Kasra Khosoussi

47 papers A* 6A 2C 2Journal 34Unranked 2
YearRankTypeTitle / Venue / Authors
2025 J jnl
Joint State and Noise Covariance Estimation.
CoRR
Kasra Khosoussi, Iman Shames
2025 J jnl
TALO: Pushing 3D Vision Foundation Models Towards Globally Consistent Online Reconstruction.
CoRR
Fengyi Zhang, Tianjun Zhang, Kasra Khosoussi, Zheng Zhang, Zi Huang, Yadan Luo
2024 J jnl
Heterogeneous Robot Teams with Unified Perception and Autonomy: How Team CSIRO Data61 Tied for the Top Score at the DARPA Subterranean Challenge.
Field Robotics
Navinda Kottege, Jason Williams, Brendan Tidd, Fletcher Talbot, Ryan Steindl, Mark Cox, Dennis Frousheger, Thomas Hines, Alex Pitt, Benjamin Tam, Brett Wood, Lauren Hanson, Katrina Lo Surdo, Thomas Molnar, Matt Wildie, Kazys Stepanas, Gavin Catt, Lachlan Tychsen-Smith, Dean Penfold, Leslie Overs, Milad Ramezani, Kasra Khosoussi, Farid Kendoul, Glenn Wagner, Duncan Palmer, Jack Manderson, Corey Medek, Matthew Joseph O'Brien, Shengkang Chen, Ronald Craig Arkin
2024 J jnl
Present and Future of SLAM in Extreme Environments: The DARPA SubT Challenge.
IEEE Trans. Robotics
Kamak Ebadi, Lukas Bernreiter, Harel Biggie, Gavin Catt, Yun Chang, Arghya Chatterjee, Christopher E. Denniston, Simon-Pierre Deschênes, Kyle Harlow, Shehryar Khattak, Lucas Nogueira, Matteo Palieri, Pavel Petrácek, Matej Petrlík, Andrzej Reinke, Vít Krátký, Shibo Zhao, Ali-Akbar Agha-Mohammadi, Kostas Alexis, Christoffer Heckman, Kasra Khosoussi, Navinda Kottege, Benjamin Morrell, Marco Hutter, Fred Pauling, François Pomerleau, Martin Saska, Sebastian A. Scherer, Roland Siegwart, Jason L. Williams, Luca Carlone
2024 J jnl
Under-Canopy Navigation Using Aerial Lidar Maps.
IEEE Robotics Autom. Lett.
Lucas Carvalho de Lima, Nicholas R. J. Lawrance, Kasra Khosoussi, Paulo V. K. Borges, Michael Brünig
2024 J jnl
Under-Canopy Navigation using Aerial Lidar Maps.
CoRR
Lucas Carvalho de Lima, Nicholas R. J. Lawrance, Kasra Khosoussi, Paulo V. K. Borges, Michael Bruenig
2023 A* conf
Data-Association-Free Landmark-based SLAM.
ICRA
Yihao Zhang, Odin A. Severinsen, John J. Leonard, Luca Carlone, Kasra Khosoussi
2023 J jnl
Data-Association-Free Landmark-based SLAM.
CoRR
Yihao Zhang, Odin A. Severinsen, John J. Leonard, Luca Carlone, Kasra Khosoussi
2023 J jnl
Energy-Aware, Collision-Free Information Gathering for Heterogeneous Robot Teams.
IEEE Trans. Robotics
Xiaoyi Cai, Brent Schlotfeldt, Kasra Khosoussi, Nikolay Atanasov, George J. Pappas, Jonathan P. How
2023 J jnl
Heterogeneous robot teams with unified perception and autonomy: How Team CSIRO Data61 tied for the top score at the DARPA Subterranean Challenge.
CoRR
Navinda Kottege, Jason Williams, Brendan Tidd, Fletcher Talbot, Ryan Steindl, Mark Cox, Dennis Frousheger, Thomas Hines, Alex Pitt, Benjamin Tam, Brett Wood, Lauren Hanson, Katrina Lo Surdo, Thomas Molnar, Matt Wildie, Kazys Stepanas, Gavin Catt, Lachlan Tychsen-Smith, Dean Penfold, Leslie Overs, Milad Ramezani, Kasra Khosoussi, Farid Kendoul, Glenn Wagner, Duncan Palmer, Jack Manderson, Corey Medek, Matthew Joseph O'Brien, Shengkang Chen, Ronald C. Arkin
2023 J jnl
Incremental Non-Gaussian Inference for SLAM Using Normalizing Flows.
