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Research Output 1997 2019

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Conference contribution
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
2017
14 Citations (Scopus)
Binocular vision
Binoculars
Inertial navigation systems
Stereo vision
Cameras

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)
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
5 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
11 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, Vol. 12.

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

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

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

Wu, K. J., 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
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
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
59 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
8 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
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
Communication
Sensors
State estimation
Wireless sensor networks
Bandwidth
22 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)
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
18 Citations (Scopus)
Cameras
Calibration
Cost functions
Electric fuses
Hardware
9 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
4 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
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

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

Navigation
Robots
Data storage equipment
Mobile robots
128 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

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

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

Kalman filters
Robots
Innovation
Communication
Sensors
27 Citations (Scopus)
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

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

Bearings (structural)
Robots
Distance measurement
Calibration
44 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
44 Citations (Scopus)

Optimal estimation of vanishing points in a Manhattan world

Mirzaei, F. M. & Roumeliotis, S., Dec 1 2011, 2011 International Conference on Computer Vision, ICCV 2011. p. 2454-2461 8 p. 6126530. (Proceedings of the IEEE International Conference on Computer Vision).

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

Cost functions
Cameras
Polynomials
4 Citations (Scopus)

Optimized motion strategies for localization in leader-follower formations

Zhou, X. S., 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. 98-105 8 p. 6048769

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

Robots
Bearings (structural)
Observability
Trajectories
2010
6 Citations (Scopus)
Robots
Distance measurement
Linear algebra
Kinematics
Polynomials
11 Citations (Scopus)

A bank of maximum a posteriori estimators for single-sensor range-only target tracking

Huang, G. P., Zhou, K. X., Trawny, N. & Roumeliotis, S., Oct 15 2010, Proceedings of the 2010 American Control Conference, ACC 2010. p. 6974-6980 7 p. 5531337. (Proceedings of the 2010 American Control Conference, ACC 2010).

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

Extended Kalman filters
Target tracking
Cost functions
Sensors
Kalman filters
24 Citations (Scopus)

A Laser-Aided Inertial Navigation System (L-INS) for human localization in unknown indoor environments

Hesch, J. A., Mirzaei, F. M., Mariottini, G. L. & Roumeliotis, S., Aug 26 2010, 2010 IEEE International Conference on Robotics and Automation, ICRA 2010. p. 5376-5382 7 p. 5509693

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

Inertial navigation systems
Units of measurement
Lasers
Extended Kalman filters
Electric fuses
22 Citations (Scopus)

Asynchronous multi-centralized cooperative localization

Nerurkar, E. D. & Roumeliotis, S., Dec 1 2010, IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings. p. 4352-4359 8 p. 5650133

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

Communication
Robots
Telecommunication links
Time varying networks
Bandwidth
24 Citations (Scopus)

Descending-stair detection, approach, and traversal with an autonomous tracked vehicle

Hesch, J. A., Mariottini, G. L. & Roumeliotis, S., Dec 1 2010, IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings. p. 5525-5531 7 p. 5649411

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

Tracked vehicles
Stairs
Cameras
Robots
Optical flows
8 Citations (Scopus)

Determining the robot-to-robot 3D relative pose using combinations of range and bearing measurements: 14 Minimal problems and closed-form solutions to three of them

Zhou, X. S. & Roumeliotis, S., Dec 1 2010, IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings. p. 2983-2990 8 p. 5654476

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

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

Extrinsic camera calibration using multiple reflections

Hesch, J. A., Mourikis, A. I. & Roumeliotis, S., Nov 15 2010, Computer Vision, ECCV 2010 - 11th European Conference on Computer Vision, Proceedings. PART 4 ed. p. 311-325 15 p. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); vol. 6314 LNCS, no. PART 4).

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

Camera Calibration
Camera
Cameras
Calibration
Mirror
28 Citations (Scopus)

Mirror-based extrinsic camera calibration

Hesch, J. A., Mourikis, A. I. & Roumeliotis, S., Mar 29 2010, Algorithmic Foundations of Robotics VIII - Selected Contributions of the Eighth International Workshop on the Algorithmic Foundations of Robotics. p. 285-299 15 p. (Springer Tracts in Advanced Robotics; vol. 57).

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

Mirrors
Cameras
Calibration
Maximum likelihood
Experiments
7 Citations (Scopus)

On the consistency of multi-robot cooperative localization

Huang, G. P., Trawny, N., Mourikis, A. I. & Roumeliotis, S., Jan 1 2010, Robotics: Science and Systems V. Castellanos, J. A., Matsuoka, Y. & Trinkle, J. (eds.). MIT Press Journals, p. 65-72 8 p. (Robotics: Science and Systems; vol. 5).

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

Extended Kalman filters
Robots
Observability
Linearization
Nonlinear systems
12 Citations (Scopus)

On the global optimum of planar, range-based robot-to-robot relative pose estimation

Trawny, N. & Roumeliotis, S., Aug 26 2010, 2010 IEEE International Conference on Robotics and Automation, ICRA 2010. p. 3200-3206 7 p. 5509541

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

Distance measurement
Robots
Maximum likelihood
Scalability
Polynomials
25 Citations (Scopus)

Particle filter adaptation for distributed sensors via set membership

Farahmand, S., Roumeliotis, S. & Giannakis, G. B., Nov 8 2010, 2010 IEEE International Conference on Acoustics, Speech, and Signal Processing, ICASSP 2010 - Proceedings. p. 3374-3377 4 p. 5496001. (ICASSP, IEEE International Conference on Acoustics, Speech and Signal Processing - Proceedings).

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

Sensors
Wireless sensor networks
Communication
2009
18 Citations (Scopus)

A 3D pose estimator for the visually impaired

Hesch, J. A., Mirzaei, F. M., Mariottini, G. L. & Roumeliotis, S., Dec 11 2009, 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009. p. 2716-2723 8 p. 5354060. (2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009).

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

Units of measurement
Lasers
Extended Kalman filters
Derivatives
18 Citations (Scopus)
Nonlinear systems
Observability
Experiments