Timothy D. Barfoot

274 papers A* 41A 21C 1Journal 175Unranked 35

Year	Rank	Type	Title / Venue / Authors
2026	J	`jnl`	Boreas Road Trip: A Multi-Sensor Autonomous Driving Dataset on Challenging Roads. CoRR Daniil Lisus, Katya M. Papais, Cedric Le Gentil, Elliot Preston-Krebs, Andrew Lambert, Keith Yu Kit Leung, Timothy D. Barfoot
2026	J	`jnl`	Continuum Robot Localization using Distributed Time-of-Flight Sensors. CoRR Spencer Teetaert, Giammarco Caroleo, Marco Pontin, Sven Lilge, Jessica Burgner-Kahrs, Timothy D. Barfoot, Perla Maiolino
2026	J	`jnl`	Degeneracy-Resilient Teach and Repeat for Geometrically Challenging Environments Using FMCW Lidar. CoRR Katya M. Papais, Wenda Zhao, Timothy D. Barfoot
2026	J	`jnl`	FoMo: A Multi-Season Dataset for Robot Navigation in Forêt Montmorency. CoRR Matej Boxan, Gabriel Jeanson, Alexander Krawciw, Effie Daum, Xinyuan Qiao, Sven Lilge, Timothy D. Barfoot, François Pomerleau
2026	J	`jnl`	KILO-EKF: Koopman-Inspired Learned Observations Extended Kalman Filter. CoRR Zi Cong Guo, James Richard Forbes, Timothy D. Barfoot
2026	J	`jnl`	Lunar Rover Cargo Transport: Mission Concept and Field Test. CoRR Alexander Krawciw, Nicolas Olmedo, Faizan Rehmatullah, Maxime Desjardins-Goulet, Pascal Toupin, Timothy D. Barfoot
2026	J	`jnl`	Revisiting Continuous-Time Trajectory Estimation via Gaussian Processes and the Magnus Expansion. CoRR Timothy D. Barfoot, Cedric Le Gentil, Sven Lilge
2025	J	`jnl`	A Sliding-Window Filter for Online Continuous-Time Continuum Robot State Estimation. CoRR Spencer Teetaert, Sven Lilge, Jessica Burgner-Kahrs, Timothy D. Barfoot
2025	J	`jnl`	A Stochastic Framework for Continuous-Time State Estimation of Continuum Robots. CoRR Spencer Teetaert, Sven Lilge, Jessica Burgner-Kahrs, Timothy D. Barfoot
2025	J	`jnl`	Are Doppler Velocity Measurements Useful for Spinning Radar Odometry? IEEE Robotics Autom. Lett. Daniil Lisus, Keenan Burnett, David J. Yoon, Richard Poulton, John Marshall, Timothy D. Barfoot
2025	J	`jnl`	Balancing Act: Trading Off Doppler Odometry and Map Registration for Efficient Lidar Localization. CoRR Katya M. Papais, Daniil Lisus, David J. Yoon, Andrew Lambert, Keith Yu Kit Leung, Timothy D. Barfoot
2025	J	`jnl`	Certifiably optimal rotation and pose estimation based on the Cayley map. Int. J. Robotics Res. Timothy D. Barfoot, Connor Holmes, Frederike Dümbgen
2025	J	`jnl`	Continuous-Time Radar-Inertial and Lidar-Inertial Odometry Using a Gaussian Process Motion Prior. IEEE Trans. Robotics Keenan Burnett, Angela P. Schoellig, Timothy D. Barfoot
2025	J	`jnl`	Continuous-Time State Estimation Methods in Robotics: A Survey. IEEE Trans. Robotics William Talbot, Julian Nubert, Turcan Tuna, Cesar Cadena, Frederike Dümbgen, Jesus Tordesillas, Timothy D. Barfoot, Marco Hutter
2025	J	`jnl`	DR-MPC: Deep Residual Model Predictive Control for Real-World Social Navigation. IEEE Robotics Autom. Lett. James R. Han, Hugues Thomas, Jian Zhang, Nicholas Rhinehart, Timothy D. Barfoot
2025	J	`jnl`	DRO: Doppler-Aware Direct Radar Odometry. CoRR Cedric Le Gentil, Leonardo Brizi, Daniil Lisus, Xinyuan Qiao, Giorgio Grisetti, Timothy D. Barfoot
2025	J	`jnl`	Do We Still Need to Work on Odometry for Autonomous Driving? CoRR Cedric Le Gentil, Daniil Lisus, Timothy D. Barfoot
2025	J	`jnl`	IMU as an input versus a measurement of the state in inertial-aided state estimation. Robotica Keenan Burnett, Angela P. Schoellig, Timothy D. Barfoot
2025	J	`jnl`	Incorporating control inputs in continuous-time Gaussian process state estimation for robotics. Robotica Sven Lilge, Timothy D. Barfoot
2025	J	`jnl`	Integral Forms in Matrix Lie Groups. CoRR Timothy D. Barfoot
2025	A*	`conf`	Marginalizing and Conditioning Gaussians onto Linear Approximations of Smooth Manifolds with Applications in Robotics. ICRA Zi Cong Guo, James Richard Forbes, Timothy D. Barfoot
2025	A*	`conf`	Prepared for the Worst: Resilience Analysis of the ICP Algorithm via Learning-Based Worst-Case Adversarial Attacks. ICRA Ziyu Zhang, Johann Laconte, Daniil Lisus, Timothy D. Barfoot
2025	J	`jnl`	RaSCL: Radar to Satellite Crossview Localization. CoRR Blerim Abdullai, Tony Wang, Xinyuan Qiao, Florian Shkurti, Timothy D. Barfoot
2025	A*	`conf`	Radar Teach and Repeat: Architecture and Initial Field Testing. ICRA Xinyuan Qiao, Alexander Krawciw, Sven Lilge, Timothy D. Barfoot
2025	J	`jnl`	Ratatouille: Imitation Learning Ingredients for Real-world Social Robot Navigation. CoRR James R. Han, Mithun Vanniasinghe, Hshmat Sahak, Nicholas Rhinehart, Timothy D. Barfoot
2025	J	`jnl`	SDPRLayers: Certifiable Backpropagation Through Polynomial Optimization Problems in Robotics. IEEE Trans. Robotics Connor Holmes, Frederike Dümbgen, Timothy D. Barfoot
2025	J	`jnl`	Sharing the Load: Distributed Model-Predictive Control for Precise Multi-Rover Cargo Transport. CoRR Alexander Krawciw, Sven Lilge, Luka Antonyshyn, Timothy D. Barfoot
2025	J	`jnl`	State Estimation for Continuum Multirobot Systems on SE(3). IEEE Trans. Robotics Sven Lilge, Timothy D. Barfoot, Jessica Burgner-Kahrs
2025	A	`conf`	Tiny LiDARs for Manipulator Self-Awareness: Sensor Characterization and Initial Localization Experiments. IROS Giammarco Caroleo, Alessandro Albini, Daniele De Martini, Timothy D. Barfoot, Perla Maiolino
2025	J	`jnl`	Tiny Lidars for Manipulator Self-Awareness: Sensor Characterization and Initial Localization Experiments. CoRR Giammarco Caroleo, Alessandro Albini, Daniele De Martini, Timothy D. Barfoot, Perla Maiolino
2025	J	`jnl`	Toward Teach and Repeat Across Seasonal Deep Snow Accumulation. CoRR Matej Boxan, Alexander Krawciw, Timothy D. Barfoot, François Pomerleau
2025	J	`jnl`	Towards Efficient Occupancy Mapping via Gaussian Process Latent Field Shaping. CoRR Cedric Le Gentil, Cédric Pradalier, Timothy D. Barfoot
