Timothy D. Barfoot

ORCID

Publication Activity (10 Years)

Years Active: 2002-2024
Publications (10 Years): 135

Top Venues

CoRR

ICRA

CRV

IEEE Robotics Autom. Lett.

Publications

Alexander Krawciw, Sven Lilge, Timothy D. Barfoot
LaserSAM: Zero-Shot Change Detection Using Visual Segmentation of Spinning LiDAR. CoRR (2024)
Johann Laconte, Daniil Lisus, Timothy D. Barfoot
Toward Certifying Maps for Safe Registration-Based Localization Under Adverse Conditions. IEEE Robotics Autom. Lett. 9 (2) (2024)
Connor Holmes, Frederike Dümbgen, Timothy D. Barfoot
SDPRLayers: Certifiable Backpropagation Through Polynomial Optimization Problems in Robotics. CoRR (2024)
Ziyu Zhang, Johann Laconte, Daniil Lisus, Timothy D. Barfoot
Prepared for the Worst: A Learning-Based Adversarial Attack for Resilience Analysis of the ICP Algorithm. CoRR (2024)
Daniil Lisus, Keenan Burnett, David J. Yoon, Timothy D. Barfoot
Are Doppler Velocity Measurements Useful for Spinning Radar Odometry? CoRR (2024)
Keenan Burnett, Angela P. Schoellig, Timothy D. Barfoot
Continuous-Time Radar-Inertial and Lidar-Inertial Odometry using a Gaussian Process Motion Prior. CoRR (2024)
Abhishek Goudar, Frederike Dümbgen, Timothy D. Barfoot, Angela P. Schoellig
Optimal Initialization Strategies for Range-Only Trajectory Estimation. IEEE Robotics Autom. Lett. 9 (3) (2024)
Sven Lilge, Timothy D. Barfoot, Jessica Burgner-Kahrs
State Estimation for Continuum Multi-Robot Systems on SE(3). CoRR (2024)
Matej Boxan, Alexander Krawciw, Effie Daum, Xinyuan Qiao, Sven Lilge, Timothy D. Barfoot, François Pomerleau
FoMo: A Proposal for a Multi-Season Dataset for Robot Navigation in For\^et Montmorency. CoRR (2024)
Hugues Thomas, Yao-Hung Hubert Tsai, Timothy D. Barfoot, Jian Zhang
KPConvX: Modernizing Kernel Point Convolution with Kernel Attention. CoRR (2024)
Keenan Burnett, Angela P. Schoellig, Timothy D. Barfoot
IMU as an Input vs. a Measurement of the State in Inertial-Aided State Estimation. CoRR (2024)
Frederike Dümbgen, Connor Holmes, Timothy D. Barfoot
Exploiting Chordal Sparsity for Fast Global Optimality with Application to Localization. CoRR (2024)
Daniil Lisus, Johann Laconte, Keenan Burnett, Timothy D. Barfoot
Pointing the Way: Refining Radar-Lidar Localization Using Learned ICP Weights. CoRR (2023)
Hugues Thomas, Jian Zhang, Timothy D. Barfoot
The Foreseeable Future: Self-Supervised Learning to Predict Dynamic Scenes for Indoor Navigation. IEEE Trans. Robotics 39 (6) (2023)
Yizhou Huang, Hamza Dugmag, Timothy D. Barfoot, Florian Shkurti
Stochastic Planning for ASV Navigation Using Satellite Images. ICRA (2023)
Yuxuan Chen, Timothy D. Barfoot
Self-Supervised Feature Learning for Long-Term Metric Visual Localization. IEEE Robotics Autom. Lett. 8 (2) (2023)
Frederike Dümbgen, Mohammed Ayman Shalaby, Connor Holmes, Charles Champagne Cossette, James Richard Forbes, Jerome Le Ny, Timothy D. Barfoot
STAR-loc: Dataset for STereo And Range-based localization. CoRR (2023)
Kyle Harlow, Hyesu Jang, Timothy D. Barfoot, Ayoung Kim, Christoffer Heckman
A New Wave in Robotics: Survey on Recent mmWave Radar Applications in Robotics. CoRR (2023)
Connor Holmes, Timothy D. Barfoot
An Efficient Global Optimality Certificate for Landmark-Based SLAM. IEEE Robotics Autom. Lett. 8 (3) (2023)