IEEE Trans. Robotics
Qiangqiang Huang, Can Pu, Kasra Khosoussi, David M. Rosen, Dehann Fourie, Jonathan P. How, John J. Leonard
2022 J jnl
Energy-Aware, Collision-Free Information Gathering for Heterogeneous Robot Teams.
CoRR
Xiaoyi Cai, Brent Schlotfeldt, Kasra Khosoussi, Nikolay Atanasov, George J. Pappas, Jonathan P. How
2022 J jnl
Present and Future of SLAM in Extreme Underground Environments.
CoRR
Kamak Ebadi, Lukas Bernreiter, Harel Biggie, Gavin Catt, Yun Chang, Arghya Chatterjee, Christopher E. Denniston, Simon-Pierre Deschênes, Kyle Harlow, Shehryar Khattak, Lucas Nogueira, Matteo Palieri, Pavel Petrácek, Matej Petrlík, Andrzej Reinke, Vít Krátký, Shibo Zhao, Ali-Akbar Agha-Mohammadi, Kostas Alexis, Christoffer Heckman, Kasra Khosoussi, Navinda Kottege, Benjamin Morrell, Marco Hutter, Fred Pauling, François Pomerleau, Martin Saska, Sebastian A. Scherer, Roland Siegwart, Jason L. Williams, Luca Carlone
2022 J jnl
Visual Navigation for Autonomous Vehicles: An Open-source Hands-on Robotics Course at MIT.
CoRR
Luca Carlone, Kasra Khosoussi, Vasileios Tzoumas, Golnaz Habibi, Markus Ryll, Rajat Talak, Jingnan Shi, Pasquale Antonante
2022 J jnl
Wildcat: Online Continuous-Time 3D Lidar-Inertial SLAM.
CoRR
Milad Ramezani, Kasra Khosoussi, Gavin Catt, Peyman Moghadam, Jason Williams, Paulo Vinicius Koerich Borges, Fred Pauling, Navinda Kottege
2021 J jnl
A resource-aware approach to collaborative loop-closure detection with provable performance guarantees.
Int. J. Robotics Res.
Yulun Tian, Kasra Khosoussi, Jonathan P. How
2021 J jnl
Distributed Certifiably Correct Pose-Graph Optimization.
IEEE Trans. Robotics
Yulun Tian, Kasra Khosoussi, David M. Rosen, Jonathan P. How
2021 A* conf
Multi-Robot Distributed Semantic Mapping in Unfamiliar Environments through Online Matching of Learned Representations.
ICRA
Stewart Jamieson, Kaveh Fathian, Kasra Khosoussi, Jonathan P. How, Yogesh A. Girdhar
2021 J jnl
Multi-Robot Distributed Semantic Mapping in Unfamiliar Environments through Online Matching of Learned Representations.
CoRR
Stewart Jamieson, Kaveh Fathian, Kasra Khosoussi, Jonathan P. How, Yogesh A. Girdhar
2021 A* conf
NF-iSAM: Incremental Smoothing and Mapping via Normalizing Flows.
ICRA
Qiangqiang Huang, Can Pu, Dehann Fourie, Kasra Khosoussi, Jonathan P. How, John J. Leonard
2021 J jnl
NF-iSAM: Incremental Smoothing and Mapping via Normalizing Flows.
CoRR
Qiangqiang Huang, Can Pu, Dehann Fourie, Kasra Khosoussi, Jonathan P. How, John J. Leonard
2021 A* conf
Non-Monotone Energy-Aware Information Gathering for Heterogeneous Robot Teams.
ICRA
Xiaoyi Cai, Brent Schlotfeldt, Kasra Khosoussi, Nikolay Atanasov, George J. Pappas, Jonathan P. How
2021 J jnl
Non-Monotone Energy-Aware Information Gathering for Heterogeneous Robot Teams.
CoRR
Xiaoyi Cai, Brent Schlotfeldt, Kasra Khosoussi, Nikolay Atanasov, George J. Pappas, Jonathan P. How
2021 J jnl
Online Incremental Non-Gaussian Inference for SLAM Using Normalizing Flows.
CoRR
Qiangqiang Huang, Can Pu, Kasra Khosoussi, David M. Rosen, Dehann Fourie, Jonathan P. How, John J. Leonard
2020 J jnl
CLEAR: A Consistent Lifting, Embedding, and Alignment Rectification Algorithm for Multiview Data Association.
