 2004)

Robust distributed network localization with noisy range measurements. - David C. Moore; John J. Leonard; Daniela Rus; Seth J. Teller (SenSys, 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)

Exactly Sparse Delayed-State Filters. - Ryan M. Eustice; Hanumant Singh; John J. Leonard (ICRA, 2005)

Sparse extended information filters: insights into sparsification. - Ryan Eustice; Matthew R. Walter; John J. Leonard (IROS, 2005)

A Provably Consistent Method for Imposing Sparsity in Feature-Based SLAM Information Filters. - Matthew R. Walter; Ryan Eustice; John J. Leonard (ISRR, 2005)

Visually Navigating the RMS Titanic with SLAM Information Filters. - Ryan Eustice; Hanumant Singh; John J. Leonard; Matthew R. Walter; Robert Ballard (Robotics: Science and Systems, 2005)

Single-Cluster Spectral Graph Partitioning for Robotics Applications. - Edwin Olson; Matthew R. Walter; Seth J. Teller; John J. Leonard (Robotics: Science and Systems, 2005)

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 (ICRA, 2006)

Fast Iterative Alignment of Pose Graphs with Poor Initial Estimates. - Edwin Olson; John J. Leonard; Seth J. Teller (ICRA, 2006)

Adaptive Control of Heterogeneous Marine Sensor Platforms in an Autonomous Sensor Network. - Donald P. Eickstedt; Michael R. Benjamin; Henrik Schmidt; John J. Leonard (IROS, 2006)

Cooperative Localization for Autonomous Underwater Vehicles. - Alexander Bahr; John J. Leonard (ISER, 2006)

Passive Mobile Robot Localization within a Fixed Beacon Field. - Carrick Detweiler; John J. Leonard; Daniela Rus; Seth J. Teller (WAFR, 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)

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)

Exactly Sparse Delayed-State Filters for View-Based SLAM. - Ryan M. Eustice; Hanumant Singh; John J. Leonard (IEEE Trans. Robotics, 2006)

Minimizing Trilateration Errors in the Presence of Uncertain Landmark Positions. - Alexander Bahr; John J. Leonard (EMCR, 2007)

A Feature Based Navigation System for an Autonomous Underwater Robot. - John Folkesson; Jacques Leederkerken; Rob Williams; Andrew Patrikalakis; John J. Leonard (FSR, 2007)

Feature tracking for underwater navigation using sonar. - John Folkesson; John J. Leonard; Jacques Leederkerken; Rob Williams (IROS, 2007)

Spatially-Adaptive Learning Rates for Online Incremental SLAM. - Edwin Olson; John J. Leonard; Seth J. Teller (Robotics: Science and Systems, 2007)

Exactly Sparse Extended Information Filters for Feature-based SLAM. - Matthew R. Walter; Ryan Eustice; John J. Leonard (Int. J. Robotics Res., 2007)

SLAM for ship hull inspection using exactly sparse extended information filters. - Matthew R. Walter; Franz Hover; John J. Leonard (ICRA, 2008)

The MIT-Cornell collision and why it happened. - Luke Fletcher; Seth J. Teller; Edwin Olson; David Moore 003; Yoshiaki Kuwata; Jonathan P. How; John J. Leonard; Isaac Miller; Mark E. Campbell; Dan Huttenlocher; Aaron Nathan; Frank-Robert Kline (J. Field 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; et al. (J. Field Robotics, 2008)

Simultaneous Localization and Mapping. - Sebastian Thrun; John J. Leonard (Springer Handbook of Robotics, 2008)

Cooperative AUV Navigation Using a Single Surface Craft. - Maurice F. Fallon; Georgios Papadopoulos 003; John J. Leonard (FSR, 2009)

Consistent cooperative localization. - Alexander Bahr; Matthew R. Walter; John J. Leonard (ICRA, 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 (ICRA, 2009)

Autonomy through SLAM for an Underwater Robot. - John Folkesson; John J. Leonard (ISRR, 2009)

Cooperative Localization for Autonomous Underwater Vehicles. - Alexander Bahr; John J. Leonard; Maurice F. Fallon (Int. J. Robotics Res., 2009)

A measurement distribution framework for cooperative navigation using multiple AUVs. - Maurice F. Fallon; Georgios Papadopoulos 003; John J. Leonard (ICRA, 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 (ICRA, 2010)

Imaging sonar-aided navigation for autonomous underwater harbor surveillance. - Hordur Johannsson; Michael Kaess; Brendan J. Englot; Franz Hover; John J. Leonard (IROS, 2010)

