Nov 2013: I am now an Assistant Research Professor at the Robotics Institute, Carnegie Mellon University. Sep 2013: I am
Associate Editor for ICRA 2014. Aug 2013: Kintinuous was the
spotlight feature on the MIT home page on Aug 28: archive and full article. Jul 2013: Our IROS paper on
deformation-based loop closure for Kintinuous will appear in November. Jun 2013: Three ECMR papers accepted: Paul's
unscented iSAM and consistent sparsification and Ross' object segmentation May 2013: I attended
ICRA 2013 in Karlsruhe, Germany, where I gave a tutorial at the Factor Graph Workshop, an invited talk at the Workshop on Long-Term Autonomy, and was coauthor on three conference papers: Tom's robust Kintinuous, Hordur's long-term mapping (nominated for best student paper) and David's non-Gaussian optimization. May 2013: Finished teaching my first class: Here's a
picture of two underwater robots and a wheeled robot built by my students in 2.017. Feb 2013: I am
Associate Editor for IROS 2013 and on the programm committee of RSS 2013. Feb 2013:
I appeared on Discovery Channel Canada: . Here is the 3 minute Daily Planet segment (starts at 22s after the commercial) where I show the host our latest work: Kintinuous Dec 2012: I will be co-teaching 2.017 (Design of electromechanical robotic systems) this spring.
Oct 2012: I am
Associate Editor for ICRA 2013 and on the program committee for RSS 2013. Sep 2012: Two new journal papers to appear:
Multi-session visual SLAM (RAS) and In-water ship hull inspection (IJRR). Aug 2012: I was a runner up for the
Dick Volz Best 2008 U.S. PhD thesis award in robotics and automation. May 2012: Check out
Kintinuous: Our submission to the RGB-D workshop at RSS 2012. May 2012:
Hordur Johannsson managed to map a large part of the Stata Center (10 floors!) using his reduced pose graph formulation, see our technical report. Apr 2012: We have two papers in
FUSION 2012: concurrent smoothing and filtering and inertial navigation with factor graphs. Mar 2012: A new, much improved version (1.6) of my
iSAM library has been released, featuring Powell's dog leg, stereo support, Quaternions, Eigen... Feb 2012: I am
Associate Editor for IROS 2012, and on the programm committee of AAAI 2012 and RSS 2012. Jan 2012: Check out our paper on
robust incremental least-squares in ICRA 2012 using an incrementalized version of Powell's dog leg. Oct 2011: Our
iSAM2/Bayestree journal paper will appear in IJRR in February 2012. Sep 2011: John McDonald presented our work on
"6-DOF Multi-session Visual SLAM using Anchor Nodes" at ECMR 2011. Jul 2011: I organized the
Automated SLAM Evaluation Workshop at RSS 2011 together with Giorgio Grisetti and Kai Ni. Many thanks to all the speakers for their very interesting talks and to the audience for their active participation! Jun 2011: We successfully demonstrated live mapping and waypoint navigation for ship hull inspection to the US Navy in Panama City, Florida.
May 2011: I gave three talks at ICRA 2011 in Shanghai including "Towards Life-long Mapping and Navigation" at the Workshop on Long-term Autonomy.
April 2011: More ship hull inspection field trials, this time in Boston on a US Coast Guard ship.
April 2011: For the 150th anniversary of MIT I enjoyed a series of interesting talks by Marvin Minsky, Noam Chomsky, Buzz Aldrin, Tim Berners-Lee, Ronald Rivest, Rodney Brooks and many more.
Feb 2011: Two weeks of field trials in San Diego, testing the Bluefin HULS3 vehicle and our algorithms on a 180m long US Navy ship.
Jan 2011: Check out our new
iSAM2 paper that will appear in ICRA 2011 in Shanghai. I also co-authored a paper with Maurice Fallon that uses iSAM to fuse sonar data for AUV navigation (nominated for best automation paper). Dec 2010: I presented our
Bayes tree work at WAFR 2010, and also gave a related talk at the National University of Singapore. Nov 2010: An
updated version of iSAM (version 1.5) is now available, which is faster than previous versions. Oct 2010: I gave an invited talk on iSAM2/Bayes tree at the
GraphBot workshop at IROS 2010 in Taipei. I also presented our ship hull inspection paper. And Viorela Ila and I chaired our invited session on underwater robotics. Aug 2010: Check out my
open source code for iSAM, now available here under LGPL 2.1. Includes full documentation, a few datasets and a 3D viewer. Jul 2010: I am now a
Research Scientist at MIT. Jun 2010: Our
IROS 2010 paper on ship hull inspection has been accepted. May 2010: We will
receive a PR2 robot from Willow Garage in the next weeks! March 2010: I am
Associate Editor for IROS 2010, and also organize a special session on underwater robotics with Viorela Ila and Francesco Maurelli. Jan 2010:
Breakthrough for iSAM: We developed a fully incremental algorithm including fluid relinearization, based on a graphical model view of sparse matrix factorization. Update: To appear in WAFR 2010. Jan 2010: We tested our underwater robot on
WHOI's research vessel Oceanus in Woods Hole, MA. Dec 2009: Our
ICRA 2010 paper on cooperative mapping has been accepted. Nov 2009: First autonomous operation of our underwater robot for multiple hours while successfully correcting for navigation drift.
Aug 2009: I attended
ISRR 2009 in Lucerne, Switzerland. Aug 2009: My
CVIU journal paper on SLAM with multi-camera rigs has been accepted. Jul 2009: My
RAS journal paper on data association for iSAM has been accepted. Jun 2009: I had a joint
workshop paper with Ed Olson on “Evaluating the Performance of Robot Mapping Systems” ( pdf) at RSS in Seattle. May 2009: I attended
ICRA 2009 in Kobe, Japan, and presented a joint paper with Kai Ni and Frank Dellaert on visual odometry. Feb 2009: Attended ONR Unmanned Maritime Systems Technology Review meeting in Orlando.
Dec 2008: Graduation at Georgia Tech.
Nov 2008: Starting as a Postdoctoral Associate at MIT.
Oct 2008: Successfully defended my thesis.
Last updated: Nov 4, 2013