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ORCIDKevin J. Doherty 0001
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- affiliation: Massachusetts Institute of Technology (MIT), Cambridge, MA, USA
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Journal Articles
- 2022
[j4]Kevin J. Doherty
, Ziqi Lu, Kurran Singh, John J. Leonard:
Discrete-Continuous Smoothing and Mapping. IEEE Robotics Autom. Lett. 7(4): 12395-12402 (2022)- [j3]Erik Pearson, Kevin J. Doherty, Brendan J. Englot:
Improving obstacle boundary representations in predictive occupancy mapping. Robotics Auton. Syst. 153: 104077 (2022) - 2021
- [j2]David M. Rosen, Kevin J. Doherty, Antonio Terán Espinoza, John J. Leonard:
Advances in Inference and Representation for Simultaneous Localization and Mapping. Annu. Rev. Control. Robotics Auton. Syst. 4: 215-242 (2021) - 2019
- [j1]Kevin J. Doherty, Tixiao Shan, Jinkun Wang, Brendan J. Englot:
Learning-Aided 3-D Occupancy Mapping With Bayesian Generalized Kernel Inference. IEEE Trans. Robotics 35(4): 953-966 (2019)
Conference and Workshop Papers
- 2023
- [c14]Alan Papalia, Joseph Morales, Kevin J. Doherty, David M. Rosen, John J. Leonard:
SCORE: A Second-Order Conic Initialization for Range-Aided SLAM. ICRA 2023: 10637-10644 - 2022
- [c13]Kevin J. Doherty, David M. Rosen, John J. Leonard:
Performance Guarantees for Spectral Initialization in Rotation Averaging and Pose-Graph SLAM. ICRA 2022: 5608-5614 - [c12]Kevin J. Doherty, David M. Rosen, John J. Leonard:
Spectral Measurement Sparsification for Pose-Graph SLAM. IROS 2022: 1-8 - [c11]Ziqi Lu, Yihao Zhang, Kevin J. Doherty, Odin Severinsen, Ethan Yang, John J. Leonard:
SLAM-Supported Self-Training for 6D Object Pose Estimation. IROS 2022: 2833-2840 - 2021
- [c10]Ziqi Lu, Qiangqiang Huang, Kevin J. Doherty, John J. Leonard:
Consensus-Informed Optimization Over Mixtures for Ambiguity-Aware Object SLAM. IROS 2021: 5432-5439 - [c9]Jiahui Fu, Qiangqiang Huang, Kevin J. Doherty, Yue Wang, John J. Leonard:
A Multi-Hypothesis Approach to Pose Ambiguity in Object-Based SLAM. IROS 2021: 7639-7646 - 2020
- [c8]Kevin J. Doherty, David P. Baxter, Edward Schneeweiss, John J. Leonard:
Probabilistic Data Association via Mixture Models for Robust Semantic SLAM. ICRA 2020: 1098-1104 - [c7]John D. Martin, Kevin J. Doherty, Caralyn Cyr, Brendan J. Englot, John J. Leonard:
Variational Filtering with Copula Models for SLAM. IROS 2020: 5066-5073 - 2019
- [c6]Kevin J. Doherty, Dehann Fourie, John J. Leonard:
Multimodal Semantic SLAM with Probabilistic Data Association. ICRA 2019: 2419-2425 - 2018
- [c5]Tixiao Shan, Jinkun Wang, Brendan J. Englot, Kevin J. Doherty:
Bayesian Generalized Kernel Inference for Terrain Traversability Mapping. CoRL 2018: 829-838 - [c4]Kevin J. Doherty, Genevieve Flaspohler, Nicholas Roy, Yogesh A. Girdhar:
Approximate Distributed Spatiotemporal Topic Models for Multi-Robot Terrain Characterization. IROS 2018: 3730-3737 - 2017
- [c3]Kevin J. Doherty, Jinkun Wang, Brendan J. Englot:
Bayesian generalized kernel inference for occupancy map prediction. ICRA 2017: 3118-3124 - 2016
- [c2]Kevin J. Doherty, Jinkun Wang, Brendan J. Englot:
Probabilistic map fusion for fast, incremental occupancy mapping with 3D Hilbert maps. ICRA 2016: 1011-1018 - 2015
- [c1]Shi Bai, Jinkun Wang, Kevin J. Doherty, Brendan J. Englot:
Inference-Enabled Information-Theoretic Exploration of Continuous Action Spaces. ISRR (2) 2015: 419-433
Informal and Other Publications
- 2024
- [i11]Kevin J. Doherty, Alan Papalia, Yewei Huang, David M. Rosen, Brendan J. Englot, John J. Leonard:
MAC: Maximizing Algebraic Connectivity for Graph Sparsification. CoRR abs/2403.19879 (2024) - 2022
- [i10]Kevin J. Doherty, David M. Rosen, John J. Leonard:
Performance Guarantees for Spectral Initialization in Rotation Averaging and Pose-Graph SLAM. CoRR abs/2201.03773 (2022) - [i9]Ziqi Lu, Yihao Zhang, Kevin J. Doherty, Odin Severinsen, Ethan Yang, John J. Leonard:
SLAM-Supported Self-Training for 6D Object Pose Estimation. CoRR abs/2203.04424 (2022) - [i8]Kevin J. Doherty, David M. Rosen, John J. Leonard:
Spectral Measurement Sparsification for Pose-Graph SLAM. CoRR abs/2203.13897 (2022) - [i7]Kevin J. Doherty, Ziqi Lu, Kurran Singh, John J. Leonard:
Discrete-Continuous Smoothing and Mapping. CoRR abs/2204.11936 (2022) - [i6]Alan Papalia, Joseph Morales, Kevin J. Doherty, David M. Rosen, John J. Leonard:
SCORE: A Second-Order Conic Initialization for Range-Aided SLAM. CoRR abs/2210.03177 (2022) - 2021
- [i5]David M. Rosen, Kevin J. Doherty, Antonio Terán Espinoza, John J. Leonard:
Advances in Inference and Representation for Simultaneous Localization and Mapping. CoRR abs/2103.05041 (2021) - [i4]Ziqi Lu, Qiangqiang Huang, Kevin J. Doherty, John J. Leonard:
Consensus-Informed Optimization Over Mixtures for Ambiguity-Aware Object SLAM. CoRR abs/2107.09265 (2021) - [i3]Jiahui Fu, Qiangqiang Huang, Kevin J. Doherty, Yue Wang, John J. Leonard:
A Multi-Hypothesis Approach to Pose Ambiguity in Object-Based SLAM. CoRR abs/2108.01225 (2021) - 2020
- [i2]John D. Martin, Kevin J. Doherty, Caralyn Cyr, Brendan J. Englot, John J. Leonard:
Variational Filtering with Copula Models for SLAM. CoRR abs/2008.00504 (2020) - 2019
- [i1]Kevin J. Doherty, David P. Baxter, Edward Schneeweiss, John J. Leonard:
Probabilistic Data Association via Mixture Models for Robust Semantic SLAM. CoRR abs/1909.11213 (2019)
Coauthor Index
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