19972019
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Research Output 1997 2019

2019

High-speed autonomous quadrotor navigation through visual and inertial paths

Do, T., Carrillo-Arce, L. C. & Roumeliotis, S., Apr 1 2019, In : International Journal of Robotics Research. 38, 4, p. 486-504 19 p.

Research output: Contribution to journalArticle

Autonomous Navigation
Navigation
High Speed
Path
Baseline
2018

Alternating-Stereo VINS: Observability Analysis and Performance Evaluation

Paul, M. K. & Roumeliotis, S., Dec 14 2018, Proceedings - 2018 IEEE/CVF Conference on Computer Vision and Pattern Recognition, CVPR 2018. IEEE Computer Society, p. 4729-4737 9 p. 8578595. (Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Inertial navigation systems
Stereo vision
Observability
Cameras
Interpolation

A Visual-Inertial Approach to Human Gait Estimation

Ahmed, A. & Roumeliotis, S., Sep 10 2018, 2018 IEEE International Conference on Robotics and Automation, ICRA 2018. Institute of Electrical and Electronics Engineers Inc., p. 4614-4621 8 p. 8460871. (Proceedings - IEEE International Conference on Robotics and Automation).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Units of measurement
Sensors
Electric fuses
Animation
Cameras
3 Citations (Scopus)

Recursive decentralized localization for multi-robot systems with asynchronous pairwise communication

Luft, L., Schubert, T., Roumeliotis, S. & Burgard, W., Sep 1 2018, In : International Journal of Robotics Research. 37, 10, p. 1152-1167 16 p.

Research output: Contribution to journalArticle

Multi-robot Systems
Decentralized
Pairwise
Robot
Robots

Resource-Aware Large-Scale Cooperative Three-Dimensional Mapping Using Multiple Mobile Devices

Guo, C. X., Sartipi, K., Dutoit, R. C., Georgiou, G. A., Li, R., Oleary, J., Nerurkar, E. D., Hesch, J. A. & Roumeliotis, S., Oct 1 2018, In : IEEE Transactions on Robotics. 34, 5, p. 1349-1369 21 p., 8430569.

Research output: Contribution to journalArticle

Mobile devices
Constrained optimization
Trajectories
Data storage equipment
Processing
2017
16 Citations (Scopus)

A comparative analysis of tightly-coupled monocular, binocular, and stereo VINS

Paul, M. K., Wu, K., Hesch, J. A., Nerurkar, E. D. & Roumeliotis, S., Jul 21 2017, ICRA 2017 - IEEE International Conference on Robotics and Automation. Institute of Electrical and Electronics Engineers Inc., p. 165-172 8 p. 7989022

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Binocular vision
Binoculars
Inertial navigation systems
Stereo vision
Cameras
1 Citation (Scopus)

Analytical least-squares solution for 3D lidar-camera calibration

Mirzaei, F. M., Kottas, D. G. & Roumeliotis, S., Jan 1 2017, Robotics Research - The 15th International Symposium ISRR. Christensen, H. I. & Khatib, O. (eds.). Springer- Verlag, p. 183-200 18 p. (Springer Tracts in Advanced Robotics; vol. 100).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Optical radar
Cost functions
Cameras
Calibration
Observability
8 Citations (Scopus)

An efficient algebraic solution to the perspective-three-point problem

Ke, T. & Roumeliotis, S., Nov 6 2017, Proceedings - 30th IEEE Conference on Computer Vision and Pattern Recognition, CVPR 2017. Institute of Electrical and Electronics Engineers Inc., p. 4618-4626 9 p. (Proceedings - 30th IEEE Conference on Computer Vision and Pattern Recognition, CVPR 2017; vol. 2017-January).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Cameras
Costs
Monte Carlo simulation

Consistent map-based 3D localization on mobile devices

Dutoit, R. C., Hesch, J. A., Nerurkar, E. D. & Roumeliotis, S., Jul 21 2017, ICRA 2017 - IEEE International Conference on Robotics and Automation. Institute of Electrical and Electronics Engineers Inc., p. 6253-6260 8 p. 7989741. (Proceedings - IEEE International Conference on Robotics and Automation).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Mobile devices
Kalman filters
Processing
Data storage equipment
7 Citations (Scopus)

