Tim D. Barfoot

According to our database1, Tim D. Barfoot authored at least 148 papers between 2000 and 2021.

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Bibliography

2021
Unsupervised Learning of Lidar Features for Use ina Probabilistic Trajectory Estimator.
IEEE Robotics Autom. Lett., 2021

Do We Need to Compensate for Motion Distortion and Doppler Effects in Spinning Radar Navigation?
IEEE Robotics Autom. Lett., 2021

UAV Localization Using Autoencoded Satellite Images.
IEEE Robotics Autom. Lett., 2021

Zeus: A system description of the two-time winner of the collegiate SAE autodrive competition.
J. Field Robotics, 2021

Vectorial Parameterizations of Pose.
CoRR, 2021

A Geometric Algebra Solution to Wahba's Problem.
CoRR, 2021

Unsupervised Learning of Lidar Features for Use in a Probabilistic Trajectory Estimator.
CoRR, 2021

Relatively Lazy: Indoor-Outdoor Navigation Using Vision and GNSS.
CoRR, 2021

2020
Variational Inference With Parameter Learning Applied to Vehicle Trajectory Estimation.
IEEE Robotics Autom. Lett., 2020

A Data-Driven Motion Prior for Continuous-Time Trajectory Estimation on SE(3).
IEEE Robotics Autom. Lett., 2020

Batch Informed Trees (BIT*): Informed asymptotically optimal anytime search.
Int. J. Robotics Res., 2020

Exactly sparse Gaussian variational inference with application to derivative-free batch nonlinear state estimation.
Int. J. Robotics Res., 2020

Self-Supervised Learning of Lidar Segmentation for Autonomous Indoor Navigation.
CoRR, 2020

Do We Need to Compensate for Motion Distortion and Doppler Effects in Radar-Based Navigation?
CoRR, 2020

Fundamental Linear Algebra Problem of Gaussian Inference.
CoRR, 2020

Making Sense of the Robotized Pandemic Response: A Comparison of Global and Canadian Robot Deployments and Success Factors.
CoRR, 2020

Variational Inference as Iterative Projection in a Bayesian Hilbert Space.
CoRR, 2020

Multivariate Gaussian Variational Inference by Natural Gradient Descent.
CoRR, 2020

Visual Localization with Google Earth Images for Robust Global Pose Estimation of UAVs.
Proceedings of the 2020 IEEE International Conference on Robotics and Automation, 2020

DeepMEL: Compiling Visual Multi-Experience Localization into a Deep Neural Network.
Proceedings of the 2020 IEEE International Conference on Robotics and Automation, 2020

Gradient-Based Auto-Exposure Control Applied to a Self-Driving Car.
Proceedings of the 17th Conference on Computer and Robot Vision, 2020

2019
There's No Place Like Home: Visual Teach and Repeat for Emergency Return of Multirotor UAVs During GPS Failure.
IEEE Robotics Autom. Lett., 2019

A White-Noise-on-Jerk Motion Prior for Continuous-Time Trajectory Estimation on SE(3).
IEEE Robotics Autom. Lett., 2019

The Robust Canadian Traveler Problem Applied to Robot Routing.
Proceedings of the International Conference on Robotics and Automation, 2019

Mapless Online Detection of Dynamic Objects in 3D Lidar.
Proceedings of the 16th Conference on Computer and Robot Vision, 2019

Towards Direct Localization for Visual Teach and Repeat.
Proceedings of the 16th Conference on Computer and Robot Vision, 2019

aUToTrack: A Lightweight Object Detection and Tracking System for the SAE AutoDrive Challenge.
Proceedings of the 16th Conference on Computer and Robot Vision, 2019

2018
Informed Sampling for Asymptotically Optimal Path Planning.
IEEE Trans. Robotics, 2018

Developing and deploying a tethered robot to map extremely steep terrain.
J. Field Robotics, 2018

Selective memory: Recalling relevant experience for long-term visual localization.
J. Field Robotics, 2018

