Towards Autonomous Mobile Robots for the Exploration of Steep Terrain. - Braden Stenning; Lauren Bajin; Christine Robson; Valentin Peretroukhin; Gordon R. Osinski; Timothy D. Barfoot (FSR, 2013)

Optimizing Camera Perspective for Stereo Visual Odometry. - Valentin Peretroukhin; Jonathan Kelly; Timothy D. Barfoot (CRV, 2014)

The Battle for Filter Supremacy: A Comparative Study of the Multi-State Constraint Kalman Filter and the Sliding Window Filter. - Lee E. Clement; Valentin Peretroukhin; Jacob Lambert 001; Jonathan Kelly (CRV, 2015)

PROBE: Predictive robust estimation for visual-inertial navigation. - Valentin Peretroukhin; Lee E. Clement; Matthew Giamou; Jonathan Kelly (IROS, 2015)

PROBE-GK: Predictive robust estimation using generalized kernels. - Valentin Peretroukhin; William Vega-Brown; Nicholas Roy; Jonathan Kelly (ICRA, 2016)

Improving the Accuracy of Stereo Visual Odometry Using Visual Illumination Estimation. - Lee E. Clement; Valentin Peretroukhin; Jonathan Kelly (ISER, 2016)

Reducing drift in visual odometry by inferring sun direction using a Bayesian Convolutional Neural Network. - Valentin Peretroukhin; Lee E. Clement; Jonathan Kelly (ICRA, 2017)

Improving foot-mounted inertial navigation through real-time motion classification. - Brandon Wagstaff; Valentin Peretroukhin; Jonathan Kelly (IPIN, 2017)

Inferring sun direction to improve visual odometry: A deep learning approach. - Valentin Peretroukhin; Lee E. Clement; Jonathan Kelly (Int. J. Robotics Res., 2018)

DPC-Net: Deep Pose Correction for Visual Localization. - Valentin Peretroukhin; Jonathan Kelly (IEEE Robotics Autom. Lett., 2018)

Deep Probabilistic Regression of Elements of SO(3) using Quaternion Averaging and Uncertainty Injection. - Valentin Peretroukhin; Brandon Wagstaff; Jonathan Kelly (CVPR Workshops, 2019)

Sparse Bounded Degree Sum of Squares Optimization for Certifiably Globally Optimal Rotation Averaging. - Matthew Giamou; Filip Maric; Valentin Peretroukhin; Jonathan Kelly (CoRR, 2019)

Probabilistic Regression of Rotations using Quaternion Averaging and a Deep Multi-Headed Network. - Valentin Peretroukhin; Brandon Wagstaff; Matthew Giamou; Jonathan Kelly (CoRR, 2019)

Robust Data-Driven Zero-Velocity Detection for Foot-Mounted Inertial Navigation. - Brandon Wagstaff; Valentin Peretroukhin; Jonathan Kelly (CoRR, 2019)

Certifiably Globally Optimal Extrinsic Calibration From Per-Sensor Egomotion. - Matthew Giamou; Ziye Ma; Valentin Peretroukhin; Jonathan Kelly (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)

Self-Supervised Deep Pose Corrections for Robust Visual Odometry. - Brandon Wagstaff; Valentin Peretroukhin; Jonathan Kelly (ICRA, 2020)

A Smooth Representation of Belief over SO(3) for Deep Rotation Learning with Uncertainty. - Valentin Peretroukhin; Matthew Giamou; W. Nicholas Greene; David M. Rosen; Jonathan Kelly; Nicholas Roy (Robotics: Science and Systems, 2020)

Toward Robust and Efficient Online Adaptation for Deep Stereo Depth Estimation. - Milo Knowles; Valentin Peretroukhin; W. Nicholas Greene; Nicholas Roy (ICRA, 2021)

Self-Supervised Structure-from-Motion through Tightly-Coupled Depth and Egomotion Networks. - Brandon Wagstaff; Valentin Peretroukhin; Jonathan Kelly (CoRR, 2021)

Convex Iteration for Distance-Geometric Inverse Kinematics. - Matthew Giamou; Filip Maric; David M. Rosen; Valentin Peretroukhin; Nicholas Roy; Ivan Petrovic; Jonathan Kelly (IEEE Robotics Autom. Lett., 2022)

On the Coupling of Depth and Egomotion Networks for Self-Supervised Structure from Motion. - Brandon Wagstaff; Valentin Peretroukhin; Jonathan Kelly (IEEE Robotics Autom. Lett., 2022)