2025	J	`jnl`	Towards Fast Correspondence-Free Odometry Using Multiple FMCW Lidars. IEEE Robotics Autom. Lett. David J. Yoon, Yi Chen, Heethesh Vhavle, James Reuther, Timothy D. Barfoot
2025	A*	`conf`	Tunable Virtual IMU Frame by Weighted Averaging of Multiple Non-Collocated IMUs. ICRA Yizhou Gao, Timothy D. Barfoot
2025	A	`conf`	UAV See, UGV Do: Aerial Imagery and Virtual Teach Enabling Zero-Shot Ground Vehicle Repeat. IROS Desiree Fisker, Alexander Krawciw, Sven Lilge, Melissa Greeff, Timothy D. Barfoot
2025	J	`jnl`	UAV See, UGV Do: Aerial Imagery and Virtual Teach Enabling Zero-Shot Ground Vehicle Repeat. CoRR Desiree Fisker, Alexander Krawciw, Sven Lilge, Melissa Greeff, Timothy D. Barfoot
2025	J	`jnl`	aUToPath: Unified Planning and Control for Autonomous Vehicles in Urban Environments Using Hybrid Lattice and Free-Space Search. CoRR Tanmay P. Patel, Connor Wilson, Ellina R. Zhang, Morgan Tran, Chang Keun Paik, Steven L. Waslander, Timothy D. Barfoot
2024	J	`jnl`	A New Wave in Robotics: Survey on Recent MmWave Radar Applications in Robotics. IEEE Trans. Robotics Kyle Harlow, Hyesu Jang, Timothy D. Barfoot, Ayoung Kim, Christoffer Heckman
2024	J	`jnl`	Are Doppler Velocity Measurements Useful for Spinning Radar Odometry? CoRR Daniil Lisus, Keenan Burnett, David J. Yoon, Timothy D. Barfoot
2024	J	`jnl`	Continuous-Time Radar-Inertial and Lidar-Inertial Odometry using a Gaussian Process Motion Prior. CoRR Keenan Burnett, Angela P. Schoellig, Timothy D. Barfoot
2024	J	`jnl`	Continuous-Time State Estimation Methods in Robotics: A Survey. CoRR William Talbot, Julian Nubert, Turcan Tuna, César Cadena, Frederike Dümbgen, Jesus Tordesillas, Timothy D. Barfoot, Marco Hutter
2024	J	`jnl`	Continuous-time Trajectory Estimation: A Comparative Study Between Gaussian Process and Spline-based Approaches. CoRR Jacob C. Johnson, Joshua G. Mangelson, Timothy D. Barfoot, Randal W. Beard
2024	J	`jnl`	DR-MPC: Deep Residual Model Predictive Control for Real-world Social Navigation. CoRR James R. Han, Hugues Thomas, Jian Zhang, Nicholas Rhinehart, Timothy D. Barfoot
2024	J	`jnl`	Data-Driven Batch Localization and SLAM Using Koopman Linearization. IEEE Trans. Robotics Zi Cong Guo, Frederike Dümbgen, James Richard Forbes, Timothy D. Barfoot
2024	J	`jnl`	Exploiting Chordal Sparsity for Fast Global Optimality with Application to Localization. CoRR Frederike Dümbgen, Connor Holmes, Timothy D. Barfoot
2024	J	`jnl`	FoMo: A Proposal for a Multi-Season Dataset for Robot Navigation in For\^et Montmorency. CoRR Matej Boxan, Alexander Krawciw, Effie Daum, Xinyuan Qiao, Sven Lilge, Timothy D. Barfoot, François Pomerleau
2024	J	`jnl`	GNSS/Multisensor Fusion Using Continuous-Time Factor Graph Optimization for Robust Localization. IEEE Trans. Robotics Haoming Zhang, Chih-Chun Chen, Heike Vallery, Timothy D. Barfoot
2024	J	`jnl`	IMU as an Input vs. a Measurement of the State in Inertial-Aided State Estimation. CoRR Keenan Burnett, Angela P. Schoellig, Timothy D. Barfoot
2024	J	`jnl`	Incorporating Control Inputs in the Estimation of Continuous Mobile Robot Trajectories and Continuum Robot Shapes. CoRR Sven Lilge, Timothy D. Barfoot
2024	A*	`conf`	KPConvX: Modernizing Kernel Point Convolution with Kernel Attention. CVPR Hugues Thomas, Yao-Hung Hubert Tsai, Timothy D. Barfoot, Jian Zhang
2024	J	`jnl`	KPConvX: Modernizing Kernel Point Convolution with Kernel Attention. CoRR Hugues Thomas, Yao-Hung Hubert Tsai, Timothy D. Barfoot, Jian Zhang
2024	J	`jnl`	LaserSAM: Zero-Shot Change Detection Using Visual Segmentation of Spinning LiDAR. CoRR Alexander Krawciw, Sven Lilge, Timothy D. Barfoot
2024	J	`jnl`	MakeWay: Object-Aware Costmaps for Proactive Indoor Navigation Using LiDAR. CoRR Binbin Xu, Allen Tao, Hugues Thomas, Jian Zhang, Timothy D. Barfoot
2024	J	`jnl`	Marginalizing and Conditioning Gaussians onto Linear Approximations of Smooth Manifolds with Applications in Robotics. CoRR Zi Cong Guo, James Richard Forbes, Timothy D. Barfoot
2024	J	`jnl`	On Semidefinite Relaxations for Matrix-Weighted State-Estimation Problems in Robotics. IEEE Trans. Robotics Connor Holmes, Frederike Dümbgen, Timothy D. Barfoot
2024	J	`jnl`	Optimal Initialization Strategies for Range-Only Trajectory Estimation. IEEE Robotics Autom. Lett. Abhishek Goudar, Frederike Dümbgen, Timothy D. Barfoot, Angela P. Schoellig
2024	J	`jnl`	Prepared for the Worst: A Learning-Based Adversarial Attack for Resilience Analysis of the ICP Algorithm. CoRR Ziyu Zhang, Johann Laconte, Daniil Lisus, Timothy D. Barfoot
2024	J	`jnl`	Radar Teach and Repeat: Architecture and Initial Field Testing. CoRR Xinyuan Qiao, Alexander Krawciw, Sven Lilge, Timothy D. Barfoot
2024	J	`jnl`	SDPRLayers: Certifiable Backpropagation Through Polynomial Optimization Problems in Robotics. CoRR Connor Holmes, Frederike Dümbgen, Timothy D. Barfoot
2024	J	`jnl`	Space-Time Continuum: Continuous Shape and Time State Estimation for Flexible Robots. CoRR Spencer Teetaert, Sven Lilge, Jessica Burgner-Kahrs, Timothy D. Barfoot
2024	J	`jnl`	State Estimation for Continuum Multi-Robot Systems on SE(3). CoRR Sven Lilge, Timothy D. Barfoot, Jessica Burgner-Kahrs
2024	J	`jnl`	The Finer Points: A Systematic Comparison of Point-Cloud Extractors for Radar Odometry. CoRR Elliot Preston-Krebs, Daniil Lisus, Timothy D. Barfoot
2024	J	`jnl`	Toward Certifying Maps for Safe Registration-Based Localization Under Adverse Conditions. IEEE Robotics Autom. Lett. Johann Laconte, Daniil Lisus, Timothy D. Barfoot
2024	J	`jnl`	Toward Globally Optimal State Estimation Using Automatically Tightened Semidefinite Relaxations. IEEE Trans. Robotics Frederike Dümbgen, Connor Holmes, Ben Agro, Timothy D. Barfoot
