Active Robust Perception via Belief Space Planning

Joint Inference and Belief Space Planning (JIP)

Belief Space Planning via Factor Graphs and Re-use of Calculation

Sparsification for Decision Making
in High-Dimensional State Spaces

Distributed Robust Inference
and Data Association

Planning in the Belief Space (Single and Multi-Robot)

Light Bundle Adjustment for SfM and Autonomous Navigation

Factor Graph based Incremental Smoothing in Navigation Systems

Distributed Multi-Robot Cooperative Navigation

Three-View Geometry Constraints for

Online Mosaicking & Navigation-Aiding

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