Learning Place-and-Time-Dependent Binary Descriptors for Long-Term Visual Localization.
Proceedings of the 2018 IEEE International Conference on Robotics and Automation, 2018

Level-Headed: Evaluating Gimbal-Stabilised Visual Teach and Repeat for Improved Localisation Performance.
Proceedings of the 2018 IEEE International Conference on Robotics and Automation, 2018

Eye on the Sky: An Upward-Looking Monocular Teach-and-Repeat System for Indoor Environments.
Proceedings of the 15th Conference on Computer and Robot Vision, 2018

Learning a Bias Correction for Lidar-Only Motion Estimation.
Proceedings of the 15th Conference on Computer and Robot Vision, 2018

2017
Expanding the Limits of Vision-based Localization for Long-term Route-following Autonomy.
J. Field Robotics, 2017

Robust Monocular Visual Teach and Repeat Aided by Local Ground Planarity and Color-constant Imagery.
J. Field Robotics, 2017

TSLAM: Tethered simultaneous localization and mapping for mobile robots.
Int. J. Robotics Res., 2017

Informed Asymptotically Optimal Anytime Search.
CoRR, 2017

Looking high and low: Learning place-dependent Gaussian mixture height models for terrain assessment.
Proceedings of the 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2017

Falling in line: Visual route following on extreme terrain for a tethered mobile robot.
Proceedings of the 2017 IEEE International Conference on Robotics and Automation, 2017

Visual triage: A bag-of-words experience selector for long-term visual route following.
Proceedings of the 2017 IEEE International Conference on Robotics and Automation, 2017

Towards Visual Teach and Repeat for GPS-Denied Flight of a Fixed-Wing UAV.
Proceedings of the Field and Service Robotics, 2017

I Can See for Miles and Miles: An Extended Field Test of Visual Teach and Repeat 2.0.
Proceedings of the Field and Service Robotics, 2017

Field Deployment of the Tethered Robotic eXplorer to Map Extremely Steep Terrain.
Proceedings of the Field and Service Robotics, 2017

Night Rider: Visual Odometry Using Headlights.
Proceedings of the 14th Conference on Computer and Robot Vision, 2017

2016
Learning-based Nonlinear Model Predictive Control to Improve Vision-based Mobile Robot Path Tracking.
J. Field Robotics, 2016

Editorial: Special Issue on Space Robotics.
J. Field Robotics, 2016

Robust Constrained Learning-based NMPC enabling reliable mobile robot path tracking.
Int. J. Robotics Res., 2016

Bridging the appearance gap: Multi-experience localization for long-term visual teach and repeat.
Proceedings of the 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2016

It's like Déjà Vu all over again: Learning place-dependent terrain assessment for visual teach and repeat.
Proceedings of the 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2016

The line leading the blind: Towards nonvisual localization and mapping for tethered mobile robots.
Proceedings of the 2016 IEEE International Conference on Robotics and Automation, 2016

Regionally accelerated batch informed trees (RABIT*): A framework to integrate local information into optimal path planning.
Proceedings of the 2016 IEEE International Conference on Robotics and Automation, 2016

Light at the End of the Tunnel: High-Speed LiDAR-Based Train Localization in Challenging Underground Environments.
Proceedings of the 13th Conference on Computer and Robot Vision, 2016

2015
Editorial: Special Issue on Calibration for Field Robotics.
J. Field Robotics, 2015

Continuous-time batch trajectory estimation using temporal basis functions.
Int. J. Robotics Res., 2015

Special Issue on the Sixteenth International Symposium on Robotics Research, 2013.
Int. J. Robotics Res., 2015

Relative continuous-time SLAM.
Int. J. Robotics Res., 2015

Batch nonlinear continuous-time trajectory estimation as exactly sparse Gaussian process regression.
Auton. Robots, 2015

Full STEAM ahead: Exactly sparse gaussian process regression for batch continuous-time trajectory estimation on SE(3).
Proceedings of the 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2015

It's not easy seeing green: Lighting-resistant stereo Visual Teach & Repeat using color-constant images.
Proceedings of the IEEE International Conference on Robotics and Automation, 2015