Cooperative localization of marine vehicles using nonlinear state estimation. - Georgios Papadopoulos 003; Maurice F. Fallon; John J. Leonard; Nicholas M. Patrikalakis (IROS, 2010)

Mapping Complex Marine Environments with Autonomous Surface Craft. - Jacques C. Leedekerken; Maurice F. Fallon; John J. Leonard (ISER, 2010)

Cooperative AUV Navigation using a Single Maneuvering Surface Craft. - Maurice F. Fallon; Georgios Papadopoulos 003; John J. Leonard; Nicholas M. Patrikalakis (Int. J. Robotics Res., 2010)

A High-rate, Heterogeneous Data Set From The DARPA Urban Challenge. - Albert S. Huang; Matthew E. Antone; Edwin Olson; Luke Fletcher; David Moore 003; Seth J. Teller; John J. Leonard (Int. J. Robotics Res., 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)

6-DOF Multi-session Visual SLAM using Anchor Nodes. - John McDonald 001; Michael Kaess; Cesar Dario Cadena Lerma; José Neira; John J. Leonard (ECMR, 2011)

Efficient AUV navigation fusing acoustic ranging and side-scan sonar. - Maurice F. Fallon; Michael Kaess; Hordur Johannsson; John J. Leonard (ICRA, 2011)

iSAM2: Incremental smoothing and mapping with fluid relinearization and incremental variable reordering. - Michael Kaess; Hordur Johannsson; Richard Roberts 001; Viorela Ila; John J. Leonard; Frank Dellaert (ICRA, 2011)

Using prioritized relaxations to locate objects in points clouds for manipulation. - Robert Truax; Robert Platt Jr. 001; John J. Leonard (ICRA, 2011)

Concurrent filtering and smoothing. - Michael Kaess; Stephen Williams; Vadim Indelman; Richard Roberts 001; John J. Leonard; Frank Dellaert (FUSION, 2012)

Efficient scene simulation for robust monte carlo localization using an RGB-D camera. - Maurice F. Fallon; Hordur Johannsson; John J. Leonard (ICRA, 2012)

An incremental trust-region method for Robust online sparse least-squares estimation. - David M. Rosen; Michael Kaess; John J. Leonard (ICRA, 2012)

Dynamic positioning of beacon vehicles for cooperative underwater navigation. - Alexander Bahr; John J. Leonard; Alcherio Martinoli (IROS, 2012)

Sensor fusion for flexible human-portable building-scale mapping. - Maurice F. Fallon; Hordur Johannsson; Jonathan Brookshire; Seth J. Teller; John J. Leonard (IROS, 2012)

Dynamic pose graph SLAM: Long-term mapping in low dynamic environments. - Aisha Walcott-Bryant; Michael Kaess; Hordur Johannsson; John J. Leonard (IROS, 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)

iSAM2: Incremental smoothing and mapping using the Bayes tree. - Michael Kaess; Hordur Johannsson; Richard Roberts 001; Viorela Ila; John J. Leonard; Frank Dellaert (Int. J. Robotics Res., 2012)

Toward lifelong object segmentation from change detection in dense RGB-D maps. - Ross Finman; Thomas Whelan; Michael Kaess; John J. Leonard (ECMR, 2013)

Consistent sparsification for graph optimization. - Guoquan Huang 001; Michael Kaess; John J. Leonard (ECMR, 2013)

Unscented iSAM: A consistent incremental solution to cooperative localization and target tracking. - Guoquan Huang 001; Robert Truax; Michael Kaess; John J. Leonard (ECMR, 2013)

Mapping 3D Underwater Environments with Smoothed Submaps. - Mark VanMiddlesworth; Michael Kaess; Franz Hover; John J. Leonard (FSR, 2013)

Analytically-selected multi-hypothesis incremental MAP estimation. - Guoquan Huang 001; Michael Kaess; John J. Leonard; Stergios I. Roumeliotis (ICASSP, 2013)

Temporally scalable visual SLAM using a reduced pose graph. - Hordur Johannsson; Michael Kaess; Maurice F. Fallon; John J. Leonard (ICRA, 2013)

Robust incremental online inference over sparse factor graphs: Beyond the Gaussian case. - David M. Rosen; Michael Kaess; John J. Leonard (ICRA, 2013)

Robust real-time visual odometry for dense RGB-D mapping. - Thomas Whelan; Hordur Johannsson; Michael Kaess; John J. Leonard; John McDonald 001 (ICRA, 2013)

