Publications
Dissertation
Incremental Smoothing and Mapping
by M. Kaess.
Ph.D. dissertation, Georgia Institute of Technology, Dec. 2008.
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Journal papers
Real-time Large Scale Dense RGB-D SLAM with Volumetric Fusion
by T. Whelan, M. Kaess, H. Johannsson, M.F. Fallon, J.J. Leonard, and J.B. McDonald.
Intl. J. of Robotics Research, IJRR, 2014. To appear.
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Generic Factor-Based Node Removal: Enabling Long-Term SLAM
by N. Carlevaris-Bianco, M. Kaess, and R.M. Eustice.
IEEE Trans. on Robotics, TRO, 2014. To appear.
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Consistent Unscented Incremental Smoothing for Multi-robot Cooperative Target Tracking
by G. Huang, M. Kaess, and J.J. Leonard.
Journal of Robotics and Autonomous Systems, RAS, 2014. To appear.
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RISE: An Incremental Trust-Region Method for Robust Online Sparse Least-Squares Estimation
by D.M. Rosen, M. Kaess, and J.J. Leonard.
IEEE Trans. on Robotics, TRO, vol. 30, no. 5, Oct. 2014, pp. 1091-1108.
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Concurrent Filtering and Smoothing: A Parallel Architecture for Real-Time Navigation and Full Smoothing
by S. Williams, V. Indelman, M. Kaess, R. Roberts, J.J. Leonard, and F. Dellaert.
Intl. J. of Robotics Research, IJRR, vol. 33, no. 12, Oct. 2014, pp. 1544-1568.
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The MIT Stata Center Dataset
by M.F. Fallon, H. Johannsson, M. Kaess, and J.J. Leonard.
Intl. J. of Robotics Research, IJRR, vol. 32, no. 14, Dec. 2013, pp. 1695-1699.
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Real-time 6-DOF Multi-session Visual SLAM over Large Scale Environments
by J.B. McDonald, M. Kaess, C. Cadena, J. Neira, and J.J. Leonard.
Journal of Robotics and Autonomous Systems, RAS, vol. 61, no. 10, Oct. 2013, pp. 1144-1158.
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Information Fusion in Navigation Systems via Factor Graph Based Incremental Smoothing
by V. Indelman, S. Williams, M. Kaess, and F. Dellaert.
Journal of Robotics and Autonomous Systems, RAS, vol. 61, no. 8, Aug. 2013, pp. 721-738.
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Autonomous Flight in GPS-Denied Environments Using Monocular Vision and Inertial Sensors
by A.D. Wu, E.N. Johnson, M. Kaess, F. Dellaert, and G. Chowdhary.
AIAA J. of Aerospace Information Systems (JAIS), vol. 10, no. 4, Apr. 2013, pp. 172-186.
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Advanced Perception, Navigation and Planning for Autonomous In-Water Ship Hull Inspection
by F.S. Hover, R.M. Eustice, A. Kim, B.J. Englot, H. Johannsson, M. Kaess, and J.J. Leonard.
Intl. J. of Robotics Research, IJRR, vol. 31, no. 12, Oct. 2012, pp. 1445-1464.
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iSAM2: Incremental Smoothing and Mapping Using the Bayes Tree
by M. Kaess, H. Johannsson, R. Roberts, V. Ila, J.J. Leonard, and F. Dellaert.
Intl. J. of Robotics Research, IJRR, vol. 31, no. 2, Feb. 2012, pp. 217-236.
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Probabilistic Structure Matching for Visual SLAM with a Multi-Camera Rig
by M. Kaess and F. Dellaert.
Computer Vision and Image Understanding, CVIU, vol. 114, no. 2, Feb. 2010, pp. 286-296.
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Covariance Recovery from a Square Root Information Matrix for Data Association
by M. Kaess and F. Dellaert.
Journal of Robotics and Autonomous Systems, RAS, vol. 57, no. 12, Dec. 2009, pp. 1198-1210.
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iSAM: Incremental Smoothing and Mapping
by M. Kaess, A. Ranganathan, and F. Dellaert.
IEEE Trans. on Robotics, TRO, vol. 24, no. 6, Dec. 2008, pp. 1365-1378.
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Square Root SAM: Simultaneous Localization and Mapping via Square Root Information Smoothing
by F. Dellaert and M. Kaess.
