John J. Leonard

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MIT

Samuel C. Collins Professor of Mechanical and Ocean Engineering in the MIT Department of Mechanical Engineering

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Consensus-Informed Optimization Over Mixtures for Ambiguity-Aware Object SLAM

Objects could often have multiple probable poses in single-shot measurem...
07/20/2021 ∙ by Ziqi Lu, et al. ∙ 0 ∙ share

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NF-iSAM: Incremental Smoothing and Mapping via Normalizing Flows

This paper presents a novel non-Gaussian inference algorithm, Normalizin...
05/11/2021 ∙ by Qiangqiang Huang, et al. ∙ 0 ∙ share

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Lidar-Monocular Surface Reconstruction Using Line Segments

Structure from Motion (SfM) often fails to estimate accurate poses in en...
04/06/2021 ∙ by Victor Amblard, et al. ∙ 15 ∙ share

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A Front-End for Dense Monocular SLAM using a Learned Outlier Mask Prior

Recent achievements in depth prediction from a single RGB image have pow...
04/01/2021 ∙ by Yihao Zhang, et al. ∙ 15 ∙ share

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Bootstrapped Self-Supervised Training with Monocular Video for Semantic Segmentation and Depth Estimation

For a robot deployed in the world, it is desirable to have the ability o...
03/19/2021 ∙ by Yihao Zhang, et al. ∙ 3 ∙ share

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Advances in Inference and Representation for Simultaneous Localization and Mapping

Simultaneous localization and mapping (SLAM) is the process of construct...
03/08/2021 ∙ by David M. Rosen, et al. ∙ 7 ∙ share

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CARPAL: Confidence-Aware Intent Recognition for Parallel Autonomy

Predicting the behavior of road agents is a difficult and crucial task f...
03/18/2020 ∙ by Xin Huang, et al. ∙ 11 ∙ share

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Diversity-Aware Vehicle Motion Prediction via Latent Semantic Sampling

Vehicle trajectory prediction is crucial for autonomous driving and adva...
11/28/2019 ∙ by Xin Huang, et al. ∙ 2 ∙ share

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Towards Visual Ego-motion Learning in Robots

Many model-based Visual Odometry (VO) algorithms have been proposed in t...
05/29/2017 ∙ by Sudeep Pillai, et al. ∙ 0 ∙ share

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