Deformation-based loop closure for large scale dense RGB-D SLAM. - Thomas Whelan; Michael Kaess; John J. Leonard; John McDonald 001 (IROS, 2013)

The MIT Stata Center dataset. - Maurice F. Fallon; Hordur Johannsson; Michael Kaess; John J. Leonard (Int. J. Robotics Res., 2013)

Real-time 6-DOF multi-session visual SLAM over large-scale environments. - John McDonald 001; Michael Kaess; Cesar Dario Cadena Lerma; José Neira; John J. Leonard (Robotics Auton. Syst., 2013)

A Mixture of Manhattan Frames: Beyond the Manhattan World. - Julian Straub; Guy Rosman; Oren Freifeld; John J. Leonard; John W. Fisher III (CVPR, 2014)

Cognitively adequate topological robot localization and mapping. - Padraig Corcoran; Michela Bertolotto; John J. Leonard (ISA@GIS, 2014)

Efficient incremental map segmentation in dense RGB-D maps. - Ross Finman; Thomas Whelan; Michael Kaess; John J. Leonard (ICRA, 2014)

Towards consistent visual-inertial navigation. - Guoquan Huang 001; Michael Kaess; John J. Leonard (ICRA, 2014)

Inference over heterogeneous finite-/infinite-dimensional systems using factor graphs and Gaussian processes. - David M. Rosen; Guoquan Huang 001; John J. Leonard (ICRA, 2014)

Decentralized cooperative trajectory estimation for autonomous underwater vehicles. - Liam Paull; Mae L. Seto; John J. Leonard (IROS, 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 (IROS, 2014)

Optimized visibility motion planning for target tracking and localization. - Hongchuan Wei; Wenjie Lu; Pingping Zhu; Guoquan Huang 001; John J. Leonard; Silvia Ferrari (IROS, 2014)

An Online Sparsity-Cognizant Loop-Closure Algorithm for Visual Navigation. - Yasir Latif; Guoquan Huang 001; John J. Leonard; José Neira (Robotics: Science and Systems, 2014)

Concurrent filtering and smoothing: A parallel architecture for real-time navigation and full smoothing. - Stephen Williams; Vadim Indelman; Michael Kaess; Richard Roberts 001; John J. Leonard; Frank Dellaert (Int. J. Robotics Res., 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)

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 002; Michael Benjamin; Alex Brennen; Michael DeFillipo; John J. Leonard; Liam Paull; et al. (FSR, 2015)

Appearance-based SLAM in a network space. - Padraig Corcoran; Ted J. Steiner; Michela Bertolotto; John J. Leonard (ICRA, 2015)

Communication-constrained multi-AUV cooperative SLAM. - Liam Paull; Guoquan Huang 001; Mae L. Seto; John J. Leonard (ICRA, 2015)

A convex relaxation for approximate global optimization in simultaneous localization and mapping. - David M. Rosen; Charles DuHadway; John J. Leonard (ICRA, 2015)

Location utility-based map reduction. - Ted J. Steiner; Guoquan Huang 001; John J. Leonard (ICRA, 2015)

Lagrangian duality in 3D SLAM: Verification techniques and optimal solutions. - Luca Carlone; David M. Rosen; Giuseppe Carlo Calafiore; John J. Leonard; Frank Dellaert (IROS, 2015)

Real-time manhattan world rotation estimation in 3D. - Julian Straub; Nishchal Bhandari; John J. Leonard; John W. Fisher III (IROS, 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 (IROS, 2015)

Shape and pose recovery from planar pushing. - Kuan-Ting Yu; John J. Leonard; Alberto Rodriguez 003 (IROS, 2015)

Optimal-State-Constraint EKF for Visual-Inertial Navigation. - Guoquan Huang 001; Kevin Eckenhoff; John J. Leonard (ISRR (1), 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 (Robotics: Science and Systems, 2015)

Monocular SLAM Supported Object Recognition. - Sudeep Pillai; John J. Leonard (Robotics: Science and Systems, 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)

Multi-Volume High Resolution RGB-D Mapping with Dynamic Volume Placement. - Michael Salvato; Ross Finman; John J. Leonard (CoRR, 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 001 (Int. J. Robotics Res., 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)

Consistent unscented incremental smoothing for multi-robot cooperative target tracking. - Guoquan Huang 001; Michael Kaess; John J. Leonard (Robotics Auton. Syst., 2015)