2023	J	`jnl`	A New Wave in Robotics: Survey on Recent mmWave Radar Applications in Robotics. CoRR Kyle Harlow, Hyesu Jang, Timothy D. Barfoot, Ayoung Kim, Christoffer Heckman
2023	—	`conf`	Along Similar Lines: Local Obstacle Avoidance for Long-Term Autonomous Path Following. CRV Jordy Sehn, Yuchen Wu, Timothy D. Barfoot
2023	J	`jnl`	An Efficient Global Optimality Certificate for Landmark-Based SLAM. IEEE Robotics Autom. Lett. Connor Holmes, Timothy D. Barfoot
2023	J	`jnl`	Boreas: A multi-season autonomous driving dataset. Int. J. Robotics Res. Keenan Burnett, David J. Yoon, Yuchen Wu, Andrew Zou Li, Haowei Zhang, Shichen Lu, Jingxing Qian, Wei-Kang Tseng, Andrew Lambert, Keith Yu Kit Leung, Angela P. Schoellig, Timothy D. Barfoot
2023	J	`jnl`	Certifiably Optimal Rotation and Pose Estimation Based on the Cayley Map. CoRR Timothy D. Barfoot, Connor Holmes, Frederike Dümbgen
2023	J	`jnl`	Change of Scenery: Unsupervised LiDAR Change Detection for Mobile Robots. CoRR Alexander Krawciw, Jordy Sehn, Timothy D. Barfoot
2023	—	`conf`	Continuous-Time Range-Only Pose Estimation. CRV Abhishek Goudar, Timothy D. Barfoot, Angela P. Schoellig
2023	J	`jnl`	Continuous-Time Range-Only Pose Estimation. CoRR Abhishek Goudar, Timothy D. Barfoot, Angela P. Schoellig
2023	J	`jnl`	Data-Driven Batch Localization and SLAM Using Koopman Linearization. CoRR Zi Cong Guo, Frederike Dümbgen, James Richard Forbes, Timothy D. Barfoot
2023	J	`jnl`	Field Testing of a Stochastic Planner for ASV Navigation Using Satellite Images. CoRR Philip Huang, Tony Wang, Florian Shkurti, Timothy D. Barfoot
2023	J	`jnl`	GNSS/Multi-Sensor Fusion Using Continuous-Time Factor Graph Optimization for Robust Localization. CoRR Haoming Zhang, Chih-Chun Chen, Heike Vallery, Timothy D. Barfoot
2023	J	`jnl`	Need for Speed: Fast Correspondence-Free Lidar Odometry Using Doppler Velocity. CoRR David J. Yoon, Keenan Burnett, Johann Laconte, Yi Chen, Heethesh Vhavle, Sören Kammel, James Reuther, Timothy D. Barfoot
2023	A	`conf`	Need for Speed: Fast Correspondence-Free Lidar-Inertial Odometry Using Doppler Velocity. IROS David J. Yoon, Keenan Burnett, Johann Laconte, Yi Chen, Heethesh Vhavle, Sören Kammel, James Reuther, Timothy D. Barfoot
2023	J	`jnl`	Off the Beaten Track: Laterally Weighted Motion Planning for Local Obstacle Avoidance. CoRR Jordy Sehn, Jack Collier, Timothy D. Barfoot
2023	J	`jnl`	On Semidefinite Relaxations for Matrix-Weighted State-Estimation Problems in Robotics. CoRR Connor Holmes, Frederike Dümbgen, Timothy D. Barfoot
2023	J	`jnl`	Optimal Initialization Strategies for Range-Only Trajectory Estimation. CoRR Abhishek Goudar, Frederike Dümbgen, Timothy D. Barfoot, Angela P. Schoellig
2023	J	`jnl`	Picking up Speed: Continuous-Time Lidar-Only Odometry Using Doppler Velocity Measurements. IEEE Robotics Autom. Lett. Yuchen Wu, David J. Yoon, Keenan Burnett, Sören Kammel, Yi Chen, Heethesh Vhavle, Timothy D. Barfoot
2023	J	`jnl`	Pointing the Way: Refining Radar-Lidar Localization Using Learned ICP Weights. CoRR Daniil Lisus, Johann Laconte, Keenan Burnett, Timothy D. Barfoot
2023	J	`jnl`	STAR-loc: Dataset for STereo And Range-based localization. CoRR Frederike Dümbgen, Mohammed Ayman Shalaby, Connor Holmes, Charles Champagne Cossette, James Richard Forbes, Jerome Le Ny, Timothy D. Barfoot
2023	J	`jnl`	Safe and Smooth: Certified Continuous-Time Range-Only Localization. IEEE Robotics Autom. Lett. Frederike Dümbgen, Connor Holmes, Timothy D. Barfoot
2023	J	`jnl`	Self-Supervised Feature Learning for Long-Term Metric Visual Localization. IEEE Robotics Autom. Lett. Yuxuan Chen, Timothy D. Barfoot
2023	A*	`conf`	Stochastic Planning for ASV Navigation Using Satellite Images. ICRA Yizhou Huang, Hamza Dugmag, Timothy D. Barfoot, Florian Shkurti
2023	J	`jnl`	The Foreseeable Future: Self-Supervised Learning to Predict Dynamic Scenes for Indoor Navigation. IEEE Trans. Robotics Hugues Thomas, Jian Zhang, Timothy D. Barfoot
2023	J	`jnl`	Toward Certifying Maps for Safe Localization Under Adversarial Corruption. CoRR Johann Laconte, Daniil Lisus, Timothy D. Barfoot
2023	J	`jnl`	Toward Globally Optimal State Estimation Using Automatically Tightened Semidefinite Relaxations. CoRR Frederike Dümbgen, Connor Holmes, Ben Agro, Timothy D. Barfoot
2023	A*	`conf`	Towards Consistent Batch State Estimation Using a Time-Correlated Measurement Noise Model. ICRA David J. Yoon, Timothy D. Barfoot
2023	J	`jnl`	Towards Consistent Batch State Estimation Using a Time-Correlated Measurement Noise Model. CoRR David J. Yoon, Timothy D. Barfoot
2023	J	`jnl`	Variational inference as iterative projection in a Bayesian Hilbert space with application to robotic state estimation. Robotica Timothy D. Barfoot, Gabriele M. T. D'Eleuterio
2023	A	`conf`	What to Learn: Features, Image Transformations, or Both? IROS Yuxuan Chen, Binbin Xu, Frederike Dümbgen, Timothy D. Barfoot
2023	J	`jnl`	What to Learn: Features, Image Transformations, or Both? CoRR Yuxuan Chen, Binbin Xu, Frederike Dümbgen, Timothy D. Barfoot
2022	J	`jnl`	A Fine Line: Total Least-Squares Line Fitting as QCQP Optimization. CoRR Timothy D. Barfoot, Connor Holmes, Frederike Dümbgen
2022	J	`jnl`	Along Similar Lines: Local Obstacle Avoidance for Long-term Autonomous Path Following. CoRR Jordy Sehn, Yuchen Wu, Timothy D. Barfoot
2022	J	`jnl`	An Efficient Global Optimality Certificate for Landmark-Based SLAM. CoRR Connor Holmes, Timothy D. Barfoot
2022	J	`jnl`	Are We Ready for Radar to Replace Lidar in All-Weather Mapping and Localization? IEEE Robotics Autom. Lett. Keenan Burnett, Yuchen Wu, David J. Yoon, Angela P. Schoellig, Timothy D. Barfoot
2022	J	`jnl`	Boreas: A Multi-Season Autonomous Driving Dataset. CoRR Keenan Burnett, David J. Yoon, Yuchen Wu, Andrew Zou Li, Haowei Zhang, Shichen Lu, Jingxing Qian, Wei-Kang Tseng, Andrew Lambert, Keith Yu Kit Leung, Angela P. Schoellig, Timothy D. Barfoot
