Publications

The majority of our publications are available from open repositories, primarily arXiv. We also maintain a blog/site with additional details about some of our publications – see https://papers.starslab.ca/ or follow the ‘site’ links below. If you would like to request an electronic copy of a journal article or conference paper, please contact us.

Authors: Type:

2025

  • Efficient Imitation Without Demonstrations via Value-Penalized Auxiliary Control from Examples

    T. Ablett, B. Chan, H. Wang, and J. Kelly

    Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Atlanta, Georgia, USA, May 19–23, 2025.
    Submitted
  • Automated Planning Domain Inference for Task and Motion Planning

    J. Huang, A. Tao, R. Marco, M. Bogdanovic, J. Kelly, and F. Shkurti

    Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Atlanta, Georgia, USA, May 19–23, 2025.
    Submitted
  • ALLO: A Photorealistic Dataset and Data Generation Pipeline for Anomaly Detection During Robotic Proximity Operations in Lunar Orbit

    S. Leveugle, C. W. Lee, S. Stolpner, C. Langley, P. Grouchy, S. Waslander, and J. Kelly

    Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Atlanta, Georgia, USA, May 19–23, 2025.
    Submitted

2024

  • Multimodal and Force-Matched Imitation Learning with a See-Through Visuotactile Sensor

    T. Ablett, O. Limoyo, A. Sigal, A. Jilani, J. Kelly, K. Siddiqi, F. Hogan, and G. Dudek

    IEEE Transactions on Robotics, 2024.
    Submitted
  • Automated Planning Domain Inference for Robot Task and Motion Planning

    J. Huang

    Master Thesis , University of Toronto, Toronto, Ontario, Canada, 2024.
  • Making Space for Time: The Special Galilean Group and Its Application to Some Robotics Problems

    J. Kelly

    Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Workshop From Geometry to General Autonomy of Robotic Systems, Abu Dhabi, United Arab Emirates, Oct. 15, 2024.
  • The Importance of Adaptive Decision-Making for Autonomous Long-Range Planetary Surface Mobility

    O. Lamarre and J. Kelly

    Proceedings of the International Symposium on Artificial Intelligence, Robotics and Automation in Space (i-SAIRAS), Brisbane, Queensland, Australia, Nov. 19–21, 2024.
    To Appear
  • Safe Mission-Level Path Planning for Exploration of Lunar Shadowed Regions by a Solar-Powered Rover

    O. Lamarre, S. Malhotra, and J. Kelly

    Proceedings of the IEEE Aerospace Conference, Big Sky, Montana, USA, Mar. 2–9, 2024, pp. 1-14.
  • Automated Visual Anomaly Detection for Proximity Operations in the Space Domain

    S. Leveugle

    Master Thesis , University of Toronto, Toronto, Ontario, Canada, 2024.
  • PhotoBot: Reference-Guided Interactive Photography via Natural Language

    O. Limoyo, J. Li, D. Rivkin, J. Kelly, and G. Dudek

    Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Abu Dhabi, United Arab Emirates, Oct. 14–18, 2024.
    To Appear
  • Reference-Guided Robotic Photography Through Natural Language Interaction

    O. Limoyo, J. Li, D. Rivkhin, J. Kelly, and G. Dudek

    Proceedings of the ACM/IEEE International Conference on Human Robot Interaction (HRI) Workshop on Human-Large Language Model Interaction: The Dawn of a New Era or the End of it All?, Boulder, Colorado, USA, Mar. 11, 2024.
  • Working Backwards: Learning to Place by Picking

    O. Limoyo, A. Konar, T. Ablett, J. Kelly, F. R. Hogan, and G. Dudek

    Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Abu Dhabi, United Arab Emirates, Oct. 14–18, 2024.
    To Appear
  • Watch Your steps: Local Image and Scene Editing by Text Instructions

