John J. Leonard

ORCID

Publication Activity (10 Years)

Years Active: 1989-2023
Publications (10 Years): 123

Top Venues

CoRR

IROS

ICRA

IEEE Robotics Autom. Lett.

Publications

Jiahui Fu, Yilun Du, Kurran Singh, Joshua B. Tenenbaum, John J. Leonard
NeuSE: Neural SE(3)-Equivariant Embedding for Consistent Spatial Understanding with Objects. Robotics: Science and Systems (2023)
Yihao Zhang, Odin A. Severinsen, John J. Leonard, Luca Carlone, Kasra Khosoussi
Data-Association-Free Landmark-based SLAM. CoRR (2023)
Qiangqiang Huang, Joseph DeGol, Victor Fragoso, Sudipta N. Sinha, John J. Leonard
Optimizing Fiducial Marker Placement for Improved Visual Localization. IEEE Robotics Autom. Lett. 8 (5) (2023)
Alan Papalia, Joseph Morales, Kevin J. Doherty, David M. Rosen, John J. Leonard
SCORE: A Second-Order Conic Initialization for Range-Aided SLAM. ICRA (2023)
Antoni Rosinol, John J. Leonard, Luca Carlone
Probabilistic Volumetric Fusion for Dense Monocular SLAM. WACV (2023)
Justin Lidard, Oswin So, Yanxia Zhang, Jonathan A. DeCastro, Xiongyi Cui, Xin Huang, Yen-Ling Kuo, John J. Leonard, Avinash Balachandran, Naomi Ehrich Leonard, Guy Rosman
GAME-UP: Game-Aware Mode Enumeration and Understanding for Trajectory Prediction. CoRR (2023)
Qiangqiang Huang, Can Pu, Kasra Khosoussi, David M. Rosen, Dehann Fourie, Jonathan P. How, John J. Leonard
Incremental Non-Gaussian Inference for SLAM Using Normalizing Flows. IEEE Trans. Robotics 39 (2) (2023)
Qiangqiang Huang, John J. Leonard
GAPSLAM: Blending Gaussian Approximation and Particle Filters for Real-Time Non-Gaussian SLAM. IROS (2023)
Yihao Zhang, Odin A. Severinsen, John J. Leonard, Luca Carlone, Kasra Khosoussi
Data-Association-Free Landmark-based SLAM. ICRA (2023)
Alan Papalia, Andrew Fishberg, Brendan W. O'Neill, Jonathan P. How, David M. Rosen, John J. Leonard
Certifiably Correct Range-Aided SLAM. CoRR (2023)
Jiahui Fu, Yilun Du, Kurran Singh, Joshua B. Tenenbaum, John J. Leonard
NeuSE: Neural SE(3)-Equivariant Embedding for Consistent Spatial Understanding with Objects. CoRR (2023)
Antoni Rosinol, John J. Leonard, Luca Carlone
NeRF-SLAM: Real-Time Dense Monocular SLAM with Neural Radiance Fields. IROS (2023)
Qiangqiang Huang, John J. Leonard
GAPSLAM: Blending Gaussian Approximation and Particle Filters for Real-Time Non-Gaussian SLAM. CoRR (2023)
Yen-Ling Kuo, Xin Huang, Andrei Barbu, Stephen G. McGill, Boris Katz, John J. Leonard, Guy Rosman
Trajectory Prediction with Linguistic Representations. ICRA (2022)
Xin Huang, Guy Rosman, Igor Gilitschenski, Ashkan Jasour, Stephen G. McGill, John J. Leonard, Brian C. Williams
HYPER: Learned Hybrid Trajectory Prediction via Factored Inference and Adaptive Sampling. ICRA (2022)
Jiahui Fu, Yilun Du, Kurran Singh, Joshua B. Tenenbaum, John J. Leonard
Robust Change Detection Based on Neural Descriptor Fields. IROS (2022)
Qiangqiang Huang, Alan Papalia, John J. Leonard
Nested Sampling for Non-Gaussian Inference in SLAM Factor Graphs. IEEE Robotics Autom. Lett. 7 (4) (2022)
Antoni Rosinol, John J. Leonard, Luca Carlone
NeRF-SLAM: Real-Time Dense Monocular SLAM with Neural Radiance Fields. CoRR (2022)
Jiahui Fu, Yilun Du, Kurran Singh, Joshua B. Tenenbaum, John J. Leonard
Robust Change Detection Based on Neural Descriptor Fields. CoRR (2022)
Jesse R. Pelletier, Brendan W. O'Neill, John J. Leonard, Lee Freitag, Eric Gallimore
