Publications

Journal papers

“iSAM: Incremental Smoothing and Mapping”
by M. Kaess, A. Ranganathan, and F. Dellaert.
Accepted by IEEE Trans. on Robotics, 2008.
Details.

“Probabilistic Structure Matching for Visual SLAM with a Multi-Camera Rig”
by M. Kaess and F. Dellaert.
Submitted to Computer Vision and Image Understanding, CVIU, 2008.
Details.

“Square Root SAM: Simultaneous Localization and Mapping via Square Root Information Smoothing”
by F. Dellaert and M. Kaess.
Intl. J. of Robotics Research, vol. 25, no. 12, Dec. 2006, pp. 1181-1204.
Details. Download: PDF.

Peer-reviewed conference publications

“Flow Separation for Fast and Robust Stereo Odometry”
by M. Kaess, K. Ni, and F. Dellaert.
In Submitted to the Eur. Conf. on Computer Vision (ECCV), 2008.
Details.

“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. In press.
Details. Download: PDF.

“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.
Details. Download: PDF.

“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.
Details. Download: PDF.

“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).
Details. Download: PDF.

“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).
Details. Download: PDF.

“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.
Details. Download: PDF.

“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).
Details. Download: PDF.

“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.
Details. Download: PDF.

“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.
Details. Download: PDF.

“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.
Details. Download: PDF.

“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.
Details. Download: PDF.

Other publications

“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.
Details. Download: PDF.

“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.
Details. Download: PDF.