Conservative to confident: Treating uncertainty robustly within Learning-Based Control.
Proceedings of the IEEE International Conference on Robotics and Automation, 2015

Batch Informed Trees (BIT*): Sampling-based optimal planning via the heuristically guided search of implicit random geometric graphs.
Proceedings of the IEEE International Conference on Robotics and Automation, 2015

Learning to assess terrain from human demonstration using an introspective Gaussian-process classifier.
Proceedings of the IEEE International Conference on Robotics and Automation, 2015

In the Dead of Winter: Challenging Vision-Based Path Following in Extreme Conditions.
Proceedings of the Field and Service Robotics, 2015

System Design of a Tethered Robotic Explorer (TReX) for 3D Mapping of Steep Terrain and Harsh Environments.
Proceedings of the Field and Service Robotics, 2015

Beyond a Shadow of a Doubt: Place Recognition with Colour-Constant Images.
Proceedings of the Field and Service Robotics, 2015

Monocular Visual Teach and Repeat Aided by Local Ground Planarity.
Proceedings of the Field and Service Robotics, 2015

Eyes in the Back of Your Head: Robust Visual Teach & Repeat Using Multiple Stereo Cameras.
Proceedings of the 12th Conference on Computer and Robot Vision, 2015

At all Costs: A Comparison of Robust Cost Functions for Camera Correspondence Outliers.
Proceedings of the 12th Conference on Computer and Robot Vision, 2015

Being in Two Places at Once: Smooth Visual Path Following on Globally Inconsistent Pose Graphs.
Proceedings of the 12th Conference on Computer and Robot Vision, 2015

2014
Associating Uncertainty With Three-Dimensional Poses for Use in Estimation Problems.
IEEE Trans. Robotics, 2014

Pose Interpolation for Laser-based Visual Odometry.
J. Field Robotics, 2014

BIT*: Batch Informed Trees for Optimal Sampling-based Planning via Dynamic Programming on Implicit Random Geometric Graphs.
CoRR, 2014

Informed RRT*: Optimal Incremental Path Planning Focused through an Admissible Ellipsoidal Heuristic.
CoRR, 2014

Batch Continuous-Time Trajectory Estimation as Exactly Sparse Gaussian Process Regression.
Proceedings of the Robotics: Science and Systems X, 2014

Informed RRT*: Optimal sampling-based path planning focused via direct sampling of an admissible ellipsoidal heuristic.
Proceedings of the 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2014

Learning-based nonlinear model predictive control to improve vision-based mobile robot path-tracking in challenging outdoor environments.
Proceedings of the 2014 IEEE International Conference on Robotics and Automation, 2014

Optimizing online occupancy grid mapping to capture the residual uncertainty.
Proceedings of the 2014 IEEE International Conference on Robotics and Automation, 2014

A hierarchical wavelet decomposition for continuous-time SLAM.
Proceedings of the 2014 IEEE International Conference on Robotics and Automation, 2014

A Proof-of-Concept Demonstration of Visual Teach and Repeat on a Quadrocopter Using an Altitude Sensor and a Monocular Camera.
Proceedings of the Canadian Conference on Computer and Robot Vision, 2014

Optimizing Camera Perspective for Stereo Visual Odometry.
Proceedings of the Canadian Conference on Computer and Robot Vision, 2014

Speed Daemon: Experience-Based Mobile Robot Speed Scheduling.
Proceedings of the Canadian Conference on Computer and Robot Vision, 2014

Towards Estimating Bias in Stereo Visual Odometry.
Proceedings of the Canadian Conference on Computer and Robot Vision, 2014

2013
Towards lighting-invariant visual navigation: An appearance-based approach using scanning laser-rangefinders.
Robotics Auton. Syst., 2013

Planning using a Network of Reusable Paths: A Physical Embodiment of a Rapidly Exploring Random Tree.
J. Field Robotics, 2013

Lighting-invariant Visual Teach and Repeat Using Appearance-based Lidar.
J. Field Robotics, 2013