AUV-Assisted Diver Navigation. IEEE Robotics Autom. Lett. 7 (4) (2022)
Ziqi Lu, Yihao Zhang, Kevin J. Doherty, Odin Severinsen, Ethan Yang, John J. Leonard
SLAM-Supported Self-Training for 6D Object Pose Estimation. IROS (2022)
Antoni Rosinol, John J. Leonard, Luca Carlone
Probabilistic Volumetric Fusion for Dense Monocular SLAM. CoRR (2022)
Kevin J. Doherty, David M. Rosen, John J. Leonard
Performance Guarantees for Spectral Initialization in Rotation Averaging and Pose-Graph SLAM. ICRA (2022)
Jiahui Fu, Chengyuan Lin, Yuichi Taguchi, Andrea Cohen, Yifu Zhang, Stephen Mylabathula, John J. Leonard
PlaneSDF-based Change Detection for Long-term Dense Mapping. CoRR (2022)
Xin Huang, Guy Rosman, Ashkan Jasour, Stephen G. McGill, John J. Leonard, Brian C. Williams
TIP: Task-Informed Motion Prediction for Intelligent Vehicles. IROS (2022)
Kevin J. Doherty, Ziqi Lu, Kurran Singh, John J. Leonard
Discrete-Continuous Smoothing and Mapping. IEEE Robotics Autom. Lett. 7 (4) (2022)
Kevin J. Doherty, David M. Rosen, John J. Leonard
Spectral Measurement Sparsification for Pose-Graph SLAM. CoRR (2022)
Kevin J. Doherty, David M. Rosen, John J. Leonard
Spectral Measurement Sparsification for Pose-Graph SLAM. IROS (2022)
Kevin J. Doherty, David M. Rosen, John J. Leonard
Performance Guarantees for Spectral Initialization in Rotation Averaging and Pose-Graph SLAM. CoRR (2022)
Jiahui Fu, Chengyuan Lin, Yuichi Taguchi, Andrea Cohen, Yifu Zhang, Stephen Mylabathula, John J. Leonard
PlaneSDF-Based Change Detection for Long-Term Dense Mapping. IEEE Robotics Autom. Lett. 7 (4) (2022)
Ziqi Lu, Yihao Zhang, Kevin J. Doherty, Odin Severinsen, Ethan Yang, John J. Leonard
SLAM-Supported Self-Training for 6D Object Pose Estimation. CoRR (2022)
Kevin J. Doherty, Ziqi Lu, Kurran Singh, John J. Leonard
Discrete-Continuous Smoothing and Mapping. CoRR (2022)
Alan Papalia, Joseph Morales, Kevin J. Doherty, David M. Rosen, John J. Leonard
SCORE: A Second-Order Conic Initialization for Range-Aided SLAM. CoRR (2022)
Qiangqiang Huang, Joseph DeGol, Victor Fragoso, Sudipta N. Sinha, John J. Leonard
Optimizing Fiducial Marker Placement for Improved Visual Localization. CoRR (2022)
Qiangqiang Huang, Alan Papalia, John J. Leonard
On Reference Solutions to Non-Gaussian SLAM Factor Graphs. CoRR (2021)
David M. Rosen, Kevin J. Doherty, Antonio Terán Espinoza, John J. Leonard
Advances in Inference and Representation for Simultaneous Localization and Mapping. CoRR (2021)
Yihao Zhang, John J. Leonard
Bootstrapped Self-Supervised Training with Monocular Video for Semantic Segmentation and Depth Estimation. IROS (2021)
Yihao Zhang, John J. Leonard
A Front-End for Dense Monocular SLAM using a Learned Outlier Mask Prior. CoRR (2021)
Qiangqiang Huang, Can Pu, Dehann Fourie, Kasra Khosoussi, Jonathan P. How, John J. Leonard
NF-iSAM: Incremental Smoothing and Mapping via Normalizing Flows. CoRR (2021)
Xin Huang, Guy Rosman, Igor Gilitschenski, Ashkan Jasour, Stephen G. McGill, John J. Leonard, Brian C. Williams
HYPER: Learned Hybrid Trajectory Prediction via Factored Inference and Adaptive Sampling. CoRR (2021)
Jiahui Fu, Qiangqiang Huang, Kevin Doherty, Yue Wang, John J. Leonard
A Multi-Hypothesis Approach to Pose Ambiguity in Object-Based SLAM. IROS (2021)
Deepak Gopinath, Guy Rosman, Simon Stent, Katsuya Terahata, Luke Fletcher, Brenna Argall, John J. Leonard
MAAD: A Model and Dataset for "Attended Awareness" in Driving. ICCVW (2021)