    A. Mirzaei, T. Aumentado-Armstrong, M. A. Brubaker, J. Kelly, A. Levinshtein, K. G. Derpanis, and I. Gilitschenski

    Proceedings of the European Conference on Computer Vision (ECCV), Milan, Italy, Sep. 29–Oct. 4, 2024.
    To Appear

2023

  • Learning from Guided Play: Improving Exploration for Adversarial Imitation Learning with Simple Auxiliary Tasks

    T. Ablett, B. Chan, and J. Kelly

    IEEE Robotics and Automation Letters, vol. 8, iss. 3, pp. 1263-1270, 2023.
  • Extrinsic Calibration of 2D Millimetre-Wavelength Radar Pairs Using Ego-Velocity Estimates

    Q. Cheng, E. Wise, and J. Kelly

    Proceedings of the IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), Seattle, Washington, USA, Jun. 27–Jul. 1, 2023, pp. 559-565.
  • Contrastive Learning for Self-Supervised Pre-Training of Point Cloud Segmentation Networks With Image Data

    A. Janda, B. Wagstaff, E. G. Ng, and J. Kelly

    Proceedings of the Conference on Robots and Vision (CRV), Montreal, Quebec, Canada, Jun. 6–8, 2023, pp. 145-152.
  • Living in a Material World: Learning Material Properties from Full-Waveform Flash Lidar Data for Semantic Segmentation

    A. Janda, P. Merriaux, P. Olivier, and J. Kelly

    Proceedings of the Conference on Robots and Vision (CRV), Montreal, Quebec, Canada, Jun. 6–8, 2023, pp. 202-207.
  • All About the Galilean Group SGal(3)

    J. Kelly

    Toronto, Ontario, Canada, Tech. Rep. STARS-2023-001, Nov. 26, 2023.
  • Recovery Policies for Safe Exploration of Lunar Permanently Shadowed Regions by a Solar-Powered Rover

    O. Lamarre, S. Malhotra, and J. Kelly

    Acta Astronautica, vol. 213, pp. 706-724, 2023.
  • Euclidean Equivariant Models for Generative Graphical Inverse Kinematics

    O. Limoyo, F. Maric, M. Giamou, P. Alexson, I. Petrovic, and J. Kelly

    Proceedings of the Robotics: Science and Systems (RSS) Workshop on Symmetries in Robot Learning, Daegu, Republic of Korea, Jul. 10, 2023.
  • Generative Graphical Inverse Kinematics

    O. Limoyo, F. Maric, M. Giamou, P. Alexson, I. Petrovic, and J. Kelly

    IEEE Transactions on Robotics, 2023.
    Submitted
  • Learning Sequential Latent Variable Models from Multimodal Time Series Data

    O. Limoyo, T. Ablett, and J. Kelly

    Intelligent Autonomous Systems 17, Cham, , 2023, pp. 511-528.
    Best Paper Finalist
  • A Geometric Approach for Generating Feasible Configurations of Robotic Manipulators

    F. Maric

    PhD Thesis , University of Toronto, Toronto, Ontario, Canada, 2023.
  • Reference-guided Controllable Inpainting of Neural Radiance Fields

    A. Mirzaei, T. Aumentado-Armstrong, M. A. Brubaker, J. Kelly, A. Levinshtein, K. G. Derpanis, and I. Gilitschenski

    Proceedings of the IEEE/CVF International Conference on Computer Vision (ICCV), Paris, France, Oct. 2–6, 2023, pp. 17769-17779.
  • SPIn-NeRF: Multiview Segmentation and Perceptual Inpainting with Neural Radiance Fields

    A. Mirzaei, T. Aumentado-Armstrong, K. G. Derpanis, J. Kelly, M. A. Brubaker, I. Gilitschenski, and A. Levinshtein

    Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), Vancouver, British Columbia, Canada, Jun. 18–22, 2023, pp. 20669-20679.
  • The Sum of Its Parts: Visual Part Segmentation for Inertial Parameter Identification of Manipulated Objects