David J. Yoon, Keenan Burnett, Johann Laconte, Yi Chen, Heethesh Vhavle, Sören Kammel, James Reuther, Timothy D. Barfoot
Need for Speed: Fast Correspondence-Free Lidar Odometry Using Doppler Velocity. CoRR (2023)
Timothy D. Barfoot, Gabriele M. T. D'Eleuterio
Variational inference as iterative projection in a Bayesian Hilbert space with application to robotic state estimation. Robotica 41 (2) (2023)
Yuchen Wu, David J. Yoon, Keenan Burnett, Sören Kammel, Yi Chen, Heethesh Vhavle, Timothy D. Barfoot
Picking up Speed: Continuous-Time Lidar-Only Odometry Using Doppler Velocity Measurements. IEEE Robotics Autom. Lett. 8 (1) (2023)
Yuxuan Chen, Binbin Xu, Frederike Dümbgen, Timothy D. Barfoot
What to Learn: Features, Image Transformations, or Both? CoRR (2023)
David J. Yoon, Timothy D. Barfoot
Towards Consistent Batch State Estimation Using a Time-Correlated Measurement Noise Model. CoRR (2023)
Jordy Sehn, Yuchen Wu, Timothy D. Barfoot
Along Similar Lines: Local Obstacle Avoidance for Long-Term Autonomous Path Following. CRV (2023)
Yuxuan Chen, Binbin Xu, Frederike Dümbgen, Timothy D. Barfoot
What to Learn: Features, Image Transformations, or Both? IROS (2023)
Haoming Zhang, Chih-Chun Chen, Heike Vallery, Timothy D. Barfoot
GNSS/Multi-Sensor Fusion Using Continuous-Time Factor Graph Optimization for Robust Localization. CoRR (2023)
Jordy Sehn, Jack Collier, Timothy D. Barfoot
Off the Beaten Track: Laterally Weighted Motion Planning for Local Obstacle Avoidance. CoRR (2023)
Abhishek Goudar, Frederike Dümbgen, Timothy D. Barfoot, Angela P. Schoellig
Optimal Initialization Strategies for Range-Only Trajectory Estimation. CoRR (2023)
Johann Laconte, Daniil Lisus, Timothy D. Barfoot
Toward Certifying Maps for Safe Localization Under Adversarial Corruption. CoRR (2023)
Connor Holmes, Frederike Dümbgen, Timothy D. Barfoot
On Semidefinite Relaxations for Matrix-Weighted State-Estimation Problems in Robotics. CoRR (2023)
David J. Yoon, Keenan Burnett, Johann Laconte, Yi Chen, Heethesh Vhavle, Sören Kammel, James Reuther, Timothy D. Barfoot
Need for Speed: Fast Correspondence-Free Lidar-Inertial Odometry Using Doppler Velocity. IROS (2023)
David J. Yoon, Timothy D. Barfoot
Towards Consistent Batch State Estimation Using a Time-Correlated Measurement Noise Model. ICRA (2023)
Alexander Krawciw, Jordy Sehn, Timothy D. Barfoot
Change of Scenery: Unsupervised LiDAR Change Detection for Mobile Robots. CoRR (2023)
Philip Huang, Tony Wang, Florian Shkurti, Timothy D. Barfoot
Field Testing of a Stochastic Planner for ASV Navigation Using Satellite Images. CoRR (2023)
Abhishek Goudar, Timothy D. Barfoot, Angela P. Schoellig
Continuous-Time Range-Only Pose Estimation. CoRR (2023)
Zi Cong Guo, Frederike Dümbgen, James Richard Forbes, Timothy D. Barfoot
Data-Driven Batch Localization and SLAM Using Koopman Linearization. CoRR (2023)
Frederike Dümbgen, Connor Holmes, Ben Agro, Timothy D. Barfoot
Toward Globally Optimal State Estimation Using Automatically Tightened Semidefinite Relaxations. CoRR (2023)
Keenan Burnett, David J. Yoon, Yuchen Wu, Andrew Zou Li, Haowei Zhang, Shichen Lu, Jingxing Qian, Wei-Kang Tseng, Andrew Lambert, Keith Yk Leung, Angela P. Schoellig, Timothy D. Barfoot
Boreas: A multi-season autonomous driving dataset. Int. J. Robotics Res. 42 (1-2) (2023)
Timothy D. Barfoot, Connor Holmes, Frederike Dümbgen