VINS on wheels

Wu, K. J., Guo, C. X., Georgiou, G. & Roumeliotis, S., Jul 21 2017, ICRA 2017 - IEEE International Conference on Robotics and Automation. Institute of Electrical and Electronics Engineers Inc., p. 5155-5162 8 p. 7989603. (Proceedings - IEEE International Conference on Robotics and Automation).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Inertial navigation systems
Wheels
Ground vehicles
Mobile devices
Information systems
2016
7 Citations (Scopus)

Large-scale cooperative 3D visual-inertial mapping in a Manhattan world

Guo, C. X., Sartipi, K., Dutoit, R. C., Georgiou, G. A., Li, R., O'Leary, J., Nerurkar, E. D., Hesch, J. A. & Roumeliotis, S., Jun 8 2016, 2016 IEEE International Conference on Robotics and Automation, ICRA 2016. Institute of Electrical and Electronics Engineers Inc., p. 1071-1078 8 p. 7487238. (Proceedings - IEEE International Conference on Robotics and Automation; vol. 2016-June).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Constrained optimization
Trajectories
12 Citations (Scopus)

Recursive decentralized collaborative localization for sparsely communicating robots

Luft, L., Schubert, T., Roumeliotis, S. & Burgard, W., Jan 1 2016, Robotics: Science and Systems XII, RSS 2016. Hsu, D., Jacobs, S., Berman, S. & Amato, N. (eds.). MIT Press Journals, (Robotics: Science and Systems; vol. 12).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Intelligent robots
Robots
Communication
Robot applications
Extended Kalman filters
2015
8 Citations (Scopus)

A bank of maximum A Posteriori (MAP) estimators for target tracking

Huang, G., Zhou, K., Trawny, N. & Roumeliotis, S. I., Feb 1 2015, In : IEEE Transactions on Robotics. 31, 1, p. 85-103 19 p., 7001276.

Research output: Contribution to journalArticle

Extended Kalman filters
Target tracking
Bearings (structural)
Trajectories
Linearization
6 Citations (Scopus)

An iterative Kalman smoother for robust 3D localization on mobile and wearable devices

Kottas, D. G. & Roumeliotis, S., Jun 29 2015, In : Proceedings - IEEE International Conference on Robotics and Automation. 2015-June, June, p. 6336-6343 8 p., 7140089.

Research output: Contribution to journalConference article

Wearable computers
Convergence of numerical methods
Extended Kalman filters
Mobile devices
Nonlinear systems
27 Citations (Scopus)

A square root inverse filter for efficient vision-aided inertial navigation on mobile devices

Wu, K., Ahmed, A. M., Georgiou, G. A. & Roumeliotis, S., Jan 1 2015, Robotics: Science and Systems XI, RSS 2015. Buchli, J., Hsu, D. & Kavraki, L. E. (eds.). MIT Press Journals, (Robotics: Science and Systems; vol. 11).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Inertial navigation systems
Mobile devices
Navigation
Processing
Experiments
2014
94 Citations (Scopus)

Camera-IMU-based localization: Observability analysis and consistency improvement

Hesch, J. A., Kottas, D. G., Bowman, S. L. & Roumeliotis, S., Jan 1 2014, In : International Journal of Robotics Research. 33, 1, p. 182-201 20 p.

Research output: Contribution to journalArticle

Inertial Navigation System
Inertial navigation systems
Observability
Camera
Cameras
27 Citations (Scopus)

C-KLAM: Constrained keyframe-based localization and mapping

Nerurkar, E. D., Wu, K. J. & Roumeliotis, S., Sep 22 2014, In : Proceedings - IEEE International Conference on Robotics and Automation. p. 3638-3643 6 p., 6907385.

Research output: Contribution to journalConference article

Computational complexity
Experiments
91 Citations (Scopus)

Consistency analysis and improvement of vision-aided inertial navigation

Hesch, J. A., Kottas, D. G., Bowman, S. L. & Roumeliotis, S., Jan 1 2014, In : IEEE Transactions on Robotics. 30, 1, p. 158-176 19 p., 6605544.

Research output: Contribution to journalArticle

Inertial navigation systems
Navigation
Observability
Kalman filters
Error analysis
2013
9 Citations (Scopus)

A communication-bandwidth-aware hybrid estimation framework for multi-robot cooperative localization

Nerurkar, E. D. & Roumeliotis, S., Dec 1 2013, IROS 2013: New Horizon, Conference Digest - 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems. p. 1418-1425 8 p. 6696535

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Robots
Bandwidth
Kalman filters
Communication
Sensors
19 Citations (Scopus)

A multi-objective exploration strategy for mobile robots under operational constraints

Amanatiadis, A. A., Chatzichristofis, S. A., Charalampous, K., Doitsidis, L., Kosmatopoulos, E. B., Tsalides, P., Gasteratos, A. & Roumeliotis, S., Jan 1 2013, In : IEEE Access. 1, p. 691-702 12 p., 6605521.