Intl. J. of Robotics Research, IJRR, vol. 25, no. 12, Dec. 2006, pp. 1181-1204.
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Book chapter
Simultaneous Localization and Mapping in Marine Environments
by M.F. Fallon, H. Johannsson, M. Kaess, J. Folkesson, H. McClelland, B.J. Englot, F.S. Hover, and J. J. Leonard.
In Marine Robot Autonomy, (Mae L. Seto, ed.), 2013, pp. 329-372.
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Peer-reviewed publications
DEMO: Depth Enhanced Monocular Odometry
by J. Zhang, M. Kaess, and S. Singh.
In IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems, IROS, (Chicago, IL), Sep. 2014. To appear.
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3D Mapping, Localisation and Object Retrieval using Low Cost Robotic Platforms: A Robotic Search Engine for the Real-World
by T. Whelan, M. Kaess, R. Finman, M.F. Fallon, H. Johannsson, J.J. Leonard, and J. McDonald.
In RSS Workshop on RGB-D: Advanced Reasoning with Depth Cameras, (Berkeley, CA), July 2014.
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Towards Consistent Visual-Inertial Navigation
by G. Huang, M. Kaess, and J.J. Leonard.
In IEEE Intl. Conf. on Robotics and Automation, ICRA, (Hong Kong), June 2014.
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Efficient Incremental Map Segmentation in Dense RGB-D Maps
by R. Finman, T. Whelan, M. Kaess, and J.J. Leonard.
In IEEE Intl. Conf. on Robotics and Automation, ICRA, (Hong Kong), June 2014.
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Mapping 3D Underwater Environments with Smoothed Submaps
by M. VanMiddlesworth, M. Kaess, F.S. Hover, and J.J. Leonard.
In Conf. on Field and Service Robotics (FSR), (Brisbane, Australia), Dec. 2013.
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Deformation-based Loop Closure for Large Scale Dense RGB-D SLAM
by T. Whelan, M. Kaess, J.J. Leonard, and J.B. McDonald.
In IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems, IROS, (Tokyo, Japan), Nov. 2013.
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Unscented iSAM: A Consistent Incremental Solution to Cooperative Localization and Target Tracking
by G. Huang, R. Truax, M. Kaess, and J.J. Leonard.
In European Conference on Mobile Robots (ECMR), (Barcelona, Spain), Sep. 2013.
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Toward Lifelong Object Segmentation from Change Detection in Dense RGB-D Maps
by R.E. Finman, T. Whelan, M. Kaess, and J.J. Leonard.
In European Conference on Mobile Robots (ECMR), (Barcelona, Spain), Sep. 2013.
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Consistent Sparsification for Graph Optimization
by G. Huang, M. Kaess, and J.J. Leonard.
In European Conference on Mobile Robots (ECMR), (Barcelona, Spain), Sep. 2013.
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Temporally Scalable Visual SLAM using a Reduced Pose Graph
by H. Johannsson, M. Kaess, M.F. Fallon, and J.J. Leonard.
In IEEE Intl. Conf. on Robotics and Automation, ICRA, (Karlsruhe, Germany), May 2013. Best student paper finalist (one of five).
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Robust Real-Time Visual Odometry for Dense RGB-D Mapping
by T. Whelan, H. Johannsson, M. Kaess, J.J. Leonard, and J.B. McDonald.
In IEEE Intl. Conf. on Robotics and Automation, ICRA, (Karlsruhe, Germany), May 2013.
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Robust Incremental Online Inference Over Sparse Factor Graphs: Beyond the Gaussian Case
by D.M. Rosen, M. Kaess, and J.J. Leonard.
In IEEE Intl. Conf. on Robotics and Automation, ICRA, (Karlsruhe, Germany), May 2013.
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Analytically-Selected Multi-Hypothesis Incremental Map Estimation
by G. Huang, M. Kaess, J.J. Leonard, and S.I. Roumeliotis.
In Intl. Conf. on Acoustics, Speech, and Signal Proc. (ICASSP), (Vancouver, Canada), May 2013.
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Dynamic Pose Graph SLAM: Long-term Mapping in Low Dynamic Environments
by A. Walcott-Bryant, M. Kaess, H. Johannsson, and J.J. Leonard.
In IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems, IROS, (Vilamoura, Portugal), Oct. 2012, pp. 1871-1878.
