Publications

Publications by categories in reverse chronological order. See Google Scholar for an up-to-date list.

Theses

2019

  1. Robust Non-Gaussian Semantic Simultaneous Localization and Mapping
    Kevin Doherty
    2019
    S.M. Thesis
    PDF

2017

  1. Learning-aided 3D Occupancy Mapping for Mobile Robots
    Kevin Doherty
    2017
    B.E. Thesis
    PDF

Preprints

2022

  1. Discrete-Continuous Smoothing and Mapping
    Kevin Doherty, Ziqi Lu, Kurran Singh, and John J Leonard
    arXiv preprint arXiv:2204.11936 2022

    ICRA 2022 Workshop on Robotic Perception and Mapping: Emerging Techniques Spotlight Talk (2 selected of 48)

    arXiv Code

Refereed Conference and Journal Publications

2022

  1. Spectral Measurement Sparsification for Pose-Graph SLAM
    Kevin Doherty, David M. Rosen, and John J. Leonard
    IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2022
    arXiv Code
  2. SLAM-Supported Self-Training for 6D Object Pose Estimation
    Ziqi Lu, Yihao Zhang,  Kevin Doherty, Odin Severinsen, Ethan Yang, and John J. Leonard
    IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2022
    arXiv Code
  3. Improving obstacle boundary representations in predictive occupancy mapping
    Erik Pearson,  Kevin Doherty, and Brendan Englot
    Robotics and Autonomous Systems 2022
    Paper
  4. Performance Guarantees for Spectral Initialization in Rotation Averaging and Pose-Graph SLAM
    Kevin Doherty, David M Rosen, and John J Leonard
    In 2022 IEEE International Conference on Robotics and Automation (ICRA) 2022
    arXiv

2021

  1. Advances in Inference and Representation for Simultaneous Localization and Mapping
    David M Rosen,  Kevin Doherty, Antonio Terán Espinoza, and John J Leonard
    Annual Review of Control, Robotics, and Autonomous Systems 2021

    Invited article

    arXiv Paper
  2. Consensus-Informed Optimization Over Mixtures for Ambiguity-Aware Object SLAM
    Ziqi Lu, Qiangqiang Huang,  Kevin Doherty, and John J. Leonard
    In 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2021
    arXiv
  3. A Multi-Hypothesis Approach to Pose Ambiguity in Object-Based SLAM
    Jiahui Fu, Qiangqiang Huang,  Kevin Doherty, Yue Wang, and John J. Leonard
    In 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2021
    arXiv

2020

  1. Variational Filtering with Copula Models for SLAM
    John D Martin*,  Kevin Doherty*, Caralyn Cyr, Brendan Englot, and John Leonard
    In 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2020
    *Equal contributors.
    arXiv Paper
  2. Probabilistic Data Association via Mixture Models for Robust Semantic SLAM
    Kevin Doherty, David P Baxter*, Edward Schneeweiss*, and John J Leonard
    In 2020 IEEE International Conference on Robotics and Automation (ICRA) 2020
    *Equal contributors.
    arXiv Paper Video

2019

  1. Learning-aided 3-D Occupancy Mapping with Bayesian Generalized Kernel Inference
    Kevin Doherty, Tixiao Shan, Jinkun Wang, and Brendan Englot
    IEEE Transactions on Robotics 2019
    PDF Code
  2. Multimodal Semantic SLAM with Probabilistic Data Association
    Kevin Doherty, Dehann Fourie, and John Leonard
    In 2019 International Conference on Robotics and Automation (ICRA) 2019
    Paper Video

2018

  1. Approximate Distributed Spatiotemporal Topic Models for Multi-Robot Terrain Characterization
    Kevin Doherty, Genevieve Flaspohler, Nicholas Roy, and Yogesh Girdhar
    In 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2018

    Best Paper Award Finalist (6 finalists of 1,254 papers)

    Paper PDF
  2. Bayesian Generalized Kernel Inference for Terrain Traversability Mapping
    Tixiao Shan,  Kevin Doherty, Jinkun Wang, and Brendan Englot
    In Conference on Robot Learning 2018
    Paper Code Video

2017

  1. Bayesian Generalized Kernel Inference for Occupancy Map Prediction
    Kevin Doherty, Jinkun Wang, and Brendan Englot
    In 2017 IEEE International Conference on Robotics and Automation (ICRA) 2017
    Paper Code

2016

  1. Probabilistic Map Fusion for Fast, Incremental Occupancy Mapping with 3D Hilbert Maps
    Kevin Doherty, Jinkun Wang, and Brendan Englot
    In 2016 IEEE International Conference on Robotics and Automation (ICRA) 2016
    Paper

2015

  1. Inference-enabled Information-theoretic Exploration of Continuous Action Spaces
    Shi Bai, Jinkun Wang,  Kevin Doherty, and Brendan Englot
    In International Symposium on Robotics Research (ISRR) 2015
    Paper

In the News

  • Ruth and Paul Fye Award for Excellence in Oceanographic Research Best Paper Award, MIT-WHOI Joint Program, June 2020 < link >

  • “How Stevens Researchers are Creating Better Maps for Robots, Self-Driving Cars,” Stevens University News, June 2019. < link >

  • “Coding Curiosity,” MIT Graduate Program in Science Writing, May 2018. < link >

  • “Robot Explorers,” WHOI Multimedia, March 2018. < link >

  • “Engineering New Solutions,” Stevens University News, March 2017. < link >

  • “Robust Robotics for a Safer World,” Stevens University News, March 2017. < link >