David M. Rosen, Kevin J. Doherty, Antonio Terán Espinoza, John J. Leonard
Advances in Inference and Representation for Simultaneous Localization and Mapping. Annu. Rev. Control. Robotics Auton. Syst. 4 (2021)
Yen-Ling Kuo, Xin Huang, Andrei Barbu, Stephen G. McGill, Boris Katz, John J. Leonard, Guy Rosman
Trajectory Prediction with Linguistic Representations. CoRR (2021)
Yihao Zhang, John J. Leonard
Bootstrapped Self-Supervised Training with Monocular Video for Semantic Segmentation and Depth Estimation. CoRR (2021)
Victor Amblard, Timothy P. Osedach, Arnaud Croux, Andrew Speck, John J. Leonard
Lidar-Monocular Surface Reconstruction Using Line Segments. ICRA (2021)
Yihao Zhang, John J. Leonard
A Front-End for Dense Monocular SLAM using a Learned Outlier Mask Prior. ICRA (2021)
Qiangqiang Huang, Can Pu, Dehann Fourie, Kasra Khosoussi, Jonathan P. How, John J. Leonard
NF-iSAM: Incremental Smoothing and Mapping via Normalizing Flows. ICRA (2021)
Deepak Gopinath, Guy Rosman, Simon Stent, Katsuya Terahata, Luke Fletcher, Brenna Argall, John J. Leonard
MAAD: A Model and Dataset for "Attended Awareness" in Driving. CoRR (2021)
Ziqi Lu, Qiangqiang Huang, Kevin Doherty, John J. Leonard
Consensus-Informed Optimization Over Mixtures for Ambiguity-Aware Object SLAM. IROS (2021)
Jiahui Fu, Qiangqiang Huang, Kevin Doherty, Yue Wang, John J. Leonard
A Multi-Hypothesis Approach to Pose Ambiguity in Object-Based SLAM. CoRR (2021)
Victor Amblard, Timothy P. Osedach, Arnaud Croux, Andrew Speck, John J. Leonard
Lidar-Monocular Surface Reconstruction Using Line Segments. CoRR (2021)
Qiangqiang Huang, Can Pu, Kasra Khosoussi, David M. Rosen, Dehann Fourie, Jonathan P. How, John J. Leonard
Online Incremental Non-Gaussian Inference for SLAM Using Normalizing Flows. CoRR (2021)
Xin Huang, Guy Rosman, Ashkan Jasour, Stephen G. McGill, John J. Leonard, Brian C. Williams
TIP: Task-Informed Motion Prediction for Intelligent Systems. CoRR (2021)
Dehann Fourie, Antonio Terán Espinoza, Michael Kaess, John J. Leonard
Characterizing Marginalization and Incremental Operations on the Bayes Tree. WAFR (2021)
Ziqi Lu, Qiangqiang Huang, Kevin Doherty, John J. Leonard
Consensus-Informed Optimization Over Mixtures for Ambiguity-Aware Object SLAM. CoRR (2021)
Xin Huang, Stephen G. McGill, Jonathan A. DeCastro, Luke Fletcher, John J. Leonard, Brian C. Williams, Guy Rosman
CARPAL: Confidence-Aware Intent Recognition for Parallel Autonomy. IEEE Robotics Autom. Lett. 6 (3) (2021)
John D. Martin, Kevin Doherty, Caralyn Cyr, Brendan J. Englot, John J. Leonard
Variational Filtering with Copula Models for SLAM. IROS (2020)
John D. Martin, Kevin Doherty, Caralyn Cyr, Brendan J. Englot, John J. Leonard
Variational Filtering with Copula Models for SLAM. CoRR (2020)
Dehann Fourie, Nicholas R. Rypkema, Pedro Vaz Teixeira, Samuel Claassens, Erin M. Fischell, John J. Leonard
Towards Real-Time Non-Gaussian SLAM for Underdetermined Navigation. IROS (2020)
Xin Huang, Stephen G. McGill, Jonathan A. DeCastro, Brian C. Williams, Luke Fletcher, John J. Leonard, Guy Rosman
CARPAL: Confidence-Aware Intent Recognition for Parallel Autonomy. CoRR (2020)
Xin Huang, Stephen G. McGill, Jonathan A. DeCastro, Luke Fletcher, John J. Leonard, Brian C. Williams, Guy Rosman
DiversityGAN: Diversity-Aware Vehicle Motion Prediction via Latent Semantic Sampling. IEEE Robotics Autom. Lett. 5 (4) (2020)