Research output: Contribution to journalArticle

Mobile robots
Robots
Cost functions
Supervisory personnel
Kinematics
4 Citations (Scopus)

Analytically-guided-sampling particle filter applied to range-only target tracking

Huang, G. P. & Roumeliotis, S., Nov 14 2013, 2013 IEEE International Conference on Robotics and Automation, ICRA 2013. p. 3168-3175 8 p. 6631018. (Proceedings - IEEE International Conference on Robotics and Automation).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Target tracking
Probability density function
Sampling
Monte Carlo simulation
2 Citations (Scopus)

Analytically-selected multi-hypothesis incremental MAP estimation

Huang, G., Kaess, M., Leonard, J. J. & Roumeliotis, S., Oct 18 2013, 2013 IEEE International Conference on Acoustics, Speech, and Signal Processing, ICASSP 2013 - Proceedings. p. 6481-6485 5 p. 6638914. (ICASSP, IEEE International Conference on Acoustics, Speech and Signal Processing - Proceedings).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Iterative methods
Trajectories
13 Citations (Scopus)

An analytical least-squares solution to the line scan LIDAR-camera extrinsic calibration problem

Guo, C. X. & Roumeliotis, S., Nov 14 2013, 2013 IEEE International Conference on Robotics and Automation, ICRA 2013. p. 2943-2948 6 p. 6630985. (Proceedings - IEEE International Conference on Robotics and Automation).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Cameras
Calibration
Sensors
32 Citations (Scopus)

A quadratic-complexity observability-constrained unscented kalman filter for slam

Huang, G. P., Mourikis, A. I. & Roumeliotis, S., Jul 12 2013, In : IEEE Transactions on Robotics. 29, 5, p. 1226-1243 18 p., 6553094.

Research output: Contribution to journalArticle

Observability
Kalman filters
Computational complexity
Linear regression
Extended Kalman filters
60 Citations (Scopus)

Decentralized multi-robot cooperative localization using covariance intersection

Carrillo-Arce, L. C., Nerurkar, E. D., Gordillo, J. L. & Roumeliotis, S., Dec 1 2013, IROS 2013: New Horizon, Conference Digest - 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems. p. 1412-1417 6 p. 6696534. (IEEE International Conference on Intelligent Robots and Systems).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Robots
Communication
Processing
10 Citations (Scopus)

Detecting and dealing with hovering maneuvers in vision-aided inertial navigation systems

Kottas, D. G., Wu, K. J. & Roumeliotis, S., Dec 1 2013, IROS 2013: New Horizon, Conference Digest - 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems. p. 3172-3179 8 p. 6696807. (IEEE International Conference on Intelligent Robots and Systems).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Inertial navigation systems
Observability
Classifiers
Compensation and Redress
6 Citations (Scopus)

Determining 3-D relative transformations for any combination of range and bearing measurements

Zhou, X. S. & Roumeliotis, S., Jan 1 2013, In : IEEE Transactions on Robotics. 29, 2, p. 458-474 17 p., 6377311.

Research output: Contribution to journalArticle

Bearings (structural)
Robots
Calibration
Distance measurement
20 Citations (Scopus)

Efficient and consistent vision-aided inertial navigation using line observations

Kottas, D. G. & Roumeliotis, S., Nov 14 2013, 2013 IEEE International Conference on Robotics and Automation, ICRA 2013. p. 1540-1547 8 p. 6630775. (Proceedings - IEEE International Conference on Robotics and Automation).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Inertial navigation systems
Units of measurement
Observability
Extended Kalman filters
MEMS

Hybrid maximum a posteriori estimation under communication constraints

Nerurkar, E. D. & Roumeliotis, S., Oct 18 2013, 2013 IEEE International Conference on Acoustics, Speech, and Signal Processing, ICASSP 2013 - Proceedings. p. 4898-4902 5 p. 6638592

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Communication
Sensors
State estimation
Wireless sensor networks
Bandwidth
23 Citations (Scopus)

IMU-RGBD camera 3D pose estimation and extrinsic calibration: Observability analysis and consistency improvement

