Home/Michael Kaess

Michael Kaess

Assistant Research Professor
Email: kaess@andrew.cmu.edu
Office: NSH 1617
Phone: (412) 268-6905
Personal Homepage
Administrative Assistant: Nora Kazour

Perception is a fundamental challenge for mobile robots navigating through and interacting with their environment. My research focuses on 3D mapping and localization using information from any available sensor, including vision, laser, inertial, GPS and sonar (underwater). To enable online operation, my research also explores novel algorithms for efficient and robust inference at the intersection of linear algebra and probabilistic graphical models.

Publications

A Nonparametric Belief Solution to the Bayes Tree
Dehann Fourie, John J. Leonard, Michael Kaess

IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems, IROS October, 2016

Incremental Data Association for Acoustic Structure from Motion
Tiffany Huang, Michael Kaess

IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems, IROS October, 2016

Long-range GPS-denied Aerial Inertial Navigation with LIDAR Localization
Garrett Hemann, Sanjiv Singh, Michael Kaess

IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems, IROS October, 2016

Underwater Inspection using Sonar-based Volumetric Submaps
Pedro V. Teixeira, Michael Kaess, Franz S. Hover, John J. Leonard

IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems, IROS October, 2016

Pop-up SLAM: Semantic Monocular Plane SLAM for Low-texture Environments
Shichao Yang, Yu Song, Michael Kaess, Sebastian Scherer

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) October, 2016

On Degeneracy of Optimization-based State Estimation Problems
Ji Zhang, Michael Kaess, Sanjiv Singh

2016 IEEE International Conference on Robotics and Automation May, 2016

Articulated Robot Motion for Simultaneous Localization and Mapping (ARM-SLAM)
Matthew Klingensmith, Siddhartha Srinivasa, Michael Kaess

IEEE Robotics and Automation - Letters January, 2016

Towards Acoustic Structure from Motion for Imaging Sonar
Tiffany Huang and Michael Kaess

In IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems, IROS September, 2015

Bridging Text Spotting and SLAM with Junction Features
Hsueh-Cheng Wang, Chelsea Finn, Liam Paull, Michael Kaess, Ruth Rosenholtz, Seth Teller, and John Leonard

In IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems, IROS September, 2015

Consistent Unscented Incremental Smoothing for Multi-robot Cooperative Target Tracking
Guoquan Huang, Michael Kaess and John J. Leonard

Journal of Robotics and Autonomous Systems July, 2015

Simultaneous Localization and Mapping with Infinite Planes
Michael Kaess

In IEEE Intl. Conf. on Robotics and Automation May, 2015

Building 3D Mosaics from an Autonomous Underwater Vehicle, Doppler Velocity Log, and 2D Imaging Sonar
Paul Ozog, Giancarlo Troni, Michael Kaess, Ryan M. Eustice and Matthew Johnson-Roberson

In IEEE Intl. Conf. on Robotics and Automation May, 2015

Real-time large scale dense RGB-D SLAM with volumetric fusion
Thomas Whelan, Michael Kaess, Hordur Johannsson, Maurice Fallon, John J. Leonard and John McDonald

The International Journal of Robotics Research April, 2015

Real-time Depth Enhanced Monocular Odometry
Ji Zhang, Michael Kaess and Sanjiv Singh

Intelligent Robots and Systems (IROS), Chicago, IL, USA September, 2014

Generic Node Removal for Factor-Graph SLAM
Nicholas Carlevaris-Bianco, Michael Kaess and Ryan M. Eustice

IEEE Robotics and Automation Society September, 2014

RISE: An Incremental Trust-Region Method for Robust Online Sparse Least-Squares Estimation
David M. Rosen, Michael Kaess and John J. Leonard

IEEE Trans. on Robotics, TRO October, 2014

Evaluating the Performance of Map Optimization Algorithms
Edwin Olson and Michael Kaess

Workshop on Good Experimental Methodology in Robotics January, 2009

The Georgia Tech Yellow Jackets: A Marsupial Team for Urban Search and Rescue
Frank Dellaert, Tucker Balch, Michael Kaess, Ramprasad Ravichandran, Fernando Alegre, Marc Berhault, Robert McGuire, Ernest Merrill, Lilia Moshkina and Daniel Walker

