Authors: Type:

2018

  • How to Train a CAT: Learning Canonical Appearance Transformations for Robust Direct Localization Under Illumination Change

    L. Clement and J. Kelly

    IEEE Robotics and Automation Letters , 2018.

    Submitted
  • DPC-Net: Deep Pose Correction for Visual Localization

    V. Peretroukhin and J. Kelly

    IEEE Robotics and Automation Letters , 2018.

    To Appear

2017

  • Robust Monocular Visual Teach and Repeat Aided by Local Ground Planarity and Colour-Constant Imagery

    L. Clement, J. Kelly, and T. D. Barfoot

    Journal of Field Robotics , vol. 34, iss. 1, pp. 74-97, 2017.

  • Automatic and Featureless Sim(3) Calibration of Planar Lidars to Egomotion Sensors

    J. Lambert

    Master Thesis , Toronto, Ontario, Canada, 2017.

  • Editorial: Special Issue on Field and Service Robotics

    F. Pomerleau and J. Kelly

    Journal of Field Robotics , vol. 34, iss. 1, pp. 3-4, 2017.

  • Cheap or Robust? The Practical Realization of Self-Driving Wheelchair Technology

    M. Burhanpurkar, M. Labbe, C. Guan, F. Michaud, and J. Kelly

    Proceedings of the IEEE International Conference on Rehabilitation Robotics (ICORR’17), London, United Kingdom, 2017, pp. 1079-1086.

  • Improving the Accuracy of Stereo Visual Odometry Using Visual Illumination Estimation

    L. Clement, V. Peretroukhin, and J. Kelly

    in 2016 International Symposium on Experimental Robotics , D. Kulic, Y. Nakamura, O. Khatib, and G. Venture, Eds., Berlin Heidelberg: Springer International Publishing, 2017, vol. 1, pp. 409-419.

    Invited to Journal Special Issue
  • Inferring Sun Direction to Improve Visual Odometry: A Deep Learning Approach

    V. Peretroukhin, L. Clement, and J. Kelly

    International Journal of Robotics Research , 2017.

    To Appear
  • Reducing Drift in Visual Odometry by Inferring Sun Direction Using a Bayesian Convolutional Neural Network

    V. Peretroukhin, L. Clement, and J. Kelly

    Proceedings of the IEEE International Conference on Robotics and Automation (ICRA’17), Singapore, 2017, pp. 2035-2042.

  • Increasing Persistent Navigation Capabilities for Underwater Vehicles with Augmented Terrain-Based Navigation

    G. M. Reis, M. Fitzpatrick, J. Anderson, J. Kelly, L. Bobadilla, and R. N. Smith

    Proceedings of the MTS/IEEE Oceans Conference (OCEANS’17), Aberdeen, United Kingdom, 2017.

    Best Student Paper Finalist
  • Improving Foot-Mounted Inertial Navigation Through Real-Time Motion Classification

    B. Wagstaff, V. Peretroukhin, and J. Kelly

    Proceedings of the International Conference on Indoor Positioning and Indoor Navigation (IPIN’17), Sapporo, Japan, 2017.

2016

  • Enabling Persistent Autonomy for Underwater Gliders with Ocean Model Predictions and Terrain Based Navigation

    A. Stuntz, J. Kelly, and R. N. Smith

    Frontiers in Robotics and AI , vol. 3, iss. 23, 2016.

  • Monocular Visual Teach and Repeat Aided by Local Ground Planarity

    L. Clement, J. Kelly, and T. D. Barfoot

    in Field and Service Robotics: Results of the 10th International Conference , D. S. Wettergreen and T. D. Barfoot, Eds., Berlin Heidelberg: Springer International Publishing, 2016, vol. 113, pp. 547-561.

  • Entropy-Based Sim(3) Calibration of 2D Lidars to Egomotion Sensors

    J. Lambert, L. Clement, M. Giamou, and J. Kelly

    Proceedings of the IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI’16), Baden-Baden, Germany, 2016, pp. 455-461.

    Best Student Paper Award
  • PROBE-GK: Predictive Robust Estimation using Generalized Kernels

    V. Peretroukhin, W. Vega-Brown, N. Roy, and J. Kelly

    Proceedings of the IEEE International Conference on Robotics and Automation (ICRA’16), Stockholm, Sweden, 2016, pp. 817-824.

2015

  • The Battle for Filter Supremacy: A Comparative Study of the Multi-State Constraint Kalman Filter and the Sliding Window Filter

    L. Clement, V. Peretroukhin, J. Lambert, and J. Kelly

    Proceedings of the 12th Conference on Computer and Robot Vision (CRV’15), Halifax, Nova Scotia, Canada, 2015, pp. 23-30.