2022	J	`jnl`	Continuum Robot State Estimation Using Gaussian Process Regression on SE(3). CoRR Sven Lilge, Timothy D. Barfoot, Jessica Burgner-Kahrs
2022	J	`jnl`	Continuum robot state estimation using Gaussian process regression on SE(3). Int. J. Robotics Res. Sven Lilge, Timothy D. Barfoot, Jessica Burgner-Kahrs
2022	J	`jnl`	Field Testing and Evaluation of Single-Receiver GPS Odometry for Use in Robotic Navigation. Field Robotics Benjamin Congram, Timothy D. Barfoot
2022	A	`conf`	Gaussian Variational Inference with Covariance Constraints Applied to Range-only Localization. IROS Abhishek Goudar, Wenda Zhao, Timothy D. Barfoot, Angela P. Schoellig
2022	J	`jnl`	Keeping an Eye on Things: Deep Learned Features for Long-Term Visual Localization. IEEE Robotics Autom. Lett. Mona Gridseth, Timothy D. Barfoot
2022	J	`jnl`	Koopman Linearization for Data-Driven Batch State Estimation of Control-Affine Systems. IEEE Robotics Autom. Lett. Zi Cong Guo, Vassili Korotkine, James Richard Forbes, Timothy D. Barfoot
2022	A*	`conf`	Learning Spatiotemporal Occupancy Grid Maps for Lifelong Navigation in Dynamic Scenes. ICRA Hugues Thomas, Matthieu Gallet de Saint Aurin, Jian Zhang, Timothy D. Barfoot
2022	J	`jnl`	On the Eigenstructure of Rotations and Poses: Commonalities and Peculiarities. CoRR Gabriele M. T. D'Eleuterio, Timothy D. Barfoot
2022	J	`jnl`	Picking Up Speed: Continuous-Time Lidar-Only Odometry using Doppler Velocity Measurements. CoRR Yuchen Wu, David J. Yoon, Keenan Burnett, Sören Kammel, Yi Chen, Heethesh Vhavle, Timothy D. Barfoot
2022	J	`jnl`	Safe and Smooth: Certified Continuous-Time Range-Only Localization. CoRR Frederike Dümbgen, Connor Holmes, Timothy D. Barfoot
2022	J	`jnl`	Self-Supervised Feature Learning for Long-Term Metric Visual Localization. CoRR Yuxuan Chen, Timothy D. Barfoot
2022	J	`jnl`	Should Radar Replace Lidar in All-Weather Mapping and Localization? CoRR Keenan Burnett, Yuchen Wu, David J. Yoon, Angela P. Schoellig, Timothy D. Barfoot
2022	J	`jnl`	Stochastic Planning for ASV Navigation Using Satellite Images. CoRR Yizhou Huang, Hamza Dugmag, Timothy D. Barfoot, Florian Shkurti
2022	J	`jnl`	The Foreseeable Future: Self-Supervised Learning to Predict Dynamic Scenes for Indoor Navigation. CoRR Hugues Thomas, Jian Zhang, Timothy D. Barfoot
2022	J	`jnl`	Vectorial parameterizations of pose. Robotica Timothy D. Barfoot, James Richard Forbes, Gabriele M. T. D'Eleuterio
2021	J	`jnl`	A Geometric Algebra Solution to Wahba's Problem. CoRR Timothy D. Barfoot
2021	J	`jnl`	Do We Need to Compensate for Motion Distortion and Doppler Effects in Spinning Radar Navigation? IEEE Robotics Autom. Lett. Keenan Burnett, Angela P. Schoellig, Timothy D. Barfoot
2021	J	`jnl`	Experimental Comparison of Visual and Single-Receiver GPS Odometry. CoRR Benjamin Congram, Timothy D. Barfoot
2021	J	`jnl`	Keeping an Eye on Things: Deep Learned Features for Long-Term Visual Localization. CoRR Mona Gridseth, Timothy D. Barfoot
2021	J	`jnl`	Koopman Linearization for Data-Driven Batch State Estimation of Control-Affine Systems. CoRR Zi Cong Guo, Vassili Korotkine, James Richard Forbes, Timothy D. Barfoot
2021	J	`jnl`	Learning Spatiotemporal Occupancy Grid Maps for Lifelong Navigation in Dynamic Scenes. CoRR Hugues Thomas, Matthieu Gallet de Saint Aurin, Jian Zhang, Timothy D. Barfoot
2021	A*	`conf`	MCMC Occupancy Grid Mapping with a Data-Driven Patch Prior. ICRA Rehman S. Merali, Timothy D. Barfoot
2021	J	`jnl`	Radar Odometry Combining Probabilistic Estimation and Unsupervised Feature Learning. CoRR Keenan Burnett, David J. Yoon, Angela P. Schoellig, Timothy D. Barfoot
2021	—	`conf`	Relatively Lazy: Indoor-Outdoor Navigation Using Vision and GNSS. CRV Benjamin Congram, Timothy D. Barfoot
2021	J	`jnl`	Relatively Lazy: Indoor-Outdoor Navigation Using Vision and GNSS. CoRR Benjamin Congram, Timothy D. Barfoot
2021	—	`conf`	Self-Calibration of the Offset Between GPS and Semantic Map Frames for Robust Localization. CRV Wei-Kang Tseng, Angela P. Schoellig, Timothy D. Barfoot
2021	J	`jnl`	Self-Calibration of the Offset Between GPS and Semantic Map Frames for Robust Localization. CoRR Wei-Kang Tseng, Angela P. Schoellig, Timothy D. Barfoot
2021	A*	`conf`	Self-Supervised Learning of Lidar Segmentation for Autonomous Indoor Navigation. ICRA Hugues Thomas, Ben Agro, Mona Gridseth, Jian Zhang, Timothy D. Barfoot
2021	J	`jnl`	UAV Localization Using Autoencoded Satellite Images. CoRR Mollie Bianchi, Timothy D. Barfoot
2021	J	`jnl`	UAV Localization Using Autoencoded Satellite Images. IEEE Robotics Autom. Lett. Mollie Bianchi, Timothy D. Barfoot
2021	J	`jnl`	Unsupervised Learning of Lidar Features for Use in a Probabilistic Trajectory Estimator. CoRR David J. Yoon, Haowei Zhang, Mona Gridseth, Hugues Thomas, Timothy D. Barfoot
2021	J	`jnl`	Unsupervised Learning of Lidar Features for Use ina Probabilistic Trajectory Estimator. IEEE Robotics Autom. Lett. David J. Yoon, Haowei Zhang, Mona Gridseth, Hugues Thomas, Timothy D. Barfoot
2021	J	`jnl`	Vectorial Parameterizations of Pose. CoRR Timothy D. Barfoot, James Richard Forbes, Gabriele M. T. D'Eleuterio
2021	J	`jnl`	Zeus: A system description of the two-time winner of the collegiate SAE autodrive competition. J. Field Robotics Keenan Burnett, Jingxing Qian, Xintong Du, Linqiao Liu, David J. Yoon, Tianchang Shen, Susan Sun, Sepehr Samavi, Michael J. Sorocky, Mollie Bianchi, Kaicheng Zhang, Arkady Arkhangorodsky, Quinlan Sykora, Shichen Lu, Yizhou Huang, Angela P. Schoellig, Timothy D. Barfoot
2020	J	`jnl`	A Data-Driven Motion Prior for Continuous-Time Trajectory Estimation on SE(3). IEEE Robotics Autom. Lett. Jeremy N. Wong, David J. Yoon, Angela P. Schoellig, Timothy D. Barfoot
