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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Yue Wang
201 publications
Joshua B. Tenenbaum
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Jonathan P. How
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Yilun Du
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Guy Rosman
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Andrei Barbu
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Boris Katz
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Igor Gilitschenski
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Brian C. Williams
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Ashkan Jasour
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∙ 08/01/2022

Robust Change Detection Based on Neural Descriptor Fields

The ability to reason about changes in the environment is crucial for ro...

Jiahui Fu, et al. ∙

∙ 07/18/2022

PlaneSDF-based Change Detection for Long-term Dense Mapping

The ability to process environment maps across multiple sessions is crit...

Jiahui Fu, et al. ∙

∙ 04/25/2022

Discrete-Continuous Smoothing and Mapping

We describe a general approach to smoothing and mapping with a class of ...

Kevin J. Doherty, et al. ∙

∙ 03/25/2022

Spectral Measurement Sparsification for Pose-Graph SLAM

Simultaneous localization and mapping (SLAM) is a critical capability in...

Kevin J. Doherty, et al. ∙

∙ 01/11/2022

Performance Guarantees for Spectral Initialization in Rotation Averaging and Pose-Graph SLAM

In this work we present the first initialization methods equipped with e...

Kevin J. Doherty, et al. ∙

∙ 10/19/2021

Trajectory Prediction with Linguistic Representations

Language allows humans to build mental models that interpret what is hap...

Yen-Ling Kuo, et al. ∙

∙ 10/17/2021

TIP: Task-Informed Motion Prediction for Intelligent Systems

Motion prediction is important for intelligent driving systems, providin...

Xin Huang, et al. ∙

∙ 10/05/2021

HYPER: Learned Hybrid Trajectory Prediction via Factored Inference and Adaptive Sampling

Modeling multi-modal high-level intent is important for ensuring diversi...

Xin Huang, et al. ∙

∙ 10/02/2021

Online Incremental Non-Gaussian Inference for SLAM Using Normalizing Flows

This paper presents a novel non-Gaussian inference algorithm, Normalizin...

Qiangqiang Huang, et al. ∙

∙ 09/22/2021

On Reference Solutions to Non-Gaussian SLAM Factor Graphs

Many real-world applications of simultaneous localization and mapping (S...

Qiangqiang Huang, et al. ∙

∙ 08/03/2021

A Multi-Hypothesis Approach to Pose Ambiguity in Object-Based SLAM

In object-based Simultaneous Localization and Mapping (SLAM), 6D object ...

Jiahui Fu, et al. ∙

∙ 07/20/2021

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

Objects could often have multiple probable poses in single-shot measurem...

Ziqi Lu, et al. ∙

∙ 05/11/2021

NF-iSAM: Incremental Smoothing and Mapping via Normalizing Flows

This paper presents a novel non-Gaussian inference algorithm, Normalizin...

Qiangqiang Huang, et al. ∙

∙ 04/06/2021

Lidar-Monocular Surface Reconstruction Using Line Segments

Structure from Motion (SfM) often fails to estimate accurate poses in en...

Victor Amblard, et al. ∙

∙ 04/01/2021

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...

Yihao Zhang, et al. ∙

∙ 03/19/2021

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...

Yihao Zhang, et al. ∙

∙ 03/08/2021

Advances in Inference and Representation for Simultaneous Localization and Mapping

Simultaneous localization and mapping (SLAM) is the process of construct...

David M. Rosen, et al. ∙

∙ 03/18/2020

CARPAL: Confidence-Aware Intent Recognition for Parallel Autonomy

Predicting the behavior of road agents is a difficult and crucial task f...

Xin Huang, et al. ∙

∙ 11/28/2019

Diversity-Aware Vehicle Motion Prediction via Latent Semantic Sampling

Vehicle trajectory prediction is crucial for autonomous driving and adva...

Xin Huang, et al. ∙

∙ 05/29/2017

Towards Visual Ego-motion Learning in Robots

Many model-based Visual Odometry (VO) algorithms have been proposed in t...

Sudeep Pillai, et al. ∙