    P. Nadeau, M. Giamou, and J. Kelly

    Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), London, United Kingdom, May 29–Jun. 2, 2023, pp. 3779-3785.
  • Cross-Modal Data Fusion for 3D Instance Segmentation of Indoor Scenes

    E. G. Ng

    Master Thesis , University of Toronto, Toronto, Ontario, Canada, 2023.
  • Spatiotemporal Calibration of 3D Millimetre-Wavelength Radar-Camera Pairs

    E. Wise, Q. Cheng, and J. Kelly

    IEEE Transactions on Robotics, vol. 39, iss. 6, pp. 4552-4566, 2023.
  • aUToLights: A Robust Multi-Camera Traffic Light Detection and Tracking System

    S. Wu, N. Amenta, J. Zhou, S. Papais, and J. Kelly

    Proceedings of the Conference on Robots and Vision (CRV), Montreal, Quebec, Canada, Jun. 6–8, 2023, pp. 89-96.
  • CIDGIKc: Distance-Geometric Inverse Kinematics for Continuum Robots

    H. J. Zhang, M. Giamou, F. Maric, J. Kelly, and J. Burgner-Kahrs

    IEEE Robotics and Automation Letters, vol. 8, iss. 11, pp. 7679-7686, 2023.

2022

  • Convex Iteration for Distance-Geometric Inverse Kinematics

    M. Giamou, F. Maric, D. M. Rosen, V. Peretroukhin, N. Roy, I. Petrovic, and J. Kelly

    IEEE Robotics and Automation Letters, vol. 7, iss. 2, pp. 1952-1959, 2022.
  • Semidefinite Relaxations for Geometric Problems in Robotics

    M. Giamou

    PhD Thesis , University of Toronto, Toronto, Ontario, Canada, 2022.
  • A Study of Observability-Aware Trajectory Optimization

    C. Grebe

    Master Thesis , University of Toronto, Toronto, Ontario, Canada, 2022.
  • Learning to Detect Slip with Barometric Tactile Sensors and a Temporal Convolutional Neural Network

    A. Grover, P. Nadeau, C. Grebe, and J. Kelly

    Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Philadelphia, Pennsylvania, USA, May 23–27, 2022, pp. 570-576.
  • A Contrastive Learning Framework for Self-Supervised Pre-Training of 3D Point Cloud Networks with Visual Data

    A. Janda

    Master Thesis , University of Toronto, Toronto, Ontario, Canada, 2022.
  • Self-Supervised Pre-Training of 3D Point Cloud Networks with Image Data

    A. Janda, B. Wagstaff, E. G. Ng, and J. Kelly

    Proceedings of the Conference on Robot Learning (CoRL) Workshop on Pre-Training Robot Learning, Auckland, New Zealand, Dec. 15, 2022.
    Dyson Best Paper Award
  • Capsule robot pose and mechanism state detection in ultrasound using attention-based hierarchical deep learning

    X. Liu, D. Esser, B. Wagstaff, A. Zavodni, N. Matsuura, J. Kelly, and E. Diller

    Scientific Reports, vol. 12, iss. 1, p. 21130, 2022.
  • Riemannian Optimization for Distance-Geometric Inverse Kinematics

    F. Maric, M. Giamou, A. W. Hall, S. Khoubyarian, I. Petrovic, and J. Kelly

    IEEE Transactions on Robotics, vol. 38, iss. 3, pp. 1703-1722, 2022.
  • LaTeRF: Label and Text Driven Object Radiance Fields

    A. Mirzaei, Y. Kant, J. Kelly, and I. Gilitschenski

    in Computer Vision — ECCV 2022: 17th European Conference, Tel Aviv, Israel, October 23–27, 2022, Proceedings, Part III , S. Avidan, G. Brostow, M. Cisse, G. M. Farinella, and T. Hassner, Eds., Cham: Springer Nature Switzerland, 2022, vol. 13663, pp. 20-36.
  • Fast Object Inertial Parameter Identification for Collaborative Robots