Certifiably Optimal Rotation and Pose Estimation Based on the Cayley Map. CoRR (2023)
Abhishek Goudar, Timothy D. Barfoot, Angela P. Schoellig
Continuous-Time Range-Only Pose Estimation. CRV (2023)
Frederike Dümbgen, Connor Holmes, Timothy D. Barfoot
Safe and Smooth: Certified Continuous-Time Range-Only Localization. IEEE Robotics Autom. Lett. 8 (2) (2023)
Timothy D. Barfoot, Connor Holmes, Frederike Dümbgen
A Fine Line: Total Least-Squares Line Fitting as QCQP Optimization. CoRR (2022)
Jordy Sehn, Yuchen Wu, Timothy D. Barfoot
Along Similar Lines: Local Obstacle Avoidance for Long-term Autonomous Path Following. CoRR (2022)
Timothy D. Barfoot, James R. Forbes, Gabriele M. T. D'Eleuterio
Vectorial parameterizations of pose. Robotica 40 (7) (2022)
Zi Cong Guo, Vassili Korotkine, James Richard Forbes, Timothy D. Barfoot
Koopman Linearization for Data-Driven Batch State Estimation of Control-Affine Systems. IEEE Robotics Autom. Lett. 7 (2) (2022)
Frederike Dümbgen, Connor Holmes, Timothy D. Barfoot
Safe and Smooth: Certified Continuous-Time Range-Only Localization. CoRR (2022)
Sven Lilge, Timothy D. Barfoot, Jessica Burgner-Kahrs
Continuum Robot State Estimation Using Gaussian Process Regression on SE(3). CoRR (2022)
Hugues Thomas, Matthieu Gallet de Saint Aurin, Jian Zhang, Timothy D. Barfoot
Learning Spatiotemporal Occupancy Grid Maps for Lifelong Navigation in Dynamic Scenes. ICRA (2022)
Keenan Burnett, David J. Yoon, Yuchen Wu, Andrew Zou Li, Haowei Zhang, Shichen Lu, Jingxing Qian, Wei-Kang Tseng, Andrew Lambert, Keith Yu Kit Leung, Angela P. Schoellig, Timothy D. Barfoot
Boreas: A Multi-Season Autonomous Driving Dataset. CoRR (2022)
Benjamin Congram, Timothy D. Barfoot
Field Testing and Evaluation of Single-Receiver GPS Odometry for Use in Robotic Navigation. Field Robotics 2 (1) (2022)
Mona Gridseth, Timothy D. Barfoot
Keeping an Eye on Things: Deep Learned Features for Long-Term Visual Localization. IEEE Robotics Autom. Lett. 7 (2) (2022)
Abhishek Goudar, Wenda Zhao, Timothy D. Barfoot, Angela P. Schoellig
Gaussian Variational Inference with Covariance Constraints Applied to Range-only Localization. IROS (2022)
Yuxuan Chen, Timothy D. Barfoot
Self-Supervised Feature Learning for Long-Term Metric Visual Localization. CoRR (2022)
Yizhou Huang, Hamza Dugmag, Timothy D. Barfoot, Florian Shkurti
Stochastic Planning for ASV Navigation Using Satellite Images. CoRR (2022)
Keenan Burnett, Yuchen Wu, David J. Yoon, Angela P. Schoellig, Timothy D. Barfoot
Should Radar Replace Lidar in All-Weather Mapping and Localization? CoRR (2022)
Hugues Thomas, Jian Zhang, Timothy D. Barfoot
The Foreseeable Future: Self-Supervised Learning to Predict Dynamic Scenes for Indoor Navigation. CoRR (2022)
Sven Lilge, Timothy D. Barfoot, Jessica Burgner-Kahrs
Continuum robot state estimation using Gaussian process regression on SE(3). Int. J. Robotics Res. 41 (13-14) (2022)
Gabriele M. T. D'Eleuterio, Timothy D. Barfoot
On the Eigenstructure of Rotations and Poses: Commonalities and Peculiarities. CoRR (2022)
Keenan Burnett, Yuchen Wu, David J. Yoon, Angela P. Schoellig, Timothy D. Barfoot
Are We Ready for Radar to Replace Lidar in All-Weather Mapping and Localization? IEEE Robotics Autom. Lett. 7 (4) (2022)
Connor Holmes, Timothy D. Barfoot
