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

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

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)

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