The Canadian planetary emulation terrain 3D mapping dataset.
Int. J. Robotics Res., 2013

Gaussian Process Gauss-Newton for non-parametric simultaneous localization and mapping.
Int. J. Robotics Res., 2013

Special Issue on Long-Term Autonomy.
Int. J. Robotics Res., 2013

Into Darkness: Visual Navigation Based on a Lidar-Intensity-Image Pipeline.
Proceedings of the Robotics Research, 2013

Visual teach and repeat, repeat, repeat: Iterative Learning Control to improve mobile robot path tracking in challenging outdoor environments.
Proceedings of the 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2013

RANSAC for motion-distorted 3D visual sensors.
Proceedings of the 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2013

Gaussian Process Gauss-Newton for 3D laser-based Visual Odometry.
Proceedings of the 2013 IEEE International Conference on Robotics and Automation, 2013

Occupancy grid mapping with Markov Chain Monte Carlo Gibbs sampling.
Proceedings of the 2013 IEEE International Conference on Robotics and Automation, 2013

Two-axis scanning lidar geometric calibration using intensity imagery and distortion mapping.
Proceedings of the 2013 IEEE International Conference on Robotics and Automation, 2013

Towards relative continuous-time SLAM.
Proceedings of the 2013 IEEE International Conference on Robotics and Automation, 2013

Towards Autonomous Mobile Robots for the Exploration of Steep Terrain.
Proceedings of the Field and Service Robotics, 2013

Blinded by the Light: Exploiting the Deficiencies of a Laser Rangefinder for Rover Attitude Estimation.
Proceedings of the Tenth Conference on Computer and Robot Vision, 2013

A Proof-of-Concept, Rover-Based System for Autonomously Locating Methane Gas Sources on Mars.
Proceedings of the Tenth Conference on Computer and Robot Vision, 2013

2012
Path planning with variable-fidelity terrain assessment.
Robotics Auton. Syst., 2012

Taking the Long View: A Report on Two Recent Workshops on Long-Term Autonomy [From the Field].
IEEE Robotics Autom. Mag., 2012

Decentralized Cooperative SLAM for Sparsely-Communicating Robot Networks: A Centralized-Equivalent Approach.
J. Intell. Robotic Syst., 2012

Three-dimensional SLAM for mapping planetary work site environments.
J. Field Robotics, 2012

Field testing of visual odometry aided by a sun sensor and inclinometer.
J. Field Robotics, 2012

The Devon Island rover navigation dataset.
Int. J. Robotics Res., 2012

Patch map: A benchmark for occupancy grid algorithm evaluation.
Proceedings of the 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2012

Visual Teach and Repeat using appearance-based lidar.
Proceedings of the IEEE International Conference on Robotics and Automation, 2012

Continuous-time batch estimation using temporal basis functions.
Proceedings of the IEEE International Conference on Robotics and Automation, 2012

Lighting-Invariant Visual Odometry using Lidar Intensity Imagery and Pose Interpolation.
Proceedings of the Field and Service Robotics, 2012

Gaussian Process Gauss-Newton: Non-Parametric State Estimation.
Proceedings of the Ninth Conference on Computer and Robot Vision, 2012

Exploiting Reusable Paths in Mobile Robotics: Benefits and Challenges for Long-term Autonomy.
Proceedings of the Ninth Conference on Computer and Robot Vision, 2012

2011
Sun Sensor Navigation for Planetary Rovers: Theory and Field Testing.
IEEE Trans. Aerosp. Electron. Syst., 2011

Field testing of a rover guidance, navigation, and control architecture to support a ground-ice prospecting mission to Mars.
Robotics Auton. Syst., 2011

The UTIAS multi-robot cooperative localization and mapping dataset.
Int. J. Robotics Res., 2011

A Serial Approach to Handling High-Dimensional Measurements in the Sigma-Point Kalman Filter.
Proceedings of the Robotics: Science and Systems VII, 2011

3D SLAM for planetary worksite mapping.
Proceedings of the 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2011

A self-calibrating 3D ground-truth localization system using retroreflective landmarks.
Proceedings of the IEEE International Conference on Robotics and Automation, 2011