    P. Nadeau, M. Giamou, and J. Kelly

    Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Philadelphia, Pennsylvania, USA, May 23–27, 2022, pp. 3560-3566.
  • On the Coupling of Depth and Egomotion Networks for Self-Supervised Structure from Motion

    B. Wagstaff, V. Peretroukhin, and J. Kelly

    IEEE Robotics and Automation Letters, vol. 7, iss. 3, pp. 6766-6773, 2022.
  • Data-Driven Models for Robust Egomotion Estimation

    B. Wagstaff

    PhD Thesis , University of Toronto, Toronto, Ontario, Canada, 2022.
  • A Self-Supervised, Differentiable Kalman Filter for Uncertainty-Aware Visual-Inertial Odometry

    B. Wagstaff, E. Wise, and J. Kelly

    Proceedings of the IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), Sapporo, Japan, Jul. 11–15, 2022, pp. 1388-1395.

2021

  • Learning from Guided Play: A Scheduled Hierarchical Approach for Improving Exploration in Adversarial Imitation Learning

    T. Ablett, B. Chan, and J. Kelly

    Proceedings of the Neural Information Processing Systems (NeurIPS) Deep Reinforcement Learning Workshop, Dec. 13, 2021.
  • Seeing All the Angles: Learning Multiview Manipulation Policies for Contact-Rich Tasks from Demonstrations

    T. Ablett, Y. Zhai, and J. Kelly

    Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Prague, Czech Republic, Sep. 27–Oct. 1, 2021, pp. 7843-7850.
  • Observability-Aware Trajectory Optimization: Theory, Viability, and State of the Art

    C. Grebe, E. Wise, and J. Kelly

    Proceedings of the IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI), Karlsruhe, Germany, Sep. 23–25, 2021.
  • Learning to Detect Slip Using Barometric Tactile Sensors

    A. Grover

    Master Thesis , University of Toronto, Toronto, Ontario, Canada, 2021.
  • Under Pressure: Learning to Detect Slip with Barometric Tactile Sensors

    A. Grover, C. Grebe, P. Nadeau, and J. Kelly

    Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) RoboTac Workshop: New Advances in Tactile Sensation, Interactive Perception, Control, and Learning, Prague, Czech Republic, Sep. 27, 2021.
  • A Question of Time: Revisiting the Use of Recursive Filtering for Temporal Calibration of Multisensor Systems

    J. Kelly, C. Grebe, and M. Giamou

    Proceedings of the IEEE International Conference on Multisensor Fusion and Integration (MFI), Karlsruhe, Germany, Sep. 23–25, 2021.
    Best Paper Award 1st Runner Up
  • A Riemannian metric for geometry-aware singularity avoidance by articulated robots

    F. Maric, L. Petrovic, M. Guberina, J. Kelly, and I. Petrovic

    Robotics and Autonomous Systems, vol. 145, p. 103865, 2021.
  • Trajectory Optimization with Geometry-Aware Singularity Avoidance for Robot Motion Planning

    L. Petrovic, F. Maric, I. Markovic, J. Kelly, and I. Petrovic

    Proceedings of the 21st International Conference on Control, Automation and Systems (ICCAS), Jeju Island, Republic of Korea, Oct. 12–15, 2021.
  • Learned Camera Gain and Exposure Control for Improved Visual Feature Detection and Matching

    J. Tomasi, B. Wagstaff, S. Waslander, and J. Kelly

    IEEE Robotics and Automation Letters, vol. 6, iss. 2, pp. 2028-2035, 2021.
  • Self-Supervised Scale Recovery for Monocular Depth and Egomotion Estimation

    B. Wagstaff and J. Kelly

    Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Prague, Czech Republic, Sep. 27–Oct. 1, 2021.
  • A Continuous-Time Approach for 3D Radar-to-Camera Extrinsic Calibration

    E. Wise, J. Persic, C. Grebe, I. Petrovic, and J. Kelly

    Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Xi’an, China, May 30–Jun. 5, 2021, pp. 13164-13170.

