| Advances in Inference and Representation for Simultaneous Localization and Mapping DM Rosen, KJ Doherty, A Terán Espinoza, JJ Leonard Annual Review of Control, Robotics, and Autonomous Systems 4, 215-242, 2021 | 94 | 2021 |
| Multimodal Semantic SLAM with Probabilistic Data Association K Doherty, D Fourie, J Leonard 2019 IEEE International Conference on Robotics and Automation (ICRA), 2419-2425, 2019 | 94 | 2019 |
| Probabilistic Data Association via Mixture Models for Robust Semantic SLAM KJ Doherty, DP Baxter, E Schneeweiss, JJ Leonard 2020 IEEE International Conference on Robotics and Automation (ICRA), 1098-1104, 2020 | 85 | 2020 |
| Bayesian generalized kernel inference for terrain traversability mapping T Shan, J Wang, B Englot, K Doherty Conference on Robot Learning, 829-838, 2018 | 72 | 2018 |
| Learning-aided 3-D occupancy mapping with Bayesian generalized kernel inference K Doherty, T Shan, J Wang, B Englot IEEE Transactions on Robotics 35 (4), 953-966, 2019 | 49 | 2019 |
| Probabilistic map fusion for fast, incremental occupancy mapping with 3D Hilbert maps K Doherty, J Wang, B Englot 2016 IEEE International Conference on Robotics and Automation (ICRA), 1011-1018, 2016 | 45 | 2016 |
| Bayesian generalized kernel inference for occupancy map prediction K Doherty, J Wang, B Englot 2017 IEEE International Conference on Robotics and Automation (ICRA), 3118-3124, 2017 | 41 | 2017 |
| Inference-enabled information-theoretic exploration of continuous action spaces S Bai, J Wang, K Doherty, B Englot Robotics Research: Volume 2, 419-433, 2018 | 30 | 2018 |
| Spectral measurement sparsification for pose-graph SLAM KJ Doherty, DM Rosen, JJ Leonard 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems …, 2022 | 21 | 2022 |
| Performance guarantees for spectral initialization in rotation averaging and pose-graph SLAM KJ Doherty, DM Rosen, JJ Leonard 2022 International Conference on Robotics and Automation (ICRA), 5608-5614, 2022 | 20 | 2022 |
| A multi-hypothesis approach to pose ambiguity in object-based SLAM J Fu, Q Huang, K Doherty, Y Wang, JJ Leonard 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems …, 2021 | 20 | 2021 |
| Discrete-Continuous Smoothing and Mapping KJ Doherty, Z Lu, K Singh, JJ Leonard IEEE Robotics and Automation Letters 7 (4), 12395-12402, 2022 | 15 | 2022 |
| Consensus-informed optimization over mixtures for ambiguity-aware object SLAM Z Lu, Q Huang, K Doherty, JJ Leonard 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems …, 2021 | 11 | 2021 |
| Approximate distributed spatiotemporal topic models for multi-robot terrain characterization K Doherty, G Flaspohler, N Roy, Y Girdhar 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems …, 2018 | 10 | 2018 |
| SLAM-supported self-training for 6D object pose estimation Z Lu, Y Zhang, K Doherty, O Severinsen, E Yang, J Leonard 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems …, 2022 | 9 | 2022 |
| SCORE: A second-order conic initialization for range-aided SLAM A Papalia, J Morales, KJ Doherty, DM Rosen, JJ Leonard 2023 IEEE International Conference on Robotics and Automation (ICRA), 10637 …, 2023 | 6 | 2023 |
| Robust Non-Gaussian Semantic Simultaneous Localization and Mapping KJ Doherty Massachusetts Institute of Technology and Woods Hole Oceanographic Institution, 2019 | 6 | 2019 |
| Variational filtering with copula models for SLAM JD Martin, K Doherty, C Cyr, B Englot, J Leonard 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems …, 2020 | 5 | 2020 |
| Improving obstacle boundary representations in predictive occupancy mapping E Pearson, K Doherty, B Englot Robotics and Autonomous Systems 153, 104077, 2022 | 3 | 2022 |
| MAC: Graph Sparsification by Maximizing Algebraic Connectivity K Doherty, A Papalia, Y Huang, D Rosen, B Englot, J Leonard arXiv preprint arXiv:2403.19879, 2024 | | 2024 |
John LeonardProfessor of Mechanical and Ocean Engineering, MITVerified email at mit.edu
