Kasra Khosoussi

Publication Activity (10 Years)

Years Active: 2013-2024
Publications (10 Years): 41

Top Topics

Semantic Mapping

Consistency Check

Top Venues

IEEE Trans. Robotics

Int. J. Robotics Res.

Publications

Lucas Carvalho de Lima, Nicholas R. J. Lawrance, Kasra Khosoussi, Paulo V. K. Borges, Michael Brünig
Under-Canopy Navigation Using Aerial Lidar Maps. IEEE Robotics Autom. Lett. 9 (8) (2024)
Lucas Carvalho de Lima, Nicholas R. J. Lawrance, Kasra Khosoussi, Paulo V. K. Borges, Michael Bruenig
Under-Canopy Navigation using Aerial Lidar Maps. CoRR (2024)
Kamak Ebadi, Lukas Bernreiter, Harel Biggie, Gavin Catt, Yun Chang, Arghya Chatterjee, Christopher E. Denniston, Simon-Pierre Deschênes, Kyle Harlow, Shehryar Khattak, Lucas Nogueira, Matteo Palieri, Pavel Petrácek, Matej Petrlík, Andrzej Reinke, Vít Krátký, Shibo Zhao, Ali-akbar Agha-mohammadi, Kostas Alexis, Christoffer Heckman, Kasra Khosoussi, Navinda Kottege, Benjamin Morrell, Marco Hutter, Fred Pauling, François Pomerleau, Martin Saska, Sebastian A. Scherer, Roland Siegwart, Jason L. Williams, Luca Carlone
Present and Future of SLAM in Extreme Environments: The DARPA SubT Challenge. IEEE Trans. Robotics 40 (2024)
Yihao Zhang, Odin A. Severinsen, John J. Leonard, Luca Carlone, Kasra Khosoussi
Data-Association-Free Landmark-based SLAM. CoRR (2023)
Xiaoyi Cai, Brent Schlotfeldt, Kasra Khosoussi, Nikolay Atanasov, George J. Pappas, Jonathan P. How
Energy-Aware, Collision-Free Information Gathering for Heterogeneous Robot Teams. IEEE Trans. Robotics 39 (4) (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)
Navinda Kottege, Jason L. Williams, Brendan Tidd, Fletcher Talbot, Ryan Steindl, Mark Cox, Dennis Frousheger, Thomas Hines, Alex Pitt, Benjamin Tam, Brett Wood, Lauren Hanson, Katrina Lo Surdo, Thomas Molnar, Matt Wildie, Kazys Stepanas, Gavin Catt, Lachlan Tychsen-Smith, Dean Penfold, Leslie Overs, Milad Ramezani, Kasra Khosoussi, Farid Kendoul, Glenn Wagner, Duncan Palmer, Jack Manderson, Corey Medek, Matthew O'Brien, Shengkang Chen, Ronald C. Arkin
Heterogeneous robot teams with unified perception and autonomy: How Team CSIRO Data61 tied for the top score at the DARPA Subterranean Challenge. CoRR (2023)
Yihao Zhang, Odin A. Severinsen, John J. Leonard, Luca Carlone, Kasra Khosoussi
Data-Association-Free Landmark-based SLAM. ICRA (2023)
Luca Carlone, Kasra Khosoussi, Vasileios Tzoumas, Golnaz Habibi, Markus Ryll, Rajat Talak, Jingnan Shi, Pasquale Antonante
Visual Navigation for Autonomous Vehicles: An Open-source Hands-on Robotics Course at MIT. CoRR (2022)
Milad Ramezani, Kasra Khosoussi, Gavin Catt, Peyman Moghadam, Jason Williams, Paulo Vinicius Koerich Borges, Fred Pauling, Navinda Kottege
Wildcat: Online Continuous-Time 3D Lidar-Inertial SLAM. CoRR (2022)
Kamak Ebadi, Lukas Bernreiter, Harel Biggie, Gavin Catt, Yun Chang, Arghya Chatterjee, Christopher E. Denniston, Simon-Pierre Deschênes, Kyle Harlow, Shehryar Khattak, Lucas Nogueira, Matteo Palieri, Pavel Petrácek, Matej Petrlík, Andrzej Reinke, Vít Krátký, Shibo Zhao, Ali-akbar Agha-mohammadi, Kostas Alexis, Christoffer Heckman, Kasra Khosoussi, Navinda Kottege, Benjamin Morrell, Marco Hutter, Fred Pauling, François Pomerleau, Martin Saska, Sebastian Scherer, Roland Siegwart, Jason L. Williams, Luca Carlone
Present and Future of SLAM in Extreme Underground Environments. CoRR (2022)
Xiaoyi Cai, Brent Schlotfeldt, Kasra Khosoussi, Nikolay Atanasov, George J. Pappas, Jonathan P. How
Energy-Aware, Collision-Free Information Gathering for Heterogeneous Robot Teams. CoRR (2022)
Yulun Tian, Kasra Khosoussi, David M. Rosen, Jonathan P. How
Distributed Certifiably Correct Pose-Graph Optimization. IEEE Trans. Robotics 37 (6) (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)
Xiaoyi Cai, Brent Schlotfeldt, Kasra Khosoussi, Nikolay Atanasov, George J. Pappas, Jonathan P. How
Non-Monotone Energy-Aware Information Gathering for Heterogeneous Robot Teams. CoRR (2021)
Stewart Jamieson, Kaveh Fathian, Kasra Khosoussi, Jonathan P. How, Yogesh A. Girdhar
Multi-Robot Distributed Semantic Mapping in Unfamiliar Environments through Online Matching of Learned Representations. CoRR (2021)