AAAI Mobile Robot Competition January, 2002

3D mapping, localisation and object retrieval using low cost robotic platforms: A robotic search engine for the real-world
Thomas Whelan, Michael Kaess, Ross Finman, Maurice Fallon, Hordur Johannsson, John J. Leonard and John McDonald

In RSS Workshop on RGB-D: Advanced Reasoning with Depth Cameras July, 2014

Efficient Incremental Map Segmentation in Dense RGB-D Maps
Ross Finman, Thomas Whelan, Michael Kaess and John J. Leonard

IEEE Intl. Conf. on Robotics and Automation, ICRA, (Hong Kong) June, 2014

Towards Consistent Visual-Inertial Navigation
Guoquan Huang, Michael Kaess and John J. Leonard

IEEE Intl. Conf. on Robotics and Automation, ICRA June, 2014

Mapping 3D Underwater Environments with Smoothed Submaps
Mark VanMiddlesworth, Michael Kaess, Franz Hover and John J. Leonard

Conference on Field and Service Robotics (FSR) December, 2013

The MIT Stata Center Dataset
M. Fallon, H. Johannsson, Michael Kaess and J.J. Leonard

Intl. J. of Robotics Research, IJRR December, 2013

Deformation-based Loop Closure for Large Scale Dense RGB-D SLAM
Thomas Whelan, Michael Kaess, John J. Leonard and John McDonald

IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS) November, 2013

Real-time 6-DOF Multi-session Visual SLAM over Large Scale Environments
J.B. McDonald, Michael Kaess, C. Cadena, J. Neira and J.J. Leonard

Journal of Robotics and Autonomous Systems, RAS October, 2013

Consistent Sparsification for Graph Optimization
Guoquan Huang, Michael Kaess and John J. Leonard

European Conference on Mobile Robots (ECMR) September, 2013

Toward Lifelong Object Segmentation from Change Detection in Dense RGB-D Maps
Ross Finman, Thomas Whelan, Michael Kaess and John J. Leonard

European Conference on Mobile Robots (ECMR) September, 2013

Unscented iSAM: A Consistent Incremental Solution to Cooperative Localization and Target Tracking
Guoquan Huang, Robert Truax, Michael Kaess and John J. Leonard

European Conference on Mobile Robots (ECMR) September, 2013

Information Fusion in Navigation Systems via Factor Graph Based Incremental Smoothing
V. Indelman, S. Williams, Michael Kaess and F. Dellaert

Journal of Robotics and Autonomous Systems, RAS August, 2013

Robust Incremental Online Inference Over Sparse Factor Graphs: Beyond the Gaussian Case
David M. Rosen, Michael Kaess and John J. Leonard

CMU-RI-TR- IEEE Intl. Conf. on Robotics and Automation, ICRA May, 2013

Temporally Scalable Visual SLAM using a Reduced Pose Graph
Hordur Johannsson, Michael Kaess, Maurice Fallon and John J. Leonard

IEEE Intl. Conf. on Robotics and Automation, ICRA, Best student paper finalist (one of five). May, 2013

Robust Real-Time Visual Odometry for Dense RGB-D Mapping
Thomas Whelan, Hordur Johannsson, Michael Kaess, John J. Leonard and John McDonald

IEEE Intl. Conf. on Robotics and Automation, ICRA May, 2013

Analytically-Selected Multi-Hypothesis Incremental Map Estimation
Guoquan Huang, Michael Kaess, John Leonard and Stergios I. Roumeliotis

Intl. Conf. on Acoustics, Speech, and Signal Proc. (ICASSP) May, 2013

Autonomous Flight in GPS-Denied Environments Using Monocular Vision and Inertial Sensors
A. D. Wu, E. N. Johnson, Michael Kaess, F. Dellaert and G. Chowdhary

AIAA J. of Aerospace Information Systems (JAIS) April, 2013

Dynamic Pose Graph SLAM: Long-term Mapping in Low Dynamic Environments
Aisha Walcott-Bryant, Michael Kaess, Hordur Johannsson and John J. Leonard

IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems, IROS October, 2012

Advanced Perception, Navigation and Planning for Autonomous In-Water Ship Hull Inspection
Franz S. Hover, Ryan M. Eustice, Ayoung Kim, Brendan Englot, Hordur Johannsson, Michael Kaess and John J. Leonard