Information-based Active SLAM via topological feature graphs. - Beipeng Mu; Matthew Giamou; Liam Paull; Ali-akbar Agha-mohammadi; John J. Leonard; Jonathan P. How (CDC, 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 (EDUROBOTICS, 2016)

A unified resource-constrained framework for graph SLAM. - Liam Paull; Guoquan Huang 001; John J. Leonard (ICRA, 2016)

High-performance and tunable stereo reconstruction. - Sudeep Pillai; Srikumar Ramalingam; John J. Leonard (ICRA, 2016)

Towards lifelong feature-based mapping in semi-static environments. - David M. Rosen; Julian Mason; John J. Leonard (ICRA, 2016)

A nonparametric belief solution to the Bayes tree. - Dehann Fourie; John J. Leonard; Michael Kaess (IROS, 2016)

SLAM with objects using a nonparametric pose graph. - Beipeng Mu; Shih-Yuan Liu; Liam Paull; John J. Leonard; Jonathan P. How (IROS, 2016)

Underwater inspection using sonar-based volumetric submaps. - Pedro V. Teixeira; Michael Kaess; Franz S. Hover; John J. Leonard (IROS, 2016)

A Certifiably Correct Algorithm for Synchronization over the Special Euclidean Group. - David M. Rosen; Luca Carlone; Afonso S. Bandeira; John J. Leonard (WAFR, 2016)

Simultaneous Localization And Mapping: Present, Future, and the Robust-Perception Age. - Cesar Cadena 001; Luca Carlone; Henry Carrillo; Yasir Latif; Davide Scaramuzza 001; José Neira; Ian D. Reid 001; John J. Leonard (CoRR, 2016)

Past, Present, and Future of Simultaneous Localization and Mapping: Toward the Robust-Perception Age. - Cesar Cadena 001; Luca Carlone; Henry Carrillo; Yasir Latif; Davide Scaramuzza 001; José Neira; Ian Reid 001; John J. Leonard (IEEE Trans. Robotics, 2016)

Visual Place Recognition: A Survey. - Stephanie M. Lowry; Niko Sünderhauf; Paul Newman 001; John J. Leonard; David D. Cox; Peter I. Corke; Michael J. Milford (IEEE Trans. Robotics, 2016)

Simultaneous Localization and Mapping. - Cyrill Stachniss; John J. Leonard; Sebastian Thrun (Springer Handbook of Robotics, 2nd Ed., 2016)

SLAMinDB: Centralized graph databases for mobile robotics. - Dehann Fourie; Samuel Claassens; Sudeep Pillai; Roxana Mata; John J. Leonard (ICRA, 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; et al. (ICRA, 2017)

Towards visual ego-motion learning in robots. - Sudeep Pillai; John J. Leonard (IROS, 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; et al. (Intelligent Vehicles Symposium, 2017)

Direction-Aware Semi-Dense SLAM. - Julian Straub; Randi Cabezas; John J. Leonard; John W. Fisher III (CoRR, 2017)

Sparse optimization for robust and efficient loop closing. - Yasir Latif; Guoquan Huang 001; John J. Leonard; José Neira (Robotics Auton. Syst., 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)

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 (GreeNets, 2018)

Multibeam Data Processing for Underwater Mapping. - Pedro V. Teixeira; Franz S. Hover; John J. Leonard; Michael Kaess (IROS, 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)

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)

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)

Non-Gaussian SLAM utilizing Synthetic Aperture Sonar. - Mei Yi Cheung; Dehann Fourie; Nicholas R. Rypkema; Pedro Vaz Teixeira; Henrik R. Schmidt; John J. Leonard (ICRA, 2019)

Multimodal Semantic SLAM with Probabilistic Data Association. - Kevin J. Doherty 001; Dehann Fourie; John J. Leonard (ICRA, 2019)

Non-parametric Mixed-Manifold Products using Multiscale Kernel Densities. - Dehann Fourie; Pedro Vaz Teixeira; John J. Leonard (IROS, 2019)

Dense, Sonar-based Reconstruction of Underwater Scenes. - Pedro V. Teixeira; Dehann Fourie; Michael Kaess; John J. Leonard (IROS, 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)

Self-Supervised Visual Place Recognition Learning in Mobile Robots. - Sudeep Pillai; John J. Leonard (CoRR, 2019)

Diversity-Aware Vehicle Motion Prediction via Latent Semantic Sampling. - Xin Huang 018; Stephen G. McGill; Jonathan A. DeCastro; Brian C. Williams; Luke Fletcher; John J. Leonard; Guy Rosman (CoRR, 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)

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)