2020	J	`jnl`	Batch Informed Trees (BIT*): Informed asymptotically optimal anytime search. Int. J. Robotics Res. Jonathan D. Gammell, Timothy D. Barfoot, Siddhartha S. Srinivasa
2020	A*	`conf`	DeepMEL: Compiling Visual Multi-Experience Localization into a Deep Neural Network. ICRA Mona Gridseth, Timothy D. Barfoot
2020	J	`jnl`	DeepMEL: Compiling Visual Multi-Experience Localization into a Deep Neural Network. CoRR Mona Gridseth, Timothy D. Barfoot
2020	J	`jnl`	Do We Need to Compensate for Motion Distortion and Doppler Effects in Radar-Based Navigation? CoRR Keenan Burnett, Angela P. Schoellig, Timothy D. Barfoot
2020	J	`jnl`	Exactly sparse Gaussian variational inference with application to derivative-free batch nonlinear state estimation. Int. J. Robotics Res. Timothy D. Barfoot, James Richard Forbes, David J. Yoon
2020	J	`jnl`	Fundamental Linear Algebra Problem of Gaussian Inference. CoRR Timothy D. Barfoot
2020	—	`conf`	Gradient-Based Auto-Exposure Control Applied to a Self-Driving Car. CRV Ishaan Mehta, Mingliang Tang, Timothy D. Barfoot
2020	J	`jnl`	Multivariate Gaussian Variational Inference by Natural Gradient Descent. CoRR Timothy D. Barfoot
2020	J	`jnl`	Self-Supervised Learning of Lidar Segmentation for Autonomous Indoor Navigation. CoRR Hugues Thomas, Ben Agro, Mona Gridseth, Jian Zhang, Timothy D. Barfoot
2020	J	`jnl`	Variational Inference With Parameter Learning Applied to Vehicle Trajectory Estimation. IEEE Robotics Autom. Lett. Jeremy N. Wong, David Juny Yoon, Angela P. Schoellig, Timothy D. Barfoot
2020	J	`jnl`	Variational Inference as Iterative Projection in a Bayesian Hilbert Space. CoRR Timothy D. Barfoot, Gabriele M. T. D'Eleuterio
2020	J	`jnl`	Variational Inference with Parameter Learning Applied to Vehicle Trajectory Estimation. CoRR Jeremy N. Wong, David J. Yoon, Angela P. Schoellig, Timothy D. Barfoot
2020	A*	`conf`	Visual Localization with Google Earth Images for Robust Global Pose Estimation of UAVs. ICRA Bhavit Patel, Timothy D. Barfoot, Angela P. Schoellig
2020	J	`jnl`	Zeus: A System Description of the Two-Time Winner of the Collegiate SAE AutoDrive Competition. CoRR Keenan Burnett, Jingxing Qian, Xintong Du, Linqiao Liu, David J. Yoon, Tianchang Shen, Susan Sun, Sepehr Samavi, Michael J. Sorocky, Mollie Bianchi, Kaicheng Zhang, Arkady Arkhangorodsky, Quinlan Sykora, Shichen Lu, Yizhou Huang, Angela P. Schoellig, Timothy D. Barfoot
2019	J	`jnl`	A White-Noise-on-Jerk Motion Prior for Continuous-Time Trajectory Estimation on SE(3). IEEE Robotics Autom. Lett. Tim Yuqing Tang, David Juny Yoon, Timothy D. Barfoot
2019	J	`jnl`	Exactly Sparse Gaussian Variational Inference with Application to Derivative-Free Batch Nonlinear State Estimation. CoRR Timothy D. Barfoot, James Richard Forbes, David J. Yoon
2019	—	`conf`	Mapless Online Detection of Dynamic Objects in 3D Lidar. CRV David J. Yoon, Tim Y. Tang, Timothy D. Barfoot
2019	A*	`conf`	The Robust Canadian Traveler Problem Applied to Robot Routing. ICRA Hengwei Guo, Timothy D. Barfoot
2019	J	`jnl`	There's No Place Like Home: Visual Teach and Repeat for Emergency Return of Multirotor UAVs During GPS Failure. IEEE Robotics Autom. Lett. Michael Warren, Melissa Greeff, Bhavit Patel, Jack Collier, Angela P. Schoellig, Timothy D. Barfoot
2019	—	`conf`	Towards Direct Localization for Visual Teach and Repeat. CRV Mona Gridseth, Timothy D. Barfoot
2019	—	`conf`	aUToTrack: A Lightweight Object Detection and Tracking System for the SAE AutoDrive Challenge. CRV Keenan Burnett, Sepehr Samavi, Steven L. Waslander, Timothy D. Barfoot, Angela P. Schoellig
2019	J	`jnl`	aUToTrack: A Lightweight Object Detection and Tracking System for the SAE AutoDrive Challenge. CoRR Keenan Burnett, Sepehr Samavi, Steven L. Waslander, Timothy D. Barfoot, Angela P. Schoellig
2018	J	`jnl`	A White-Noise-On-Jerk Motion Prior for Continuous-Time Trajectory Estimation on SE(3). CoRR Tim Y. Tang, David J. Yoon, Timothy D. Barfoot
2018	J	`jnl`	Developing and deploying a tethered robot to map extremely steep terrain. J. Field Robotics Patrick McGarey, David J. Yoon, Tim Y. Tang, François Pomerleau, Timothy D. Barfoot
2018	—	`conf`	Eye on the Sky: An Upward-Looking Monocular Teach-and-Repeat System for Indoor Environments. CRV Nan Zhang, Michael Warren, Timothy D. Barfoot
2018	J	`jnl`	Informed Sampling for Asymptotically Optimal Path Planning. IEEE Trans. Robotics Jonathan D. Gammell, Timothy D. Barfoot, Siddhartha S. Srinivasa
2018	A*	`conf`	Learning Place-and-Time-Dependent Binary Descriptors for Long-Term Visual Localization. ICRA Nan Zhang, Michael Warren, Timothy D. Barfoot
2018	—	`conf`	Learning a Bias Correction for Lidar-Only Motion Estimation. CRV Tim Y. Tang, David J. Yoon, François Pomerleau, Timothy D. Barfoot
2018	J	`jnl`	Learning a Bias Correction for Lidar-only Motion Estimation. CoRR Tim Y. Tang, David J. Yoon, François Pomerleau, Timothy D. Barfoot
2018	A*	`conf`	Level-Headed: Evaluating Gimbal-Stabilised Visual Teach and Repeat for Improved Localisation Performance. ICRA Michael Warren, Angela P. Schoellig, Timothy D. Barfoot
2018	J	`jnl`	Mapless Online Detection of Dynamic Objects in 3D Lidar. CoRR David J. Yoon, Tim Y. Tang, Timothy D. Barfoot
2018	J	`jnl`	Selective memory: Recalling relevant experience for long-term visual localization. J. Field Robotics Kirk MacTavish, Michael Paton, Timothy D. Barfoot
2018	J	`jnl`	There's No Place Like Home: Visual Teach and Repeat for Emergency Return of Multirotor UAVs During GPS Failure. CoRR Michael Warren, Melissa Greeff, Bhavit Patel, Jack Collier, Angela P. Schoellig, Timothy D. Barfoot
2017	J	`jnl`	Expanding the Limits of Vision-based Localization for Long-term Route-following Autonomy. J. Field Robotics Michael Paton, François Pomerleau, Kirk MacTavish, Chris J. Ostafew, Timothy D. Barfoot