Kevin J. Doherty, David P. Baxter, Edward Schneeweiss, John J. Leonard
Probabilistic Data Association via Mixture Models for Robust Semantic SLAM. ICRA (2020)
Sudeep Pillai, John J. Leonard
Self-Supervised Visual Place Recognition Learning in Mobile Robots. CoRR (2019)
Pedro V. Teixeira, Dehann Fourie, Michael Kaess, John J. Leonard
Dense, Sonar-based Reconstruction of Underwater Scenes. IROS (2019)
Dehann Fourie, Pedro Vaz Teixeira, John J. Leonard
Non-parametric Mixed-Manifold Products using Multiscale Kernel Densities. IROS (2019)
Xin Huang, Stephen G. McGill, Jonathan A. DeCastro, Brian C. Williams, Luke Fletcher, John J. Leonard, Guy Rosman
Diversity-Aware Vehicle Motion Prediction via Latent Semantic Sampling. CoRR (2019)
Kyle Woerner, Michael R. Benjamin, Michael Novitzky, John J. Leonard
Quantifying protocol evaluation for autonomous collision avoidance - Toward establishing COLREGS compliance metrics. Auton. Robots 43 (4) (2019)
Lee E. Clement, Valentin Peretroukhin, Matthew Giamou, John J. Leonard, Hadas Kress-Gazit, Jonathan P. How, Michael Milford, Oliver Brock, Ryan Gariepy, Nicholas Roy, Hallie Siegel, Ludovic Righetti, Aude Billard, Jonathan Kelly
Where Do We Go From Here? Debates on the Future of Robotics Research at ICRA 2019 [From the Field]. IEEE Robotics Autom. Mag. 26 (3) (2019)
Mei Yi Cheung, Dehann Fourie, Nicholas R. Rypkema, Pedro Vaz Teixeira, Henrik R. Schmidt, John J. Leonard
Non-Gaussian SLAM utilizing Synthetic Aperture Sonar. ICRA (2019)
Kevin Doherty, Dehann Fourie, John J. Leonard
Multimodal Semantic SLAM with Probabilistic Data Association. ICRA (2019)
Stephen G. McGill, Guy Rosman, Teddy Ort, Alyssa Pierson, Igor Gilitschenski, Brandon Araki, Luke Fletcher, Sertac Karaman, Daniela Rus, John J. Leonard
Probabilistic Risk Metrics for Navigating Occluded Intersections. IEEE Robotics Autom. Lett. 4 (4) (2019)
David M. Rosen, Luca Carlone, Afonso S. Bandeira, John J. Leonard
SE-Sync: A certifiably correct algorithm for synchronization over the special Euclidean group. Int. J. Robotics Res. 38 (2-3) (2019)
Kevin Doherty, David P. Baxter, Edward Schneeweiss, John J. Leonard
Probabilistic Data Association via Mixture Models for Robust Semantic SLAM. CoRR (2019)
Julian Straub, Oren Freifeld, Guy Rosman, John J. Leonard, John W. Fisher III
The Manhattan Frame Model - Manhattan World Inference in the Space of Surface Normals. IEEE Trans. Pattern Anal. Mach. Intell. 40 (1) (2018)
Pedro V. Teixeira, Franz S. Hover, John J. Leonard, Michael Kaess
Multibeam Data Processing for Underwater Mapping. IROS (2018)
Liam Paull, Mae L. Seto, John J. Leonard, Howard Li
Probabilistic cooperative mobile robot area coverage and its application to autonomous seabed mapping. Int. J. Robotics Res. 37 (1) (2018)
Luiz A. Lisboa Cardoso, Dehann Fourie, John J. Leonard, Andrés A. Nogueiras Meléndez, João Luiz Afonso
Electro-Optical System for Evaluation of Dynamic Inductive Wireless Power Transfer to Electric Vehicles. GreeNets (2018)
Timothy P. Setterfield, David W. Miller, John J. Leonard, Alvar Saenz-Otero
Mapping and determining the center of mass of a rotating object using a moving observer. Int. J. Robotics Res. 37 (1) (2018)
Felix Naser, David L. Dorhout, Stephen Proulx, Scott Drew Pendleton, Hans Andersen, Wilko Schwarting, Liam Paull, Javier Alonso-Mora, Marcelo H. Ang, Sertac Karaman, Russ Tedrake, John J. Leonard, Daniela Rus