Intl. J. of Robotics Research, IJRR October, 2012

Robust Tracking for Real-Time Dense RGB-D Mapping with Kintinuous
Thomas Whelan, Hordur Johannsson, Michael Kaess, John J. Leonard and John McDonald

Computer Science and Artificial Intelligence Laboratory Technical Report MIT-CSAIL-TR-2012-031 September, 2012

Concurrent Filtering and Smoothing: A Parallel Architecture for Real-Time Navigation and Full Smoothing
Stephen Williams, Vadim Indelman, Michael Kaess, Richard Roberts, John J. Leonard and Frank Dellaert

International Conference on Information Fusion July, 2012

Kintinuous: Spatially Extended KinectFusion
Thomas Whelan, John McDonald, Michael Kaess, Maurice Fallon, Hordur Johannsson and John J. Leonard

RSS Workshop on RGB-D: Advanced Reasoning with Depth Cameras July, 2012

Factor Graph Based Incremental Smoothing in Inertial Navigation Systems
Vadim Indelman, Stephen Williams, Michael Kaess and Frank Dellaert

Intl. Conf. on Information Fusion July, 2012

Mapping the MIT Stata Center: Large-scale Integrated Visual and RGB-D SLAM
Maurice F. Fallon, Hordur Johannsson, Michael Kaess, David M. Rosen, Elias Muggler and John J. Leonard

RSS Workshop on RGB-D: Advanced Reasoning with Depth Cameras July, 2012

Temporally Scalable Visual SLAM using a Reduced Pose Graph
Hordur Johannsson, Michael Kaess, Maurice Fallon and John J. Leonard

RSS Workshop on Long-term Operation of Autonomous Robotic Systems in Changing Environments July, 2012

Concurrent Filtering and Smoothing
Michael Kaess, Stephen Williams, Vadim Indelman, Richard Roberts, John J. Leonard and Frank Dellaert

Intl. Conf. on Information Fusion, FUSION July, 2012

An Incremental Trust-Region Method for Robust Online Sparse Least-Squares Estimation
David M. Rosen, Michael Kaess and John J. Leonard

IEEE Intl. Conf. on Robotics and Automation, ICRA May, 2012

iSAM2: Incremental Smoothing and Mapping Using the Bayes Tree
Michael Kaess, Hordur Johannsson, Richard Roberts, Viorela Ila, John Leonard and Frank Dellaert

Intl. J. of Robotics Research, IJRR February, 2012

6-DOF Multi-session Visual SLAM using Anchor Nodes
John McDonald, Michael Kaess, Cesar Cadena, Jos Neira and John J. Leonard

European Conference on Mobile Robots, ECMR September, 2011

Efficient AUV Navigation Fusing Acoustic Ranging and Side-scan Sonar
Maurice F. Fallon, Michael Kaess, Hordur Johannsson and John J. Leonard

IEEE Intl. Conf. on Robotics and Automation, ICRA. Best automation paper finalist (one of five). May, 2011

iSAM2: Incremental Smoothing and Mapping with Fluid Relinearization and Incremental Variable Reordering
Michael Kaess, Hordur Johannsson, Richard Roberts, Viorela Ila, John Leonard and Frank Dellaert

IEEE Intl. Conf. on Robotics and Automation, ICRA May, 2011

The Bayes Tree: An Algorithmic Foundation for Probabilistic Robot Mapping
Michael Kaess, Viorela Ila, Richard Roberts and Frank Dellaert

Intl. Workshop on the Algorithmic Foundations of Robotics, WAFR December, 2010

Imaging Sonar-Aided Navigation for Autonomous Underwater Harbor Surveillance
Hordur Johannsson, Michael Kaess, Brendan Englot, Franz Hover and John Leonard

IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems, IROS October, 2010

Towards Autonomous Ship Hull Inspection using the Bluefin HAUV
Michael Kaess, Hordur Johannsson, Brendan Englot, Franz Hover and John Leonard

Ninth International Symposium on Technology and the Mine Problem May, 2010

Multiple Relative Pose Graphs for Robust Cooperative Mapping
Been Kim, Michael Kaess, Luke Fletcher, John Leonard, Abraham Bachrach, Nicholas Roy and Seth Teller