IEEE Trans. Robotics
Kaveh Fathian, Kasra Khosoussi, Yulun Tian, Parker C. Lusk, Jonathan P. How
2019 J jnl
A Resource-Aware Approach to Collaborative Loop Closure Detection with Provable Performance Guarantees.
CoRR
Yulun Tian, Kasra Khosoussi, Jonathan P. How
2019 J jnl
Block-Coordinate Descent on the Riemannian Staircase for Certifiably Correct Distributed Rotation and Pose Synchronization.
CoRR
Yulun Tian, Kasra Khosoussi, Jonathan P. How
2019 J jnl
Block-Coordinate Minimization for Large SDPs with Block-Diagonal Constraints.
CoRR
Yulun Tian, Kasra Khosoussi, Jonathan P. How
2019 J jnl
CLEAR: A Consistent Lifting, Embedding, and Alignment Rectification Algorithm for Multi-Agent Data Association.
CoRR
Kaveh Fathian, Kasra Khosoussi, Parker C. Lusk, Yulun Tian, Jonathan P. How
2019 J jnl
Reliable Graphs for SLAM.
Int. J. Robotics Res.
Kasra Khosoussi, Matthew Giamou, Gaurav S. Sukhatme, Shoudong Huang, Gamini Dissanayake, Jonathan P. How
2019 J jnl
Resource-Aware Algorithms for Distributed Loop Closure Detection with Provable Performance Guarantees.
CoRR
Yulun Tian, Kasra Khosoussi, Jonathan P. How
2018 — conf
Near-Optimal Budgeted Data Exchange for Distributed Loop Closure Detection.
Robotics: Science and Systems
Yulun Tian, Kasra Khosoussi, Matthew Giamou, Jonathan P. How, Jonathan Kelly
2018 J jnl
Near-Optimal Budgeted Data Exchange for Distributed Loop Closure Detection.
CoRR
Yulun Tian, Kasra Khosoussi, Matthew Giamou, Jonathan P. How, Jonathan Kelly
2018 C conf
Resource-Aware Algorithms for Distributed Loop Closure Detection with Provable Performance Guarantees.
WAFR
Yulun Tian, Kasra Khosoussi, Jonathan P. How
2018 A* conf
Talk Resource-Efficiently to Me: Optimal Communication Planning for Distributed Loop Closure Detection.
ICRA
Matthew Giamou, Kasra Khosoussi, Jonathan P. How
2017 — —
Exploiting the intrinsic structures of simultaneous localization and mapping
Kasra Khosoussi
2017 J jnl
On the Expected Value of the Determinant of Random Sum of Rank-One Matrices.
CoRR
Kasra Khosoussi
2017 J jnl
Talk Resource-Efficiently to Me: Optimal Communication Planning for Distributed SLAM Front-Ends.
CoRR
Matthew Giamou, Kasra Khosoussi, Jonathan P. How
2016 J jnl
A Sparse Separable SLAM Back-End.
IEEE Trans. Robotics
Kasra Khosoussi, Shoudong Huang, Gamini Dissanayake
2016 C conf
Designing Sparse Reliable Pose-Graph SLAM: A Graph-Theoretic Approach.
WAFR
Kasra Khosoussi, Gaurav S. Sukhatme, Shoudong Huang, Gamini Dissanayake
2016 J jnl
Designing Sparse Reliable Pose-Graph SLAM: A Graph-Theoretic Approach.
CoRR
Kasra Khosoussi, Gaurav S. Sukhatme, Shoudong Huang, Gamini Dissanayake
2016 J jnl
Maximizing the Weighted Number of Spanning Trees: Near-$t$-Optimal Graphs.
CoRR
Kasra Khosoussi, Gaurav S. Sukhatme, Shoudong Huang, Gamini Dissanayake
2016 A* conf
Tree-connectivity: Evaluating the graphical structure of SLAM.
ICRA
Kasra Khosoussi, Shoudong Huang, Gamini Dissanayake
2015 J jnl
Dimensionality reduction for point feature SLAM problems with spherical covariance matrices.
Autom.
Heng Wang, Shoudong Huang, Kasra Khosoussi, Udo Frese, Gamini Dissanayake, Bingbing Liu
2015 — conf
Exploiting the Separable Structure of SLAM.
Robotics: Science and Systems
Kasra Khosoussi, Shoudong Huang, Gamini Dissanayake
2014 A conf
Novel insights into the impact of graph structure on SLAM.
IROS
Kasra Khosoussi, Shoudong Huang, Gamini Dissanayake
2013 A conf
Towards a reliable SLAM back-end.
IROS
Gibson Hu, Kasra Khosoussi, Shoudong Huang