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A Samplable Multimodal Observation Model for Global Localization and Kidnapping

Sep 01, 2020
Runjian Chen, Yue Wang, Huan Yin, Yanmei Jiao, Gamini Dissanayake, Rong Xiong


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Dynamic Reconstruction of Deformable Soft-tissue with Stereo Scope in Minimal Invasive Surgery

Mar 22, 2020
Jingwei Song, Jun Wang, Liang Zhao, Shoudong Huang, Gamini Dissanayake

* Published in IROS2017 ()2017 IEEE/RSJ International Conference on Intelligent Robots and Systems. arXiv admin note: text overlap with arXiv:1803.02009 

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An observable time series based SLAM algorithm for deforming environment

Jun 20, 2019
Jingwei Song, Liang Zhao, Shoudong Huang, Gamini Dissanayake

* It's only a draft paper 

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Linear SLAM: Linearising the SLAM Problems using Submap Joining

Sep 18, 2018
Liang Zhao, Shoudong Huang, Gamini Dissanayake


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A Radio-Inertial Localization and Tracking System with BLE Beacons Prior Maps

Jul 26, 2018
Maani Ghaffari Jadidi, Mitesh Patel, Jaime Valls Miro, Gamini Dissanayake, Jacob Biehl, Andreas Girgensohn

* Accepted for IPIN 2018 

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Parallax Bundle Adjustment on Manifold with Convexified Initialization

Jul 10, 2018
Liyang Liu, Teng Zhang, Yi Liu, Brenton Leighton, Liang Zhao, Shoudong Huang, Gamini Dissanayake


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MIS-SLAM: Real-time Large Scale Dense Deformable SLAM System in Minimal Invasive Surgery Based on Heterogeneous Computing

Mar 27, 2018
Jingwei Song, Jun Wang, Liang Zhao, Shoudong Huang, Gamini Dissanayake

* Submitted to conference 

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Gaussian Process Autonomous Mapping and Exploration for Range Sensing Mobile Robots

Oct 18, 2017
Maani Ghaffari Jadidi, Jaime Valls Miro, Gamini Dissanayake

* Accepted for Autonomous Robots, 33 pages 

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Sampling-based Incremental Information Gathering with Applications to Robotic Exploration and Environmental Monitoring

Sep 23, 2017
Maani Ghaffari Jadidi, Jaime Valls Miro, Gamini Dissanayake

* Revision submitted to IJRR, 49 pages 

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An Invariant-EKF VINS Algorithm for Improving Consistency

Mar 01, 2017
Teng Zhang, Kanzhi Wu, Daobilige Su, Shoudong Huang, Gamini Dissanayake

* submitted to The 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2017) 

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Convergence and Consistency Analysis for A 3D Invariant-EKF SLAM

Feb 22, 2017
Teng Zhang, Kanzhi Wu, Jingwei Song, Shoudong Huang, Gamini Dissanayake

* IEEE Robotics and Automation Letters (Volume: 2, Issue: 2, April 2017) 

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Warped Gaussian Processes Occupancy Mapping with Uncertain Inputs

Jan 04, 2017
Maani Ghaffari Jadidi, Jaime Valls Miro, Gamini Dissanayake

* Accepted for IEEE Robotics and Automation Letters (RA-L) 

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Designing Sparse Reliable Pose-Graph SLAM: A Graph-Theoretic Approach

Nov 03, 2016
Kasra Khosoussi, Gaurav S. Sukhatme, Shoudong Huang, Gamini Dissanayake

* WAFR 2016 

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RISAS: A Novel Rotation, Illumination, Scale Invariant Appearance and Shape Feature

Sep 19, 2016
Kanzhi Wu, Xiaoyang Li, Ravindra Ranasinghe, Gamini Dissanayake, Yong Liu


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Fast, On-board, Model-aided Visual-Inertial Odometry System for Quadrotor Micro Aerial Vehicles

Jul 06, 2016
Dinuka Abeywardena, Shoudong Huang, Ben Barnes, Gamini Dissanayake, Sarath Kodagoda

* Published in 2016 IEEE International Conference on Robotics and Automation (ICRA) 
* 8 pages 

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Improved State Estimation in Quadrotor MAVs: A Novel Drift-Free Velocity Estimator

Sep 11, 2015
Dinuka Abeywardena, Sarath Kodagoda, Gamini Dissanayake, Rohan Munasinghe

* IEEE Robotics & Automation Magazine, (Volume:20 , Issue: 4 ) 2013 
* Published in IEEE Robotics & Automation Magazine, (Volume:20 , Issue: 4 ) 

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