Guo, C. X. & Roumeliotis, S., Nov 14 2013, 2013 IEEE International Conference on Robotics and Automation, ICRA 2013. p. 2935-2942 8 p. 6630984. (Proceedings - IEEE International Conference on Robotics and Automation).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Units of measurement
Observability
Cameras
Calibration
Extended Kalman filters
7 Citations (Scopus)

IMU-RGBD camera navigation using point and plane features

Guo, C. X. & Roumeliotis, S., Dec 1 2013, IROS 2013: New Horizon, Conference Digest - 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems. p. 3164-3171 8 p. 6696806. (IEEE International Conference on Intelligent Robots and Systems).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Observability
Navigation
Cameras
Navigation systems
Gyroscopes
7 Citations (Scopus)

Observability analysis of a vision-aided inertial navigation system using planar features on the ground

Panahandeh, G., Guo, C. X., Jansson, M. & Roumeliotis, S., Dec 1 2013, IROS 2013: New Horizon, Conference Digest - 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems. p. 4187-4194 8 p. 6696956. (IEEE International Conference on Intelligent Robots and Systems).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Inertial navigation systems
Observability
Gravitation
Cameras
Sensors
6 Citations (Scopus)

On filter consistency of discrete-time nonlinear systems with partial-state measurements

Huang, G. P. & Roumeliotis, S., Sep 11 2013, 2013 American Control Conference, ACC 2013. p. 5468-5475 8 p. 6580693. (Proceedings of the American Control Conference).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Extended Kalman filters
Nonlinear systems
Observability
Decomposition
Linearization
2012
64 Citations (Scopus)

3D LIDAR-camera intrinsic and extrinsic calibration: Identifiability and analytical least-squares-based initialization

Mirzaei, F. M., Kottas, D. G. & Roumeliotis, S., Apr 1 2012, In : International Journal of Robotics Research. 31, 4, p. 452-467 16 p.

Research output: Contribution to journalArticle

Identifiability
Initialization
Cost functions
Least Squares
Calibration
18 Citations (Scopus)

An analytical least-squares solution to the odometer-camera extrinsic calibration problem

Guo, C. X., Mirzaei, F. M. & Roumeliotis, S., Jan 1 2012, 2012 IEEE International Conference on Robotics and Automation, ICRA 2012. Institute of Electrical and Electronics Engineers Inc., p. 3962-3968 7 p. 6225339. (Proceedings - IEEE International Conference on Robotics and Automation).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Cameras
Calibration
Cost functions
Electric fuses
Hardware
10 Citations (Scopus)

Architecture for asymmetric collaborative navigation

Zhu, Z., Roumeliotis, S., Hesch, J., Park, H. & Venable, D., Sep 19 2012, Proceedings of the 2012 IEEE/ION Position, Location and Navigation Symposium, PLANS 2012. p. 777-782 6 p. 6236955. (Record - IEEE PLANS, Position Location and Navigation Symposium).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Navigation
Sensors
Global positioning system
Navigation systems
Jamming
2 Citations (Scopus)

A sparsity-aware QR decomposition algorithm for efficient cooperative localization

Zhou, K. X. & Roumeliotis, S., Jan 1 2012, 2012 IEEE International Conference on Robotics and Automation, ICRA 2012. Institute of Electrical and Electronics Engineers Inc., p. 799-806 8 p. 6225324. (Proceedings - IEEE International Conference on Robotics and Automation).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Extended Kalman filters
Decomposition
Robots
Jacobian matrices
Factorization
5 Citations (Scopus)

Consistency analysis and improvement for single-camera localization

Hesch, J. A. & Roumeliotis, S., Aug 20 2012, 2012 IEEE Computer Society Conference on Computer Vision and Pattern Recognition Workshops, CVPRW 2012. p. 15-22 8 p. 6239190. (IEEE Computer Society Conference on Computer Vision and Pattern Recognition Workshops).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Observability
Cameras
Error analysis
Uncertainty
15 Citations (Scopus)

Cooperative vision-aided inertial navigation using overlapping views

Melnyk, I. V., Hesch, J. A. & Roumeliotis, S., Jan 1 2012, 2012 IEEE International Conference on Robotics and Automation, ICRA 2012. Institute of Electrical and Electronics Engineers Inc., p. 936-943 8 p. 6225219. (Proceedings - IEEE International Conference on Robotics and Automation).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Navigation
Robots
Bearings (structural)
Units of measurement
Observability
34 Citations (Scopus)

Two efficient solutions for visual odometry using directional correspondence

Naroditsky, O., Zhou, X. S., Gallier, J., Roumeliotis, S. & Daniilidis, K., Feb 29 2012, In : IEEE Transactions on Pattern Analysis and Machine Intelligence. 34, 4, p. 818-824 7 p., 6095561.