  • Get to the Point: Active Covariance Scaling for Feature Tracking Through Motion Blur

    V. Peretroukhin, L. Clement, and J. Kelly

    Proceedings of the IEEE International Conference on Robotics and Automation Workshop on Scaling Up Active Perception, Seattle, Washington, USA, 2015.

  • PROBE: Predictive Robust Estimation for Visual-Inertial Navigation

    V. Peretroukhin, L. Clement, M. Giamou, and J. Kelly

    Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS’15), Hamburg, Germany, 2015, pp. 3668-3675.

  • Vision-based Collision Avoidance for Personal Aerial Vehicles using Dynamic Potential Fields

    F. Rehmatullah and J. Kelly

    Proceedings of the 12th Conference on Computer and Robot Vision (CRV’15), Halifax, Nova Scotia, Canada, 2015, pp. 297-304.

2014

  • Determining the Time Delay Between Inertial and Visual Sensor Measurements

    J. Kelly, N. Roy, and G. S. Sukhatme

    IEEE Transactions on Robotics , vol. 30, iss. 6, pp. 1514-1523, 2014.

  • An autonomous manipulation system based on force control and optimization

    L. Righetti, M. Kalakrishnan, P. Pastor, J. Binney, J. Kelly, R. C. Voorhies, G. S. Sukhatme, and S. Schaal

    Autonomous Robots , vol. 36, iss. 1–2, pp. 11-30, 2014.

  • A General Framework for Temporal Calibration of Multiple Proprioceptive and Exteroceptive Sensors

    J. Kelly and G. S. Sukhatme

    in Experimental Robotics: The 12th International Symposium on Experimental Robotics , O. Khatib, V. Kumar, and G. S. Sukhatme, Eds., Berlin Heidelberg: Springer, 2014, vol. 79, pp. 195-209.

  • Optimizing Camera Perspective for Stereo Visual Odometry

    V. Peretroukhin, J. Kelly, and T. D. Barfoot

    Proceedings of the Canadian Conference on Computer and Robot Vision (CRV’14), Montreal, Quebec, Canada, 2014, pp. 1-7.

2013

  • Editorial: Special Issue on Long-Term Autonomy

    T. Barfoot, J. Kelly, and G. Sibley

    International Journal of Robotics Research , vol. 32, iss. 14, p. 1609—1610, 2013.

  • Learning Task Error Models for Manipulation

    P. Pastor, M. Kalakrishnan, J. Binney, J. Kelly, L. Righetti, G. Sukhatme, and S. Schaal

    Proceedings of the IEEE International Conference on Robotics and Automation (ICRA’13), Karlsruhe, Germany, 2013, pp. 2612-2618.

  • An Investigation on the Accuracy of Regional Ocean Models Through Field Trials

    R. N. Smith, J. Kelly, K. Nazarzadeh, and G. S. Sukhatme

    Proceedings of the IEEE International Conference on Robotics and Automation (ICRA’13), Karlsruhe, Germany, 2013, pp. 3436-3442.

  • CELLO: A Fast Algorithm for Covariance Estimation

    W. Vega-Brown, A. Bachrach, A. Bry, J. Kelly, and N. Roy

    Proceedings of the IEEE International Conference on Robotics and Automation (ICRA’13), Karlsruhe, Germany, 2013, pp. 3160-3167.

2012

  • Taking the Long View: A Report on Two Recent Workshops on Long-Term Autonomy

    J. Kelly, G. Sibley, T. Barfoot, and P. Newman

    IEEE Robotics & Automation Magazine , vol. 19, iss. 1, pp. 109-111, 2012.

  • Towards Improving Mission Execution for Autonomous Gliders with an Ocean Model and Kalman Filter

    R. N. Smith, J. Kelly, and G. S. Sukhatme

    Proceedings of the IEEE International Conference on Robotics and Automation (ICRA’12), Saint Paul, Minnesota, USA, 2012, pp. 4870-4877.

  • Autonomous Mapping of Factory Floors Using a Quadrotor MAV

    W. Vega-Brown, J. Kelly, A. Bachrach, A. Bry, S. Prentice, and N. Roy

    Proceedings of Robotics: Science and Systems (RSS’12) Workshop on Integration of Perception with Control and Navigation for Resource-Limited, Highly Dynamic, Autonomous Systems, Sydney, Australia, 2012.

2011

  • On Temporal and Spatial Calibration for High Accuracy Visual-Inertial Motion Estimation

    J. Kelly

    PhD Thesis , University of Southern California, Los Angeles, California, USA, 2011.

  • Visual-Inertial Sensor Fusion: Localization, Mapping and Sensor-to-Sensor Self-Calibration

    J. Kelly and G. S. Sukhatme

    International Journal of Robotics Research , vol. 30, iss. 1, pp. 56-79, 2011.