An Efficient Global Optimality Certificate for Landmark-Based SLAM. CoRR (2022)
Yuchen Wu, David J. Yoon, Keenan Burnett, Sören Kammel, Yi Chen, Heethesh Vhavle, Timothy D. Barfoot
Picking Up Speed: Continuous-Time Lidar-Only Odometry using Doppler Velocity Measurements. CoRR (2022)
Wei-Kang Tseng, Angela P. Schoellig, Timothy D. Barfoot
Self-Calibration of the Offset Between GPS and Semantic Map Frames for Robust Localization. CoRR (2021)
David J. Yoon, Haowei Zhang, Mona Gridseth, Hugues Thomas, Timothy D. Barfoot
Unsupervised Learning of Lidar Features for Use ina Probabilistic Trajectory Estimator. IEEE Robotics Autom. Lett. 6 (2) (2021)
Mona Gridseth, Timothy D. Barfoot
Keeping an Eye on Things: Deep Learned Features for Long-Term Visual Localization. CoRR (2021)
Hugues Thomas, Matthieu Gallet de Saint Aurin, Jian Zhang, Timothy D. Barfoot
Learning Spatiotemporal Occupancy Grid Maps for Lifelong Navigation in Dynamic Scenes. CoRR (2021)
Rehman S. Merali, Timothy D. Barfoot
MCMC Occupancy Grid Mapping with a Data-Driven Patch Prior. ICRA (2021)
Keenan Burnett, Jingxing Qian, Xintong Du, Linqiao Liu, David J. Yoon, Tianchang Shen, Susan Sun, Sepehr Samavi, Michael J. Sorocky, Mollie Bianchi, Kaicheng Zhang, Arkady Arkhangorodsky, Quinlan Sykora, Shichen Lu, Yizhou Huang, Angela P. Schoellig, Timothy D. Barfoot
Zeus: A system description of the two-time winner of the collegiate SAE autodrive competition. J. Field Robotics 38 (1) (2021)
Mollie Bianchi, Timothy D. Barfoot
UAV Localization Using Autoencoded Satellite Images. CoRR (2021)
Zi Cong Guo, Vassili Korotkine, James R. Forbes, Timothy D. Barfoot
Koopman Linearization for Data-Driven Batch State Estimation of Control-Affine Systems. CoRR (2021)
Keenan Burnett, David J. Yoon, Angela P. Schoellig, Timothy D. Barfoot
Radar Odometry Combining Probabilistic Estimation and Unsupervised Feature Learning. CoRR (2021)
Mollie Bianchi, Timothy D. Barfoot
UAV Localization Using Autoencoded Satellite Images. IEEE Robotics Autom. Lett. 6 (2) (2021)
Wei-Kang Tseng, Angela P. Schoellig, Timothy D. Barfoot
Self-Calibration of the Offset Between GPS and Semantic Map Frames for Robust Localization. CRV (2021)
Timothy D. Barfoot
A Geometric Algebra Solution to Wahba's Problem. CoRR (2021)
Keenan Burnett, Angela P. Schoellig, Timothy D. Barfoot
Do We Need to Compensate for Motion Distortion and Doppler Effects in Spinning Radar Navigation? IEEE Robotics Autom. Lett. 6 (2) (2021)
Benjamin Congram, Timothy D. Barfoot
Relatively Lazy: Indoor-Outdoor Navigation Using Vision and GNSS. CRV (2021)
Benjamin Congram, Timothy D. Barfoot
Relatively Lazy: Indoor-Outdoor Navigation Using Vision and GNSS. CoRR (2021)
David J. Yoon, Haowei Zhang, Mona Gridseth, Hugues Thomas, Timothy D. Barfoot
Unsupervised Learning of Lidar Features for Use in a Probabilistic Trajectory Estimator. CoRR (2021)
Hugues Thomas, Ben Agro, Mona Gridseth, Jian Zhang, Timothy D. Barfoot
Self-Supervised Learning of Lidar Segmentation for Autonomous Indoor Navigation. ICRA (2021)
Timothy D. Barfoot, James R. Forbes, Gabriele M. T. D'Eleuterio
Vectorial Parameterizations of Pose. CoRR (2021)
Benjamin Congram, Timothy D. Barfoot
Experimental Comparison of Visual and Single-Receiver GPS Odometry. CoRR (2021)