2017	A*	`conf`	Falling in line: Visual route following on extreme terrain for a tethered mobile robot. ICRA Patrick McGarey, Max Polzin, Timothy D. Barfoot
2017	—	`conf`	Field Deployment of the Tethered Robotic eXplorer to Map Extremely Steep Terrain. FSR Patrick McGarey, David J. Yoon, Tim Y. Tang, François Pomerleau, Timothy D. Barfoot
2017	—	`conf`	I Can See for Miles and Miles: An Extended Field Test of Visual Teach and Repeat 2.0. FSR Michael Paton, Kirk MacTavish, Laszlo-Peter Berczi, Sebastian Kai van Es, Timothy D. Barfoot
2017	J	`jnl`	Informed Asymptotically Optimal Anytime Search. CoRR Jonathan D. Gammell, Timothy D. Barfoot, Siddhartha S. Srinivasa
2017	J	`jnl`	Informed Sampling for Asymptotically Optimal Path Planning. CoRR Jonathan D. Gammell, Timothy D. Barfoot, Siddhartha S. Srinivasa
2017	A	`conf`	Looking high and low: Learning place-dependent Gaussian mixture height models for terrain assessment. IROS Laszlo-Peter Berczi, Timothy D. Barfoot
2017	J	`jnl`	Monocular Visual Teach and Repeat Aided by Local Ground Planarity. CoRR Lee E. Clement, Jonathan Kelly, Timothy D. Barfoot
2017	—	`conf`	Night Rider: Visual Odometry Using Headlights. CRV Kirk MacTavish, Michael Paton, Timothy D. Barfoot
2017	J	`jnl`	Robust Monocular Visual Teach and Repeat Aided by Local Ground Planarity and Color-constant Imagery. J. Field Robotics Lee E. Clement, Jonathan Kelly, Timothy D. Barfoot
2017	J	`jnl`	TSLAM: Tethered simultaneous localization and mapping for mobile robots. Int. J. Robotics Res. Patrick McGarey, Kirk MacTavish, François Pomerleau, Timothy D. Barfoot
2017	A*	`conf`	Visual triage: A bag-of-words experience selector for long-term visual route following. ICRA Kirk MacTavish, Michael Paton, Timothy D. Barfoot
2016	A	`conf`	Bridging the appearance gap: Multi-experience localization for long-term visual teach and repeat. IROS Michael Paton, Kirk MacTavish, Michael Warren, Timothy D. Barfoot
2016	J	`jnl`	Editorial: Special Issue on Space Robotics. J. Field Robotics Timothy D. Barfoot, David Wettergreen
2016	—	`ed.`	Field and Service Robotics - Results of the 10th International Conference, Toronto, Canada, 23-26 June 2015 FSR David Wettergreen, Timothy D. Barfoot
2016	A	`conf`	It's like Déjà Vu all over again: Learning place-dependent terrain assessment for visual teach and repeat. IROS Laszlo-Peter Berczi, Timothy D. Barfoot
2016	J	`jnl`	Learning-based Nonlinear Model Predictive Control to Improve Vision-based Mobile Robot Path Tracking. J. Field Robotics Chris J. Ostafew, Angela P. Schoellig, Timothy D. Barfoot, Jack Collier
2016	—	`conf`	Light at the End of the Tunnel: High-Speed LiDAR-Based Train Localization in Challenging Underground Environments. CRV Tyler Daoust, François Pomerleau, Timothy D. Barfoot
2016	A*	`conf`	Regionally accelerated batch informed trees (RABIT*): A framework to integrate local information into optimal path planning. ICRA Sanjiban Choudhury, Jonathan D. Gammell, Timothy D. Barfoot, Siddhartha S. Srinivasa, Sebastian A. Scherer
2016	J	`jnl`	Robust Constrained Learning-based NMPC enabling reliable mobile robot path tracking. Int. J. Robotics Res. Chris J. Ostafew, Angela P. Schoellig, Timothy D. Barfoot
2016	A*	`conf`	The line leading the blind: Towards nonvisual localization and mapping for tethered mobile robots. ICRA Patrick McGarey, Kirk MacTavish, François Pomerleau, Timothy D. Barfoot
2015	—	`conf`	At all Costs: A Comparison of Robust Cost Functions for Camera Correspondence Outliers. CRV Kirk MacTavish, Timothy D. Barfoot
2015	A*	`conf`	Batch Informed Trees (BIT*): Sampling-based optimal planning via the heuristically guided search of implicit random geometric graphs. ICRA Jonathan D. Gammell, Siddhartha S. Srinivasa, Timothy D. Barfoot
2015	J	`jnl`	Batch nonlinear continuous-time trajectory estimation as exactly sparse Gaussian process regression. Auton. Robots Sean Anderson, Timothy D. Barfoot, Chi Hay Tong, Simo Särkkä
2015	—	`conf`	Being in Two Places at Once: Smooth Visual Path Following on Globally Inconsistent Pose Graphs. CRV Sebastian Kai van Es, Timothy D. Barfoot
2015	—	`conf`	Beyond a Shadow of a Doubt: Place Recognition with Colour-Constant Images. FSR Kirk MacTavish, Michael Paton, Timothy D. Barfoot
2015	A*	`conf`	Conservative to confident: Treating uncertainty robustly within Learning-Based Control. ICRA Chris J. Ostafew, Angela P. Schoellig, Timothy D. Barfoot
2015	J	`jnl`	Continuous-time batch trajectory estimation using temporal basis functions. Int. J. Robotics Res. Paul Timothy Furgale, Chi Hay Tong, Timothy D. Barfoot, Gabe Sibley
2015	J	`jnl`	Editorial: Special Issue on Calibration for Field Robotics. J. Field Robotics Paul Timothy Furgale, Cédric Pradalier, Timothy D. Barfoot
2015	—	`conf`	Eyes in the Back of Your Head: Robust Visual Teach & Repeat Using Multiple Stereo Cameras. CRV Michael Paton, François Pomerleau, Timothy D. Barfoot
2015	A	`conf`	Full STEAM ahead: Exactly sparse gaussian process regression for batch continuous-time trajectory estimation on SE(3). IROS Sean Anderson, Timothy D. Barfoot
2015	—	`conf`	In the Dead of Winter: Challenging Vision-Based Path Following in Extreme Conditions. FSR Michael Paton, François Pomerleau, Timothy D. Barfoot
2015	A*	`conf`	It's not easy seeing green: Lighting-resistant stereo Visual Teach & Repeat using color-constant images. ICRA Michael Paton, Kirk MacTavish, Chris J. Ostafew, Timothy D. Barfoot
2015	A*	`conf`	Learning to assess terrain from human demonstration using an introspective Gaussian-process classifier. ICRA Laszlo-Peter Berczi, Ingmar Posner, Timothy D. Barfoot