2020

  • Fighting Failures with FIRE: Failure Identification to Reduce Expert Burden in Intervention-Based Learning

    T. Ablett, F. Maric, and J. Kelly

    Toronto, Ontario, Canada, Tech. Rep. STARS-2020-001, Aug. 10, 2020.
  • Learning Matchable Image Transformations for Long-term Visual Localization

    L. Clement, M. Gridseth, J. Tomasi, and J. Kelly

    IEEE Robotics and Automation Letters, vol. 5, iss. 2, pp. 1492-1499, 2020.
  • On Learning Models of Appearance for Robust Long-term Visual Navigation

    L. E. Clement

    PhD Thesis , University of Toronto, Toronto, Ontario, Canada, 2020.
  • The Canadian Planetary Emulation Terrain Energy-Aware Rover Navigation Dataset

    O. Lamarre, O. Limoyo, F. Maric, and J. Kelly

    The International Journal of Robotics Research, vol. 39, iss. 6, pp. 641-650, 2020.
  • Impact of Traversability Uncertainty on Global Navigation Planning in Planetary Environments

    O. Lamarre, A. B. Asghar, and J. Kelly

    Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Workshop on Planetary Exploration Robots, Las Vegas, Nevada, USA, Oct. 29, 2020.
    Moog Workshop Poster Competition First Prize
  • Heteroscedastic Uncertainty for Robust Generative Latent Dynamics

    O. Limoyo, B. Chan, F. Maric, B. Wagstaff, R. Mahmood, and J. Kelly

    IEEE Robotics and Automation Letters, vol. 5, iss. 4, pp. 6654-6661, 2020.
  • Inverse Kinematics for Serial Kinematic Chains via Sum of Squares Optimization

    F. Maric, M. Giamou, S. Khoubyarian, I. Petrovic, and J. Kelly

    Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Paris, France, May 31–Jun. 4, 2020, pp. 7101-7107.
  • Inverse Kinematics as Low-Rank Euclidean Distance Matrix Completion

    F. Maric, M. Giamou, I. Petrovic, and J. Kelly

    Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Workshop on Bringing Geometric Methods to Robot Learning, Optimization and Control, Las Vegas, Nevada, USA, Oct. 29, 2020.
    Bosch Center for Artificial Intelligence Best Workshop Contribution Award
  • Unified Spatiotemporal Calibration of Monocular Cameras and Planar Lidars

    J. Marr and J. Kelly

    in Proceedings of the 2018 International Symposium on Experimental Robotics , J. Xiao, T. Kroger, and O. Khatib, Eds., Cham: Springer International Publishing AG, 2020, vol. 11, pp. 781-790.
  • Towards a Policy-as-a-Service Framework to Enable Compliant, Trustworthy AI and HRI Systems in the Wild

    A. Morris, H. Siegel, and J. Kelly

    Proceedings of the AAAI Fall Symposium on Artificial Intelligence for Human-Robot Interaction: Trust & Explainability in Artificial Intelligence for Human-Robot Interaction (AI-HRI), Arlington, Virginia, USA, Nov. 13–14, 2020.
  • Learned Improvements to the Visual Egomotion Pipeline

    V. Peretroukhin

    PhD Thesis , University of Toronto, Toronto, Ontario, Canada, 2020.
    G. N. Patterson Award for Best Ph.D. Thesis
  • A Smooth Representation of of Belief over SO(3) for Deep Rotation Learning with Uncertainty