Research output: Contribution to journalArticle

Efficient Solution
Correspondence
Units of measurement
Mobile devices
Gravitation
2011
7 Citations (Scopus)

Active vision-based robot localization and navigation in a visual memory

Mariottini, G. L. & Roumeliotis, S., Dec 1 2011, 2011 IEEE International Conference on Robotics and Automation, ICRA 2011. p. 6192-6198 7 p. 5980340. (Proceedings - IEEE International Conference on Robotics and Automation).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Navigation
Robots
Data storage equipment
Mobile robots
132 Citations (Scopus)

A Direct Least-Squares (DLS) method for PnP

Hesch, J. A. & Roumeliotis, S., Dec 1 2011, 2011 International Conference on Computer Vision, ICCV 2011. p. 383-390 8 p. 6126266

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Cameras
Polynomials
Cost functions
Maximum likelihood
Scalability
2 Citations (Scopus)

A generic framework for scalable and convergent multi-robot active simultaneous localization, mapping and target tracking

Kosmatopoulos, E. B., Rovas, D. V., Doitsidis, L., Aboudolas, K. & Roumeliotis, S., Sep 8 2011, 2011 19th Mediterranean Conference on Control and Automation, MED 2011. p. 151-156 6 p. 5983145. (2011 19th Mediterranean Conference on Control and Automation, MED 2011).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Target tracking
Robots
Convex optimization
Collision avoidance
Switches
12 Citations (Scopus)

A hybrid estimation framework for cooperative localization under communication constraints

Nerurkar, E. D., Zhou, K. X. & Roumeliotis, S., Dec 29 2011, IROS'11 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics. p. 502-509 8 p. 6048871. (IEEE International Conference on Intelligent Robots and Systems).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Kalman filters
Robots
Innovation
Communication
Sensors
27 Citations (Scopus)

An observability-constrained sliding window filter for SLAM

Huang, G. P., Mourikis, A. I. & Roumeliotis, S., Dec 29 2011, IROS'11 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics. p. 65-72 8 p. 6048760. (IEEE International Conference on Intelligent Robots and Systems).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Observability
Linearization
Fisher information matrix
5 Citations (Scopus)

Bearing-only target tracking using a bank of MAP estimators

Huang, G. P., Zhou, K. X., Trawny, N. & Roumeliotis, S., Dec 1 2011, 2011 IEEE International Conference on Robotics and Automation, ICRA 2011. p. 4998-5005 8 p. 5980515. (Proceedings - IEEE International Conference on Robotics and Automation).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Bearings (structural)
Extended Kalman filters
Target tracking
Linearization
Cost functions
6 Citations (Scopus)

Determining the robot-to-robot 3D relative pose using combinations of range and bearing measurements (Part II)

Zhou, X. S. & Roumeliotis, S., Dec 1 2011, 2011 IEEE International Conference on Robotics and Automation, ICRA 2011. p. 4736-4743 8 p. 5980406. (Proceedings - IEEE International Conference on Robotics and Automation).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Bearings (structural)
Robots
Distance measurement
Calibration
45 Citations (Scopus)

Globally optimal pose estimation from line correspondences

Mirzaei, F. M. & Roumeliotis, S., Dec 1 2011, 2011 IEEE International Conference on Robotics and Automation, ICRA 2011. p. 5581-5588 8 p. 5980272

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Cameras
Polynomials
Costs
Experiments
111 Citations (Scopus)

Multirobot active target tracking with combinations of relative observations

Zhou, K. & Roumeliotis, S., Aug 1 2011, In : IEEE Transactions on Robotics. 27, 4, p. 678-695 18 p., 5735231.

Research output: Contribution to journalArticle

Target tracking
Sensors
Robots
Bearings (structural)
Computational complexity
45 Citations (Scopus)

Observability-based consistent EKF estimators for multi-robot cooperative localization

Huang, G. P., Trawny, N., Mourikis, A. I. & Roumeliotis, S., Jan 1 2011, In : Autonomous Robots. 30, 1, p. 99-122 24 p.

Research output: Contribution to journalArticle

Observability
Extended Kalman filters
Robots
Linearization