Stewart Jamieson, Kaveh Fathian, Kasra Khosoussi, Jonathan P. How, Yogesh A. Girdhar
Multi-Robot Distributed Semantic Mapping in Unfamiliar Environments through Online Matching of Learned Representations. 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)
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)
Yulun Tian, Kasra Khosoussi, Jonathan P. How
A resource-aware approach to collaborative loop-closure detection with provable performance guarantees. Int. J. Robotics Res. 40 (10-11) (2021)
Xiaoyi Cai, Brent Schlotfeldt, Kasra Khosoussi, Nikolay Atanasov, George J. Pappas, Jonathan P. How
Non-Monotone Energy-Aware Information Gathering for Heterogeneous Robot Teams. ICRA (2021)
Kaveh Fathian, Kasra Khosoussi, Yulun Tian, Parker C. Lusk, Jonathan P. How
CLEAR: A Consistent Lifting, Embedding, and Alignment Rectification Algorithm for Multiview Data Association. IEEE Trans. Robotics 36 (6) (2020)
Kaveh Fathian, Kasra Khosoussi, Parker C. Lusk, Yulun Tian, Jonathan P. How
CLEAR: A Consistent Lifting, Embedding, and Alignment Rectification Algorithm for Multi-Agent Data Association. CoRR (2019)
Yulun Tian, Kasra Khosoussi, Jonathan P. How
Resource-Aware Algorithms for Distributed Loop Closure Detection with Provable Performance Guarantees. CoRR (2019)
Kasra Khosoussi, Matthew Giamou, Gaurav S. Sukhatme, Shoudong Huang, Gamini Dissanayake, Jonathan P. How
Reliable Graphs for SLAM. Int. J. Robotics Res. 38 (2-3) (2019)
Yulun Tian, Kasra Khosoussi, Jonathan P. How
Block-Coordinate Minimization for Large SDPs with Block-Diagonal Constraints. CoRR (2019)
Yulun Tian, Kasra Khosoussi, Jonathan P. How
Block-Coordinate Descent on the Riemannian Staircase for Certifiably Correct Distributed Rotation and Pose Synchronization. CoRR (2019)
Yulun Tian, Kasra Khosoussi, Jonathan P. How
A Resource-Aware Approach to Collaborative Loop Closure Detection with Provable Performance Guarantees. CoRR (2019)
Yulun Tian, Kasra Khosoussi, Jonathan P. How
Resource-Aware Algorithms for Distributed Loop Closure Detection with Provable Performance Guarantees. WAFR (2018)
Yulun Tian, Kasra Khosoussi, Matthew Giamou, Jonathan P. How, Jonathan Kelly
Near-Optimal Budgeted Data Exchange for Distributed Loop Closure Detection. Robotics: Science and Systems (2018)
Yulun Tian, Kasra Khosoussi, Matthew Giamou, Jonathan P. How, Jonathan Kelly
Near-Optimal Budgeted Data Exchange for Distributed Loop Closure Detection. CoRR (2018)
Matthew Giamou, Kasra Khosoussi, Jonathan P. How
Talk Resource-Efficiently to Me: Optimal Communication Planning for Distributed Loop Closure Detection. ICRA (2018)
Kasra Khosoussi
On the Expected Value of the Determinant of Random Sum of Rank-One Matrices. CoRR (2017)
Matthew Giamou, Kasra Khosoussi, Jonathan P. How
Talk Resource-Efficiently to Me: Optimal Communication Planning for Distributed SLAM Front-Ends. CoRR (2017)
Kasra Khosoussi, Gaurav S. Sukhatme, Shoudong Huang, Gamini Dissanayake
Designing Sparse Reliable Pose-Graph SLAM: A Graph-Theoretic Approach. CoRR (2016)
Kasra Khosoussi, Shoudong Huang, Gamini Dissanayake
A Sparse Separable SLAM Back-End. IEEE Trans. Robotics 32 (6) (2016)
Kasra Khosoussi, Gaurav S. Sukhatme, Shoudong Huang, Gamini Dissanayake
Designing Sparse Reliable Pose-Graph SLAM: A Graph-Theoretic Approach. WAFR (2016)
Kasra Khosoussi, Shoudong Huang, Gamini Dissanayake
Tree-connectivity: Evaluating the graphical structure of SLAM. ICRA (2016)
Kasra Khosoussi, Gaurav S. Sukhatme, Shoudong Huang, Gamini Dissanayake
Maximizing the Weighted Number of Spanning Trees: Near-$t$-Optimal Graphs. CoRR (2016)
Kasra Khosoussi, Shoudong Huang, Gamini Dissanayake
Exploiting the Separable Structure of SLAM. Robotics: Science and Systems (2015)
Heng Wang, Shoudong Huang, Kasra Khosoussi, Udo Frese, Gamini Dissanayake, Bingbing Liu
Dimensionality reduction for point feature SLAM problems with spherical covariance matrices. Autom. 51 (2015)
Kasra Khosoussi, Shoudong Huang, Gamini Dissanayake
Novel insights into the impact of graph structure on SLAM. IROS (2014)
Gibson Hu, Kasra Khosoussi, Shoudong Huang
Towards a reliable SLAM back-end. IROS (2013)