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Temporally Scalable Visual SLAM using a Reduced Pose Graph
by H. Johannsson, M. Kaess, M.F. Fallon, and J.J. Leonard.
In RSS Workshop on Long-term Operation of Autonomous Robotic Systems in Changing Environments, (Sydney, Australia), July 2012.
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Kintinuous: Spatially Extended KinectFusion
by T. Whelan, J.B. McDonald, M. Kaess, M.F. Fallon, H. Johannsson, and J.J. Leonard.
In RSS Workshop on RGB-D: Advanced Reasoning with Depth Cameras, (Sydney, Australia), July 2012.
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Factor Graph Based Incremental Smoothing in Inertial Navigation Systems
by V. Indelman, S. Williams, M. Kaess, and F. Dellaert.
In Intl. Conf. on Information Fusion, FUSION, (Singapore), July 2012, pp. 2154-2161.
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Concurrent Filtering and Smoothing
by M. Kaess, S. Williams, V. Indelman, R. Roberts, J.J. Leonard, and F. Dellaert.
In Intl. Conf. on Information Fusion, FUSION, (Singapore), July 2012, pp. 1300-1307.
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An Incremental Trust-Region Method for Robust Online Sparse Least-Squares Estimation
by D.M. Rosen, M. Kaess, and J.J. Leonard.
In IEEE Intl. Conf. on Robotics and Automation, ICRA, (St. Paul, MN), May 2012, pp. 1262-1269.
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6-DOF Multi-session Visual SLAM using Anchor Nodes
by J.B. McDonald, M. Kaess, C. Cadena, J. Neira, and J.J. Leonard.
In European Conference on Mobile Robots, ECMR, (Orebro, Sweden), Sep. 2011, pp. 69-76.
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iSAM2: Incremental Smoothing and Mapping with Fluid Relinearization and Incremental Variable Reordering
by M. Kaess, H. Johannsson, R. Roberts, V. Ila, J.J. Leonard, and F. Dellaert.
In IEEE Intl. Conf. on Robotics and Automation, ICRA, (Shanghai, China), May 2011, pp. 3281-3288.
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Efficient AUV Navigation Fusing Acoustic Ranging and Side-scan Sonar
by M.F. Fallon, M. Kaess, H. Johannsson, and J.J. Leonard.
In IEEE Intl. Conf. on Robotics and Automation, ICRA, (Shanghai, China), May 2011, pp. 2398-2405. Best automation paper finalist (one of five).
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The Bayes Tree: An Algorithmic Foundation for Probabilistic Robot Mapping
by M. Kaess, V. Ila, R. Roberts, and F. Dellaert.
In Intl. Workshop on the Algorithmic Foundations of Robotics, WAFR, (Singapore), Dec. 2010, pp. 157-173.
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Imaging Sonar-Aided Navigation for Autonomous Underwater Harbor Surveillance
by H. Johannsson, M. Kaess, B.J. Englot, F.S. Hover, and J.J. Leonard.
In IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems, IROS, (Taipei, Taiwan), Oct. 2010.
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Multiple Relative Pose Graphs for Robust Cooperative Mapping
by B. Kim, M. Kaess, L. Fletcher, J.J. Leonard, A. Bachrach, N. Roy, and S. Teller.
In IEEE Intl. Conf. on Robotics and Automation, ICRA, (Anchorage, Alaska), May 2010, pp. 3185-3192.
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Flow Separation for Fast and Robust Stereo Odometry
by M. Kaess, K. Ni, and F. Dellaert.
In IEEE Intl. Conf. on Robotics and Automation, ICRA, (Kobe, Japan), May 2009.
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Place Recognition-based Fixed-Lag Smoothing for Environments with Unreliable GPS
by R. Mottaghi, M. Kaess, A. Ranganathan, R. Roberts, and F. Dellaert.
In IEEE Intl. Conf. on Robotics and Automation, ICRA, (Pasadena, CA), May 2008.
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Fast 3D Pose Estimation With Out-of-Sequence Measurements
by A. Ranganathan, M. Kaess, and F. Dellaert.
In IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems, IROS, (San Diego, CA), Oct. 2007, pp. 2486-2493.
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iSAM: Fast Incremental Smoothing and Mapping with Efficient Data Association
by M. Kaess, A. Ranganathan, and F. Dellaert.