2015	—	`conf`	Monocular Visual Teach and Repeat Aided by Local Ground Planarity. FSR Lee E. Clement, Jonathan Kelly, Timothy D. Barfoot
2015	J	`jnl`	Relative continuous-time SLAM. Int. J. Robotics Res. Sean Anderson, Kirk MacTavish, Timothy D. Barfoot
2015	—	`conf`	System Design of a Tethered Robotic Explorer (TReX) for 3D Mapping of Steep Terrain and Harsh Environments. FSR Patrick McGarey, François Pomerleau, Timothy D. Barfoot
2014	—	`conf`	A Proof-of-Concept Demonstration of Visual Teach and Repeat on a Quadrocopter Using an Altitude Sensor and a Monocular Camera. CRV Andreas Pfrunder, Angela P. Schoellig, Timothy D. Barfoot
2014	A*	`conf`	A hierarchical wavelet decomposition for continuous-time SLAM. ICRA Sean Anderson, Frank Dellaert, Timothy D. Barfoot
2014	J	`jnl`	Associating Uncertainty With Three-Dimensional Poses for Use in Estimation Problems. IEEE Trans. Robotics Timothy D. Barfoot, Paul Timothy Furgale
2014	J	`jnl`	BIT*: Batch Informed Trees for Optimal Sampling-based Planning via Dynamic Programming on Implicit Random Geometric Graphs. CoRR Jonathan D. Gammell, Siddhartha S. Srinivasa, Timothy D. Barfoot
2014	J	`jnl`	Batch Nonlinear Continuous-Time Trajectory Estimation as Exactly Sparse Gaussian Process Regression. CoRR Sean Anderson, Timothy D. Barfoot, Chi Hay Tong, Simo Särkkä
2014	J	`jnl`	Informed RRT*: Optimal Incremental Path Planning Focused through an Admissible Ellipsoidal Heuristic. CoRR Jonathan D. Gammell, Siddhartha S. Srinivasa, Timothy D. Barfoot
2014	A	`conf`	Informed RRT*: Optimal sampling-based path planning focused via direct sampling of an admissible ellipsoidal heuristic. IROS Jonathan D. Gammell, Siddhartha S. Srinivasa, Timothy D. Barfoot
2014	A*	`conf`	Learning-based nonlinear model predictive control to improve vision-based mobile robot path-tracking in challenging outdoor environments. ICRA Chris J. Ostafew, Angela P. Schoellig, Timothy D. Barfoot
2014	—	`conf`	Optimizing Camera Perspective for Stereo Visual Odometry. CRV Valentin Peretroukhin, Jonathan Kelly, Timothy D. Barfoot
2014	A*	`conf`	Optimizing online occupancy grid mapping to capture the residual uncertainty. ICRA Rehman S. Merali, Timothy D. Barfoot
2014	J	`jnl`	Pose Interpolation for Laser-based Visual Odometry. J. Field Robotics Chi Hay Tong, Sean Anderson, Hang Dong, Timothy D. Barfoot
2014	—	`conf`	Speed Daemon: Experience-Based Mobile Robot Speed Scheduling. CRV Chris J. Ostafew, Angela P. Schoellig, Timothy D. Barfoot, Jack Collier
2014	—	`conf`	Towards Estimating Bias in Stereo Visual Odometry. CRV Sara Farboud-Sheshdeh, Timothy D. Barfoot, Raymond H. Kwong
2013	—	`conf`	A Proof-of-Concept, Rover-Based System for Autonomously Locating Methane Gas Sources on Mars. CRV Laszlo-Peter Berczi, Jonathan D. Gammell, Chi Hay Tong, Michael Daly, Timothy D. Barfoot
2013	—	`conf`	Blinded by the Light: Exploiting the Deficiencies of a Laser Rangefinder for Rover Attitude Estimation. CRV Jonathan D. Gammell, Chi Hay Tong, Timothy D. Barfoot
2013	A*	`conf`	Gaussian Process Gauss-Newton for 3D laser-based Visual Odometry. ICRA Chi Hay Tong, Timothy D. Barfoot
2013	J	`jnl`	Gaussian Process Gauss-Newton for non-parametric simultaneous localization and mapping. Int. J. Robotics Res. Chi Hay Tong, Paul Timothy Furgale, Timothy D. Barfoot
2013	C	`conf`	Into Darkness: Visual Navigation Based on a Lidar-Intensity-Image Pipeline. ISRR Timothy D. Barfoot, Colin McManus, Sean Anderson, Hang Dong, Erik Beerepoot, Chi Hay Tong, Paul Furgale, Jonathan D. Gammell, John Enright
2013	J	`jnl`	Lighting-invariant Visual Teach and Repeat Using Appearance-based Lidar. J. Field Robotics Colin McManus, Paul Timothy Furgale, Braden Stenning, Timothy D. Barfoot
2013	A*	`conf`	Occupancy grid mapping with Markov Chain Monte Carlo Gibbs sampling. ICRA Rehman S. Merali, Timothy D. Barfoot
2013	J	`jnl`	Planning using a Network of Reusable Paths: A Physical Embodiment of a Rapidly Exploring Random Tree. J. Field Robotics Braden Stenning, Colin McManus, Timothy D. Barfoot
2013	A	`conf`	RANSAC for motion-distorted 3D visual sensors. IROS Sean Anderson, Timothy D. Barfoot
2013	J	`jnl`	The Canadian planetary emulation terrain 3D mapping dataset. Int. J. Robotics Res. Chi Hay Tong, David Gingras, Kevin Larose, Timothy D. Barfoot, Erick Dupuis
2013	—	`conf`	Towards Autonomous Mobile Robots for the Exploration of Steep Terrain. FSR Braden Stenning, Lauren Bajin, Christine Robson, Valentin Peretroukhin, Gordon R. Osinski, Timothy D. Barfoot
2013	J	`jnl`	Towards lighting-invariant visual navigation: An appearance-based approach using scanning laser-rangefinders. Robotics Auton. Syst. Colin McManus, Paul Timothy Furgale, Timothy D. Barfoot
2013	A*	`conf`	Towards relative continuous-time SLAM. ICRA Sean Anderson, Timothy D. Barfoot
2013	A*	`conf`	Two-axis scanning lidar geometric calibration using intensity imagery and distortion mapping. ICRA Hang Dong, Sean Anderson, Timothy D. Barfoot
2013	A	`conf`	Visual teach and repeat, repeat, repeat: Iterative Learning Control to improve mobile robot path tracking in challenging outdoor environments. IROS Chris J. Ostafew, Angela P. Schoellig, Timothy D. Barfoot
2012	A*	`conf`	Continuous-time batch estimation using temporal basis functions. ICRA Paul Timothy Furgale, Timothy D. Barfoot, Gabe Sibley
2012	J	`jnl`	Decentralized Cooperative SLAM for Sparsely-Communicating Robot Networks: A Centralized-Equivalent Approach. J. Intell. Robotic Syst. Keith Yu Kit Leung, Timothy D. Barfoot, Hugh H. T. Liu
2012	—	`conf`	Exploiting Reusable Paths in Mobile Robotics: Benefits and Challenges for Long-term Autonomy. CRV Timothy D. Barfoot, Braden Stenning, Paul Timothy Furgale, Colin McManus
2012	J	`jnl`	Field testing of visual odometry aided by a sun sensor and inclinometer. J. Field Robotics Andrew Lambert, Paul Timothy Furgale, Timothy D. Barfoot, John Enright