Keenan Burnett, Jingxing Qian, Xintong Du, Linqiao Liu, David J. Yoon, Tianchang Shen, Susan Sun, Sepehr Samavi, Michael J. Sorocky, Mollie Bianchi, Kaicheng Zhang, Arkady Arkhangorodsky, Quinlan Sykora, Shichen Lu, Yizhou Huang, Angela P. Schoellig, Timothy D. Barfoot
Zeus: A System Description of the Two-Time Winner of the Collegiate SAE AutoDrive Competition. CoRR (2020)
Timothy D. Barfoot
Multivariate Gaussian Variational Inference by Natural Gradient Descent. CoRR (2020)
Timothy D. Barfoot, Gabriele M. T. D'Eleuterio
Variational Inference as Iterative Projection in a Bayesian Hilbert Space. CoRR (2020)
Ishaan Mehta, Mingliang Tang, Timothy D. Barfoot
Gradient-Based Auto-Exposure Control Applied to a Self-Driving Car. CRV (2020)
Bhavit Patel, Timothy D. Barfoot, Angela P. Schoellig
Visual Localization with Google Earth Images for Robust Global Pose Estimation of UAVs. ICRA (2020)
Jeremy N. Wong, David J. Yoon, Angela P. Schoellig, Timothy D. Barfoot
Variational Inference with Parameter Learning Applied to Vehicle Trajectory Estimation. CoRR (2020)
Mona Gridseth, Timothy D. Barfoot
DeepMEL: Compiling Visual Multi-Experience Localization into a Deep Neural Network. ICRA (2020)
Jeremy N. Wong, David J. Yoon, Angela P. Schoellig, Timothy D. Barfoot
A Data-Driven Motion Prior for Continuous-Time Trajectory Estimation on SE(3). IEEE Robotics Autom. Lett. 5 (2) (2020)
Hugues Thomas, Ben Agro, Mona Gridseth, Jian Zhang, Timothy D. Barfoot
Self-Supervised Learning of Lidar Segmentation for Autonomous Indoor Navigation. CoRR (2020)
Jonathan D. Gammell, Timothy D. Barfoot, Siddhartha S. Srinivasa
Batch Informed Trees (BIT*): Informed asymptotically optimal anytime search. Int. J. Robotics Res. 39 (5) (2020)
Jeremy N. Wong, David Juny Yoon, Angela P. Schoellig, Timothy D. Barfoot
Variational Inference With Parameter Learning Applied to Vehicle Trajectory Estimation. IEEE Robotics Autom. Lett. 5 (4) (2020)
Mona Gridseth, Timothy D. Barfoot
DeepMEL: Compiling Visual Multi-Experience Localization into a Deep Neural Network. CoRR (2020)
Keenan Burnett, Angela P. Schoellig, Timothy D. Barfoot
Do We Need to Compensate for Motion Distortion and Doppler Effects in Radar-Based Navigation? CoRR (2020)
Timothy D. Barfoot, James R. Forbes, David J. Yoon
Exactly sparse Gaussian variational inference with application to derivative-free batch nonlinear state estimation. Int. J. Robotics Res. 39 (13) (2020)
Timothy D. Barfoot
Fundamental Linear Algebra Problem of Gaussian Inference. CoRR (2020)
Keenan Burnett, Sepehr Samavi, Steven L. Waslander, Timothy D. Barfoot, Angela P. Schoellig
aUToTrack: A Lightweight Object Detection and Tracking System for the SAE AutoDrive Challenge. CRV (2019)
Michael Warren, Melissa Greeff, Bhavit Patel, Jack Collier, Angela P. Schoellig, Timothy D. Barfoot
There's No Place Like Home: Visual Teach and Repeat for Emergency Return of Multirotor UAVs During GPS Failure. IEEE Robotics Autom. Lett. 4 (1) (2019)
Timothy D. Barfoot, James R. Forbes, David J. Yoon
Exactly Sparse Gaussian Variational Inference with Application to Derivative-Free Batch Nonlinear State Estimation. CoRR (2019)
Mona Gridseth, Timothy D. Barfoot
Towards Direct Localization for Visual Teach and Repeat. CRV (2019)

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Publication Activity (10 Years)

Top Topics

Top Venues

Timothy D. Barfoot