Batch heterogeneous outlier rejection for feature-poor SLAM.
Proceedings of the IEEE International Conference on Robotics and Automation, 2011

Towards appearance-based methods for lidar sensors.
Proceedings of the IEEE International Conference on Robotics and Automation, 2011

Distributed and decentralized cooperative simultaneous localization and mapping for dynamic and sparse robot networks.
Proceedings of the IEEE International Conference on Robotics and Automation, 2011

2010
Decentralized Localization of Sparsely-Communicating Robot Networks: A Centralized-Equivalent Approach.
IEEE Trans. Robotics, 2010

Vision-based autonomous convoying with constant time delay.
J. Field Robotics, 2010

Visual teach and repeat for long-range rover autonomy.
J. Field Robotics, 2010

Long-range rover localization by matching LIDAR scans to orbital elevation maps.
J. Field Robotics, 2010

Field Testing of an Integrated Surface/Subsurface Modeling Technique for Planetary Exploration.
Int. J. Robotics Res., 2010

Decentralized cooperative simultaneous localization and mapping for dynamic and sparse robot networks.
Proceedings of the 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2010

A comparison of global localization algorithms for planetary exploration.
Proceedings of the 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2010

Stereo mapping and localization for long-range path following on rough terrain.
Proceedings of the IEEE International Conference on Robotics and Automation, 2010

Visual path following on a manifold in unstructured three-dimensional terrain.
Proceedings of the IEEE International Conference on Robotics and Automation, 2010

Global rover localization by matching lidar and orbital 3D maps.
Proceedings of the IEEE International Conference on Robotics and Automation, 2010

A Comparison of the EKF, SPKF, and the Bayes Filter for Landmark-Based Localization.
Proceedings of the Canadian Conference on Computer and Robot Vision, 2010

2009
Decentralized localization for dynamic and sparse robot networks.
Proceedings of the 2009 IEEE International Conference on Robotics and Automation, 2009

Vision-Based Vehicle Trajectory Following with Constant Time Delay.
Proceedings of the Field and Service Robotics, Results of the 7th International Conference, 2009

Rover-Based Surface and Subsurface Modeling for Planetary Exploration.
Proceedings of the Field and Service Robotics, Results of the 7th International Conference, 2009

2008
Autonomous underground tramming for center-articulated vehicles.
J. Field Robotics, 2008

2007
Design and Field Testing of an Autonomous Underground Tramming System.
Proceedings of the Field and Service Robotics, Results of the 6th International Conference, 2007

2006
Experiments in learning distributed control for a hexapod robot.
Robotics Auton. Syst., 2006

2005
Evolving Distributed Control for an Object Clustering Task.
Complex Syst., 2005

Stochastic Self-organization.
Complex Syst., 2005

Experimental and simulation results of wheel-soil interaction for planetary rovers.
Proceedings of the 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2005

Online visual motion estimation using FastSLAM with SIFT features.
Proceedings of the 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2005

2004
Motion planning for formations of mobile robots.
Robotics Auton. Syst., 2004

Optimized Motion Strategies for Cooperative Localization of Mobile Robots.
Proceedings of the 2004 IEEE International Conference on Robotics and Automation, 2004

2003
Subsurface surveying by a rover equipped with ground-penetrating radar.
Proceedings of the 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems, Las Vegas, Nevada, USA, October 27, 2003

Coevolving Communication and Cooperation for Lattice Formation Tasks.
Proceedings of the Advances in Artificial Life, 7th European Conference, 2003

2002
Kinematic path-planning for formations of mobile robots with a nonholonomic constraint.
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, Lausanne, Switzerland, September 30, 2002

2001
Multiagent Coordination by Stochastic Cellular Automata.
Proceedings of the Seventeenth International Joint Conference on Artificial Intelligence, 2001

2000
From the Sea to the Sidewalk: The Evolution of Hexapod Walking Gaits by a Genetic Algorithm.
Proceedings of the Evolvable Systems: From Biology to Hardware, 2000


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