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; et al. (IEEE Robotics Autom. Mag., 2019)

Probabilistic Data Association via Mixture Models for Robust Semantic SLAM. - Kevin J. Doherty 001; David P. Baxter; Edward Schneeweiss; John J. Leonard (ICRA, 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 (IROS, 2020)

Variational Filtering with Copula Models for SLAM. - John D. Martin; Kevin J. Doherty 001; Caralyn Cyr; Brendan J. Englot; John J. Leonard (IROS, 2020)

Network Localization Based Planning for Autonomous Underwater Vehicles with Inter-Vehicle Ranging. - Alan Papalia; John J. Leonard (CoRR, 2020)

DiversityGAN: Diversity-Aware Vehicle Motion Prediction via Latent Semantic Sampling. - Xin Huang 018; Stephen G. McGill; Jonathan A. DeCastro; Luke Fletcher; John J. Leonard; Brian C. Williams; Guy Rosman (IEEE Robotics Autom. Lett., 2020)

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 (ICCVW, 2021)

Lidar-Monocular Surface Reconstruction Using Line Segments. - Victor Amblard; Timothy P. Osedach; Arnaud Croux; Andrew Speck; John J. Leonard (ICRA, 2021)

NF-iSAM: Incremental Smoothing and Mapping via Normalizing Flows. - Qiangqiang Huang; Can Pu; Dehann Fourie; Kasra Khosoussi; Jonathan P. How; John J. Leonard (ICRA, 2021)

A Front-End for Dense Monocular SLAM using a Learned Outlier Mask Prior. - Yihao Zhang 003; John J. Leonard (ICRA, 2021)

A Multi-Hypothesis Approach to Pose Ambiguity in Object-Based SLAM. - Jiahui Fu 002; Qiangqiang Huang; Kevin J. Doherty 001; Yue Wang; John J. Leonard (IROS, 2021)

Consensus-Informed Optimization Over Mixtures for Ambiguity-Aware Object SLAM. - Ziqi Lu; Qiangqiang Huang; Kevin J. Doherty 001; John J. Leonard (IROS, 2021)

Bootstrapped Self-Supervised Training with Monocular Video for Semantic Segmentation and Depth Estimation. - Yihao Zhang 003; John J. Leonard (IROS, 2021)

Characterizing Marginalization and Incremental Operations on the Bayes Tree. - Dehann Fourie; Antonio Terán Espinoza; Michael Kaess; John J. Leonard (WAFR, 2021)

Advances in Inference and Representation for Simultaneous Localization and Mapping. - David M. Rosen; Kevin J. Doherty 001; Antonio Terán Espinoza; John J. Leonard (Annu. Rev. Control. Robotics Auton. Syst., 2021)

Bootstrapped Self-Supervised Training with Monocular Video for Semantic Segmentation and Depth Estimation. - Yihao Zhang; 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)

On Reference Solutions to Non-Gaussian SLAM Factor Graphs. - Qiangqiang Huang; Alan Papalia; John J. Leonard (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)

TIP: Task-Informed Motion Prediction for Intelligent Systems. - Xin Huang 018; Guy Rosman; Ashkan Jasour; Stephen G. McGill; John J. Leonard; Brian C. Williams (CoRR, 2021)

CARPAL: Confidence-Aware Intent Recognition for Parallel Autonomy. - Xin Huang 018; Stephen G. McGill; Jonathan A. DeCastro; Luke Fletcher; John J. Leonard; Brian C. Williams; Guy Rosman (IEEE Robotics Autom. Lett., 2021)

Performance Guarantees for Spectral Initialization in Rotation Averaging and Pose-Graph SLAM. - Kevin J. Doherty 001; David M. Rosen; John J. Leonard (ICRA, 2022)

HYPER: Learned Hybrid Trajectory Prediction via Factored Inference and Adaptive Sampling. - Xin Huang 018; Guy Rosman; Igor Gilitschenski; Ashkan Jasour; Stephen G. McGill; John J. Leonard; Brian C. Williams (ICRA, 2022)

Trajectory Prediction with Linguistic Representations. - Yen-Ling Kuo; Xin Huang 018; Andrei Barbu; Stephen G. McGill; Boris Katz; John J. Leonard; Guy Rosman (ICRA, 2022)

Prioritized Planning for Cooperative Range-Only Localization in Multi-Robot Networks. - Alan Papalia; Nicole Thumma; John J. Leonard (ICRA, 2022)

Spectral Measurement Sparsification for Pose-Graph SLAM. - Kevin J. Doherty 001; David M. Rosen; John J. Leonard (IROS, 2022)