  • Simultaneous Mapping and Stereo Extrinsic Parameter Calibration Using GPS Measurements

    J. Kelly, L. H. Matthies, and G. S. Sukhatme

    Proceedings of the IEEE International Conference on Robotics and Automation (ICRA’11), Shanghai, China, 2011, pp. 279-286.

2010

  • Self-Calibration of Inertial and Omnidirectional Visual Sensors for Navigation and Mapping

    J. Kelly and G. S. Sukhatme

    Proceedings of the IEEE International Conference on Robotics and Automation Workshop on Omnidirectional Robot Vision (OmniRoboVis’10), Anchorage, Alaska, USA, 2010, pp. 1-6.

  • Towards the Improvement of Autonomous Glider Navigational Accuracy Through the Use of Regional Ocean Models

    R. N. Smith, J. Kelly, Y. Chao, B. H. Jones, and G. S. Sukhatme

    Proceedings of the ASME 29th International Conference on Ocean, Offshore and Arctic Engineering (OMAE’10), Shanghai, China, 2010, pp. 597-606.

2009

  • A survey and evaluation of promising approaches for automatic image-based defect detection of bridge structures

    M. R. Jahanshahi, J. Kelly, S. F. Masri, and G. S. Sukhatme

    Structure and Infrastructure Engineering , vol. 5, iss. 6, pp. 455-486, 2009.

  • Coordinated Three-Dimensional Robotic Self-Assembly

    J. Kelly and H. Zhang

    Proceedings of the IEEE International Conference on Robotics and Biomimetics (ROBIO’08), Bangkok, Thailand, 2009, pp. 172-178.

    Best Student Paper Award
  • Fast Relative Pose Calibration for Visual and Inertial Sensors

    J. Kelly and G. S. Sukhatme

    in Experimental Robotics: The Eleventh International Symposium , O. Khatib, V. Kumar, and G. J. Pappas, Eds., Berlin Heidelberg: Springer, 2009, vol. 54/2009, pp. 515-524.

  • Visual-Inertial Simultaneous Localization, Mapping and Sensor-to-Sensor Self-Calibration

    J. Kelly and G. S. Sukhatme

    Proceedings of the IEEE International Symposium on Computational Intelligence in Robotics and Automation (CIRA’09), Daejeon, Korea, 2009, pp. 360-368.

2008

  • On the Observability and Self-Calibration of Visual-Inertial Navigation Systems

    J. Kelly

    University of Southern California, Los Angeles, California, USA ,CRES-08-005, 2008.

  • A Note on Unscented Filtering and State Propagation in Nonlinear Systems

    J. Kelly

    University of Southern California, Los Angeles, California, USA ,CRES-08-004, 2008.

  • Algorithmic Distributed Assembly

    J. Kelly

    Master Thesis , University of Alberta, Edmonton, Alberta, Canada, 2008.

  • Combined Visual and Inertial Navigation for an Unmanned Aerial Vehicle

    J. Kelly, S. Saripalli, and G. S. Sukhatme

    in Field and Service Robotics: Results of the 6th International Conference , C. Laugier and R. Siegwart, Eds., Berlin Heidelberg: Springer, 2008, vol. 42/2008, pp. 255-264.

  • Just Add Wheels: Leveraging Commodity Laptop Hardware for Robotics and AI Education

    J. Kelly, J. Binney, A. Pereira, O. Khan, and G. S. Sukhatme

    in AAAI Technical Report WS-08-02: Proceedings of the AAAI 2008 AI Education Colloquium , Z. Dodds, H. Hirsh, and K. Wagstaff, Eds., Menlo Park, California, USA: AAAI Press, 2008, pp. 50-55.

2007

  • An Experimental Study of Aerial Stereo Visual Odometry

    J. Kelly and G. S. Sukhatme

    Proceedings of the 6th IFAC Symposium on Intelligent Autonomous Vehicles (IAV’07), Toulouse, France, 2007, pp. 197-202.

2006

  • A High-Level Nanomanipulation Control Framework

    D. J. Arbuckle, J. Kelly, and A. A. G. Requicha

    Proceedings of the IARP-IEEE/RAS-EURON Joint Workshop on Micro and Nanorobotics, Paris, France, 2006.

  • Combinatorial Optimization of Sensing for Rule-Based Planar Distributed Assembly

    J. Kelly and H. Zhang

    Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS’06), Beijing, China, 2006, pp. 3728-3734.

2003

  • Development of a Transformable Mobile Robot Composed of Homogeneous Gear-Type Units

    H. Tokashiki, H. Amagai, S. Endo, K. Yamada, and J. Kelly

    Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS’03), Las Vegas, Nevada, USA, 2003, pp. 1602-1607.

2002

  • Learning Bayesian networks from data: an information-theory based approach

    J. Cheng, R. Greiner, J. Kelly, D. Bell, and W. Liu

    Artificial Intelligence , vol. 137, iss. 1–2, pp. 43-90, 2002.