2012	—	`conf`	Gaussian Process Gauss-Newton: Non-Parametric State Estimation. CRV Chi Hay Tong, Paul Timothy Furgale, Timothy D. Barfoot
2012	—	`conf`	Lighting-Invariant Visual Odometry using Lidar Intensity Imagery and Pose Interpolation. FSR Hang Dong, Timothy D. Barfoot
2012	A	`conf`	Patch map: A benchmark for occupancy grid algorithm evaluation. IROS Rehman S. Merali, Timothy D. Barfoot
2012	J	`jnl`	Path planning with variable-fidelity terrain assessment. Robotics Auton. Syst. Braden Stenning, Timothy D. Barfoot
2012	J	`jnl`	The Devon Island rover navigation dataset. Int. J. Robotics Res. Paul Timothy Furgale, Patrick J. F. Carle, John Enright, Timothy D. Barfoot
2012	J	`jnl`	Three-dimensional SLAM for mapping planetary work site environments. J. Field Robotics Chi Hay Tong, Timothy D. Barfoot, Erick Dupuis
2012	A*	`conf`	Visual Teach and Repeat using appearance-based lidar. ICRA Colin McManus, Paul Timothy Furgale, Braden Stenning, Timothy D. Barfoot
2011	A	`conf`	3D SLAM for planetary worksite mapping. IROS Chi Hay Tong, Timothy D. Barfoot, Erick Dupuis
2011	—	`conf`	A Serial Approach to Handling High-Dimensional Measurements in the Sigma-Point Kalman Filter. Robotics: Science and Systems Colin McManus, Timothy D. Barfoot
2011	A*	`conf`	A self-calibrating 3D ground-truth localization system using retroreflective landmarks. ICRA Chi Hay Tong, Timothy D. Barfoot
2011	A*	`conf`	Batch heterogeneous outlier rejection for feature-poor SLAM. ICRA Chi Hay Tong, Timothy D. Barfoot
2011	A*	`conf`	Distributed and decentralized cooperative simultaneous localization and mapping for dynamic and sparse robot networks. ICRA Keith Yu Kit Leung, Timothy D. Barfoot, Hugh H. T. Liu
2011	J	`jnl`	Field testing of a rover guidance, navigation, and control architecture to support a ground-ice prospecting mission to Mars. Robotics Auton. Syst. Timothy D. Barfoot, Paul Timothy Furgale, Braden Stenning, Patrick J. F. Carle, Laura Thomson, Gordon R. Osinski, Michael Daly, Nadeem Ghafoor
2011	J	`jnl`	Sun Sensor Navigation for Planetary Rovers: Theory and Field Testing. IEEE Trans. Aerosp. Electron. Syst. Paul Furgale, John Enright, Timothy D. Barfoot
2011	J	`jnl`	The UTIAS multi-robot cooperative localization and mapping dataset. Int. J. Robotics Res. Keith Yu Kit Leung, Yoni Halpern, Timothy D. Barfoot, Hugh H. T. Liu
2011	A*	`conf`	Towards appearance-based methods for lidar sensors. ICRA Colin McManus, Paul Timothy Furgale, Timothy D. Barfoot
2010	—	`conf`	A Comparison of the EKF, SPKF, and the Bayes Filter for Landmark-Based Localization. CRV Chi Hay Tong, Timothy D. Barfoot
2010	A	`conf`	A comparison of global localization algorithms for planetary exploration. IROS Paul Timothy Furgale, Patrick J. F. Carle, Timothy D. Barfoot
2010	A	`conf`	Decentralized cooperative simultaneous localization and mapping for dynamic and sparse robot networks. IROS Keith Yu Kit Leung, Timothy D. Barfoot, Hugh H. T. Liu
2010	J	`jnl`	Field Testing of an Integrated Surface/Subsurface Modeling Technique for Planetary Exploration. Int. J. Robotics Res. Paul Timothy Furgale, Timothy D. Barfoot, Nadeem Ghafoor, Kevin Williams, Gordon R. Osinski
2010	A*	`conf`	Global rover localization by matching lidar and orbital 3D maps. ICRA Patrick J. F. Carle, Timothy D. Barfoot
2010	J	`jnl`	Long-range rover localization by matching LIDAR scans to orbital elevation maps. J. Field Robotics Patrick J. F. Carle, Paul Timothy Furgale, Timothy D. Barfoot
2010	A	`conf`	Path planning with variable-fidelity terrain assessment. IROS Braden Stenning, Timothy D. Barfoot
2010	A*	`conf`	Stereo mapping and localization for long-range path following on rough terrain. ICRA Paul Timothy Furgale, Timothy D. Barfoot
2010	J	`jnl`	Vision-based autonomous convoying with constant time delay. J. Field Robotics Hien K. Goi, Jared L. Giesbrecht, Timothy D. Barfoot, Bruce A. Francis
2010	A*	`conf`	Visual path following on a manifold in unstructured three-dimensional terrain. ICRA Paul Timothy Furgale, Timothy D. Barfoot
2010	J	`jnl`	Visual teach and repeat for long-range rover autonomy. J. Field Robotics Paul Timothy Furgale, Timothy D. Barfoot
2009	A*	`conf`	Decentralized localization for dynamic and sparse robot networks. ICRA Keith Yu Kit Leung, Timothy D. Barfoot, Hugh H. T. Liu
2009	—	`conf`	Vision-Based Vehicle Trajectory Following with Constant Time Delay. FSR Hien K. Goi, Timothy D. Barfoot, Bruce A. Francis, Jared L. Giesbrecht
2008	J	`jnl`	Autonomous underground tramming for center-articulated vehicles. J. Field Robotics Joshua A. Marshall, Timothy D. Barfoot, Johan Larsson
2007	—	`conf`	Design and Field Testing of an Autonomous Underground Tramming System. FSR Joshua A. Marshall, Timothy D. Barfoot
2005	J	`jnl`	Evolving Distributed Control for an Object Clustering Task. Complex Syst. Timothy D. Barfoot, Gabriele M. T. D'Eleuterio
2005	A	`conf`	Experimental and simulation results of wheel-soil interaction for planetary rovers. IROS Robert Bauer, Winnie Leung, Timothy D. Barfoot
2005	A	`conf`	Online visual motion estimation using FastSLAM with SIFT features. IROS Timothy D. Barfoot
2005	J	`jnl`	Stochastic Self-organization. Complex Syst. Timothy D. Barfoot, Gabriele M. T. D'Eleuterio
2004	A*	`conf`	Optimized Motion Strategies for Cooperative Localization of Mobile Robots. ICRA Nikolas Trawny, Timothy D. Barfoot
2003	A	`conf`	Subsurface surveying by a rover equipped with ground-penetrating radar. IROS Timothy D. Barfoot, Gabriele M. T. D'Eleuterio, A. Peter Annan
2002	A	`conf`	Kinematic path-planning for formations of mobile robots with a nonholonomic constraint. IROS Timothy D. Barfoot, Christopher M. Clark, Stephen M. Rock, Gabriele M. T. D'Eleuterio