IEEE Intl. Conf. on Robotics and Automation, ICRA May, 2010

Probabilistic Structure Matching for Visual SLAM with a Multi-Camera Rig
Michael Kaess and Frank Dellaert

Computer Vision and Image Understanding, CVIU February, 2010

The Bayes Tree: Enabling Incremental Reordering and Fluid Relinearization for Online Mapping
Michael Kaess, Viorela Ila, Richard Roberts and Frank Dellaert

Computer Science and Artificial Intelligence Laboratory - Technical Report MIT-CSAIL-TR-2010-021 January, 2010

Covariance Recovery from a Square Root Information Matrix for Data Association
Michael Kaess and Frank Dellaert

Journal of Robotics and Autonomous Systems, RAS December, 2009

Flow Separation for Fast and Robust Stereo Odometry
Michael Kaess, Kai Ni and Frank Dellaert

IEEE Intl. Conf. on Robotics and Automation, ICRA May, 2009

iSAM: Incremental Smoothing and Mapping
Michael Kaess, Ananth Ranganathan and Frank Dellaert

IEEE Trans. on Robotics, TRO December, 2008

Place Recognition-based Fixed-Lag Smoothing for Environments with Unreliable GPS
Roozbeh Mottaghi, Michael Kaess, Ananth Ranganathan, Richard Roberts and Frank Dellaert

IEEE Intl. Conf. on Robotics and Automation, ICRA May, 2008

Fast 3D Pose Estimation With Out-of-Sequence Measurements
Ananth Ranganathan, Michael Kaess and Frank Dellaert

IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems, IROS October, 2007

iSAM: Fast Incremental Smoothing and Mapping with Efficient Data Association
Michael Kaess, Ananth Ranganathan and Frank Dellaert

IEEE Intl. Conf. on Robotics and Automation, ICRA April, 2007

Loopy SAM
Ananth Ranganathan, Michael Kaess and Frank Dellaert

Intl. Joint Conf. on Artificial Intelligence, IJCAI, Oral presentation acceptance ratio 15.7% (212 of 1353) January, 2007

Fast Incremental Square Root Information Smoothing∗
Michael Kaess, Ananth Ranganathan and Frank Dellaert

Intl. Joint Conf. on Artificial Intelligence, IJCAI, Oral presentation acceptance ratio 15.7% (212 of 1353) January, 2007

Square Root SAM: Simultaneous Localization and Mapping via Square Root Information Smoothing
Frank Dellaert and Michael Kaess

Intl. J. of Robotics Research, IJRR December, 2006

Visual SLAM with a Multi-Camera Rig
Michael Kaess and Frank Dellaert

College of Computing, Georgia Institute of Technology - Technical Report GIT-GVU-06-06 February, 2006

A Markov Chain Monte Carlo Approach to Closing the Loop in SLAM
Michael Kaess and Frank Dellaert

IEEE Intl. Conf. on Robotics and Automation, ICRA April, 2005

MCMC-based Multiview Reconstruction of Piecewise Smooth Subdivision Curves with a Variable Number of Control Points
Michael Kaess, Rafal Zboinski and Frank Dellaert

Eur. Conf. on Computer Vision, ECCV, Acceptance ratio 34.2% (190 of 555) May, 2004

Reconstruction of Objects with Jagged Edges through Rao-Blackwellized Fitting of Piecewise Smooth Subdivision Curves
Michael Kaess and Frank Dellaert

Proceedings of the IEEE 1st International Workshop on Higher-Level Knowledge in 3D Modeling and Motion Analysis October, 2003

Compact Encoding of Robot-Generated 3D Maps for Efficient Wireless Transmission
Michael Kaess, Ronald C. Arkin and Jarek Rossignac

IEEE Intl. Conf. on Advanced Robotics, ICAR June, 2003

Learning Behavioral Parameterization Using Spatio-Temporal Case-Based Reasoning*
Maxim Likhachev , Michael Kaess and Ronald C. Arkin

IEEE Intl. Conf. on Robotics and Automation, ICRA May, 2002

Mailing Address:

Carnegie Mellon University
Robotics Institute
5000 Forbes Avenue
Pittsburgh, PA 15213

2017-05-10T11:25:43+00:00