Robust Change Detection Based on Neural Descriptor Fields. - Jiahui Fu 002; Yilun Du; Kurran Singh; Joshua B. Tenenbaum; John J. Leonard (IROS, 2022)

TIP: Task-Informed Motion Prediction for Intelligent Vehicles. - Xin Huang 018; Guy Rosman; Ashkan Jasour; Stephen G. McGill; John J. Leonard; Brian C. Williams (IROS, 2022)

SLAM-Supported Self-Training for 6D Object Pose Estimation. - Ziqi Lu; Yihao Zhang 003; Kevin J. Doherty 001; Odin Severinsen; Ethan Yang; John J. Leonard (IROS, 2022)

Discrete-Continuous Smoothing and Mapping. - Kevin J. Doherty 001; Ziqi Lu; Kurran Singh; John J. Leonard (IEEE Robotics Autom. Lett., 2022)

PlaneSDF-Based Change Detection for Long-Term Dense Mapping. - Jiahui Fu 002; Chengyuan Lin 001; Yuichi Taguchi; Andrea Cohen; Yifu Zhang; Stephen Mylabathula; John J. Leonard (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)

AUV-Assisted Diver Navigation. - Jesse R. Pelletier; Brendan W. O'Neill; John J. Leonard; Lee Freitag; Eric Gallimore (IEEE Robotics Autom. Lett., 2022)

SCORE: A Second-Order Conic Initialization for Range-Aided SLAM. - Alan Papalia; Joseph Morales; Kevin J. Doherty 001; David M. Rosen; John J. Leonard (ICRA, 2023)

Data-Association-Free Landmark-based SLAM. - Yihao Zhang 003; Odin A. Severinsen; John J. Leonard; Luca Carlone; Kasra Khosoussi (ICRA, 2023)

GAPSLAM: Blending Gaussian Approximation and Particle Filters for Real-Time Non-Gaussian SLAM. - Qiangqiang Huang; John J. Leonard (IROS, 2023)

NeRF-SLAM: Real-Time Dense Monocular SLAM with Neural Radiance Fields. - Antoni Rosinol; John J. Leonard; Luca Carlone (IROS, 2023)

NeuSE: Neural SE(3)-Equivariant Embedding for Consistent Spatial Understanding with Objects. - Jiahui Fu 002; Yilun Du; Kurran Singh; Joshua B. Tenenbaum; John J. Leonard (Robotics: Science and Systems, 2023)

Probabilistic Volumetric Fusion for Dense Monocular SLAM. - Antoni Rosinol; John J. Leonard; Luca Carlone (WACV, 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 018; Yen-Ling Kuo; John J. Leonard; Avinash Balachandran; Naomi Ehrich Leonard; Guy Rosman (CoRR, 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, 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., 2023)

Opti-Acoustic Semantic SLAM with Unknown Objects in Underwater Environments. - Kurran Singh; Jungseok Hong; Nicholas R. Rypkema; John J. Leonard (IROS, 2024)

MAC: Maximizing Algebraic Connectivity for Graph Sparsification. - Kevin J. Doherty 001; Alan Papalia; Yewei Huang; David M. Rosen; Brendan J. Englot; John J. Leonard (CoRR, 2024)

LOSS-SLAM: Lightweight Open-Set Semantic Simultaneous Localization and Mapping. - Kurran Singh; Tim Magoun; John J. Leonard (CoRR, 2024)

ShapeICP: Iterative Category-level Object Pose and Shape Estimation from Depth. - Yihao Zhang; John J. Leonard (CoRR, 2024)

Open-Set Semantic Uncertainty Aware Metric-Semantic Graph Matching. - Kurran Singh; 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)

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)

Computational Teaching for Driving via Multi-Task Imitation Learning. - Deepak E. Gopinath; Xiongyi Cui; Jonathan A. DeCastro; Emily Sumner; Jean Costa; Hiroshi Yasuda; Allison Morgan; Laporsha Dees; Sheryl Chau; John J. Leonard; Tiffany Chen; Guy Rosman; et al. (CoRR, 2024)

Learning from Feedback: Semantic Enhancement for Object SLAM Using Foundation Models. - Jungseok Hong; Ran Choi; John J. Leonard (CoRR, 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)

3DGS-CD: 3D Gaussian Splatting-Based Change Detection for Physical Object Rearrangement. - Ziqi Lu; Jianbo Ye; John J. Leonard (IEEE Robotics Autom. Lett., 2025)