A parallel autonomy research platform. Intelligent Vehicles Symposium (2017)
Beipeng Mu, Liam Paull, Ali-Akbar Agha-Mohammadi, John J. Leonard, Jonathan P. How
Two-Stage Focused Inference for Resource-Constrained Minimal Collision Navigation. IEEE Trans. Robotics 33 (1) (2017)
Sudeep Pillai, John J. Leonard
Towards Visual Ego-motion Learning in Robots. CoRR (2017)
Liam Paull, Jacopo Tani, Heejin Ahn, Javier Alonso-Mora, Luca Carlone, Michal Cáp, Yu Fan Chen, Changhyun Choi, Jeff Dusek, Yajun Fang, Daniel Hoehener, Shih-Yuan Liu, Michael Novitzky, Igor Franzoni Okuyama, Jason Pazis, Guy Rosman, Valerio Varricchio, Hsueh-Cheng Wang, Dmitry S. Yershov, Hang Zhao, Michael Benjamin, Christopher Carr, Maria T. Zuber, Sertac Karaman, Emilio Frazzoli, Domitilla Del Vecchio, Daniela Rus, Jonathan P. How, John J. Leonard, Andrea Censi
Duckietown: An open, inexpensive and flexible platform for autonomy education and research. ICRA (2017)
Beipeng Mu, Shih-Yuan Liu, Liam Paull, John J. Leonard, Jonathan P. How
SLAM with Objects using a Nonparametric Pose Graph. CoRR (2017)
Dehann Fourie, Samuel Claassens, Sudeep Pillai, Roxana Mata, John J. Leonard
SLAMinDB: Centralized graph databases for mobile robotics. ICRA (2017)
Sudeep Pillai, John J. Leonard
Towards visual ego-motion learning in robots. IROS (2017)
Julian Straub, Randi Cabezas, John J. Leonard, John W. Fisher III
Direction-Aware Semi-Dense SLAM. CoRR (2017)
Yasir Latif, Guoquan Huang, John J. Leonard, José Neira
Sparse Optimization for Robust and Efficient Loop Closing. CoRR (2017)
Yasir Latif, Guoquan Huang, John J. Leonard, José Neira
Sparse optimization for robust and efficient loop closing. Robotics Auton. Syst. 93 (2017)
David M. Rosen, Luca Carlone, Afonso S. Bandeira, John J. Leonard
A Certifiably Correct Algorithm for Synchronization over the Special Euclidean Group. CoRR (2016)
Pedro V. Teixeira, Michael Kaess, Franz S. Hover, John J. Leonard
Underwater inspection using sonar-based volumetric submaps. IROS (2016)
David M. Rosen, Julian Mason, John J. Leonard
Towards lifelong feature-based mapping in semi-static environments. ICRA (2016)
Jacopo Tani, Liam Paull, Maria T. Zuber, Daniela Rus, Jonathan P. How, John J. Leonard, Andrea Censi
Duckietown: An Innovative Way to Teach Autonomy. EDUROBOTICS (2016)
Beipeng Mu, Matthew Giamou, Liam Paull, Ali-akbar Agha-mohammadi, John J. Leonard, Jonathan P. How
Information-based Active SLAM via topological feature graphs. CDC (2016)
Dehann Fourie, John J. Leonard, Michael Kaess
A nonparametric belief solution to the Bayes tree. IROS (2016)
David M. Rosen, Luca Carlone, Afonso S. Bandeira, John J. Leonard
A Certifiably Correct Algorithm for Synchronization over the Special Euclidean Group. WAFR (2016)
Beipeng Mu, Shih-Yuan Liu, Liam Paull, John J. Leonard, Jonathan P. How
SLAM with objects using a nonparametric pose graph. IROS (2016)
Liam Paull, Guoquan Huang, John J. Leonard
A unified resource-constrained framework for graph SLAM. ICRA (2016)
Sudeep Pillai, Srikumar Ramalingam, John J. Leonard
High-performance and tunable stereo reconstruction. ICRA (2016)
Stephanie M. Lowry, Niko Sünderhauf, Paul Newman, John J. Leonard, David D. Cox, Peter I. Corke, Michael J. Milford
Visual Place Recognition: A Survey. IEEE Trans. Robotics 32 (1) (2016)

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Publication Activity (10 Years)

Top Topics

Top Venues

John J. Leonard