In IEEE Intl. Conf. on Robotics and Automation, ICRA, (Rome, Italy), Apr. 2007, pp. 1670-1677.
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Loopy SAM
by A. Ranganathan, M. Kaess, and F. Dellaert.
In Intl. Joint Conf. on Artificial Intelligence, IJCAI, (Hyderabad, India), Jan. 2007, pp. 2191-2196. Oral presentation acceptance ratio 15.7% (212 of 1353).
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Fast Incremental Square Root Information Smoothing
by M. Kaess, A. Ranganathan, and F. Dellaert.
In Intl. Joint Conf. on Artificial Intelligence, IJCAI, (Hyderabad, India), Jan. 2007, pp. 2129-2134. Oral presentation acceptance ratio 15.7% (212 of 1353).
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A Markov Chain Monte Carlo Approach to Closing the Loop in SLAM
by M. Kaess and F. Dellaert.
In IEEE Intl. Conf. on Robotics and Automation, ICRA, (Barcelona, Spain), Apr. 2005, pp. 645-650.
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MCMC-based Multiview Reconstruction of Piecewise Smooth Subdivision Curves with a Variable Number of Control Points
by M. Kaess, R. Zboinski, and F. Dellaert.
In Eur. Conf. on Computer Vision, ECCV, (Prague, Czech Republic), May 2004, pp. 329-341. Acceptance ratio 34.2% (190 of 555).
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Reconstruction of Objects with Jagged Edges through Rao-Blackwellized Fitting of Piecewise Smooth Subdivision Curves
by M. Kaess and F. Dellaert.
In Proceedings of the IEEE 1st International Workshop on Higher-Level Knowledge in 3D Modeling and Motion Analysis, (Nice, France), Oct. 2003, pp. 39-47.
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Compact Encoding of Robot-Generated 3D Maps for Efficient Wireless Transmission
by M. Kaess, R.C. Arkin, and J. Rossignac.
In IEEE Intl. Conf. on Advanced Robotics, ICAR, (Coimbra, Portugal), June 2003, pp. 324-331.
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Learning Behavioral Parameterization Using Spatio-Temporal Case-Based Reasoning
by M. Likhachev, M. Kaess, and R.C. Arkin.
In IEEE Intl. Conf. on Robotics and Automation, ICRA, (Washington, DC), May 2002, pp. 1282-1289.
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Other publications
Robust Tracking for Real-Time Dense RGB-D Mapping with Kintinuous
by T. Whelan, H. Johannsson, M. Kaess, J.J. Leonard, and J.B. McDonald, Computer Science and Artificial Intelligence Laboratory.
MIT technical report MIT-CSAIL-TR-2012-031, Sep. 2012.
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Mapping the MIT Stata Center: Large-Scale Integrated Visual and RGB-D SLAM
by M.F. Fallon, H. Johannsson, M. Kaess, D.M. Rosen, E. Muggler, and J.J. Leonard.
In RSS Workshop on RGB-D: Advanced Reasoning with Depth Cameras, July 2012.
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Towards Autonomous Ship Hull Inspection using the Bluefin HAUV
by M. Kaess, H. Johannsson, B. Englot, F.S. Hover, and J.J. Leonard.
In Ninth International Symposium on Technology and the Mine Problem, (Naval Postgraduate School, Monterey, CA), May 2010.
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The Bayes Tree: Enabling Incremental Reordering and Fluid Relinearization for Online Mapping
by M. Kaess, V. Ila, R. Roberts, and F. Dellaert, Computer Science and Artificial Intelligence Laboratory.
MIT technical report MIT-CSAIL-TR-2010-021, Jan. 2010.
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Evaluating the Performance of Robot Mapping Systems
by E. Olson and M. Kaess.
In Workshop on Good Experimental Methodology in Robotics, 2009.
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Visual SLAM with a Multi-Camera Rig
by M. Kaess and F. Dellaert.
Georgia Institute of Technology technical report GIT-GVU-06-06, Feb. 2006.
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The Georgia Tech Yellow Jackets: A Marsupial Team for Urban Search and Rescue
by F. Dellaert, T. Balch, M. Kaess, R. Ravichandran, F. Alegre, M. Berhault, R. McGuire, E. Merrill, L. Moshkina, and D. Walker.
In AAAI Mobile Robot Competition, (Edmonton, Alberta, Canada), 2002, pp. 44-49.
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