Michael Kaess
Center for Robotics and Intelligent Machines, Georgia Tech GT CoC IC GVU RIM@GT BORG

please see my MIT page for up-to-date information

Publications

Thesis

“Incremental Smoothing and Mapping”
by M. Kaess.
Ph.D. dissertation, Georgia Institute of Technology, Dec. 2008.
Details. Download: PDF.


Journal papers

“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, Feb. 2012, pp. 217-236.
Details. Download: PDF.

“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, Feb. 2010, pp. 286-296.
Details. Download: PDF.

“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, Dec. 2009, pp. 1198-1210.
Details. Download: PDF.

“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.
Details. Download: PDF.

“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.
Details. Download: PDF.


Peer-reviewed conference publications

“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. To appear.
Details. Download: PDF.

“6-DOF Multi-session Visual SLAM using Anchor Nodes”
by J. 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.
Details. Download: PDF.

“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.
Details. Download: PDF.

“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. Nominated for best automation paper.
Details. Download: PDF.

“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.
Details. Download: PDF.

“Imaging Sonar-Aided Navigation for Autonomous Underwater Harbor Surveillance”
by H. Johannsson, M. Kaess, B. Englot, F.S. Hover, and J.J. Leonard.
In IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems, IROS, (Taipei, Taiwan), Oct. 2010.
Details. Download: PDF.

“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.
Details. Download: PDF.

“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.
Details. Download: PDF.

“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.
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.

“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

“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.
Details. Download: PDF.

“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.
Details. Download: PDF.

“Evaluating the Performance of Robot Mapping Systems”
by E. Olson and M. Kaess.
In Workshop on Good Experimental Methodology in Robotics, 2009.
Details. Download: PDF.

“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.