    V. Peretroukhin, M. Giamou, D. Rosen, N. W. Greene, N. Roy, and J. Kelly

    Proceedings of Robotics: Science and Systems (RSS), Corvallis, Oregon, USA, Jul. 12–16, 2020.
    Best Student Paper Award
  • Learned Adjustment of Camera Gain and Exposure Time for Improved Visual Feature Detection and Matching

    J. L. Tomasi

    Master Thesis , University of Toronto, Toronto, Ontario, Canada, 2020.
  • Robust Data-Driven Zero-Velocity Detection for Foot-Mounted Inertial Navigation

    B. Wagstaff, V. Peretroukhin, and J. Kelly

    IEEE Sensors Journal, vol. 20, iss. 2, pp. 957-967, 2020.
  • Self-Supervised Deep Pose Corrections for Robust Visual Odometry

    B. Wagstaff, V. Peretroukhin, and J. Kelly

    Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Paris, France, May 31–Jun. 4, 2020, pp. 2331-2337.
  • Certifiably Optimal Monocular Hand-Eye Calibration

    E. Wise, M. Giamou, S. Khoubyarian, A. Grover, and J. Kelly

    Proceedings of the IEEE International Conference on Multisensor Fusion and Integration (MFI), Karlsruhe, Germany, Sep. 14–16, 2020.

2019

  • Matchable Image Transformations for Long-term Metric Visual Localization

    L. Clement, M. Gridseth, J. Tomasi, and J. Kelly

    Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition (CVPR) Workshop on Image Matching: Local Features & Beyond, Long Beach, California, USA, Jun. 16–20, 2019.
  • Where Do We Go From Here? Debates on the Future of Robotics Research at ICRA 2019

    L. Clement, V. Peretroukhin, M. Giamou, J. Leonard, H. Kress-Gazit, J. How, M. Milford, O. Brock, R. Gariepy, A. P. Schoellig, N. Roy, H. Siegel, L. Righetti, A. Billard, and J. Kelly

    IEEE Robotics & Automation Magazine, vol. 26, iss. 3, pp. 7-10, 2019.
  • Certifiably Globally Optimal Extrinsic Calibration from Per-Sensor Egomotion

    M. Giamou, Z. Ma, V. Peretroukhin, and J. Kelly

    IEEE Robotics and Automation Letters, vol. 4, iss. 2, pp. 367-374, 2019.
  • Leveraging Robotics Education to Improve Prosperity in Developing Nations: An Early Case Study in Myanmar

    J. Kelly, H. Htet, and J. Dutra

    Proceedings of the Do Good Robotics Symposium (DGRS), College Park, Maryland, USA, Oct. 3–4, 2019.
  • Fast Manipulability Maximization Using Continuous-Time Trajectory Optimization

    F. Maric, O. Limoyo, L. Petrovic, T. Ablett, I. Petrovic, and J. Kelly

    Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Macau, China, Nov. 4–8, 2019, pp. 8258-8264.
  • An Observability Based Approach to Flight Path Reconstruction of Uninformative Coupled Aircraft Trajectories: A Case Study Considering Stall Maneuvers for Aircraft Certification

    G. Moszczynski, M. Giamou, J. Leung, J. Kelly, and P. Grant

    AIAA Science and Technology Forum and Exposition (AIAA SciTech), San Diego, California, USA, Jan. 7–11, 2019.
  • Deep Probabilistic Regression of Elements of SO(3) using Quaternion Averaging and Uncertainty Injection

    V. Peretroukhin, B. Wagstaff, and J. Kelly

    Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition (CVPR) Workshop on Uncertainty and Robustness in Deep Visual Learning, Long Beach, California, USA, Jun. 16–20, 2019, pp. 83-86.
  • The Phoenix Drone: An Open-Source Dual-Rotor Tail-Sitter Platform for Research and Education

    Y. Wu, X. Du, R. Duivenvoorden, and J. Kelly

    Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Montreal, Quebec, Canada, May 20–24, 2019, pp. 5330-5336.

2018

  • How to Train a CAT: Learning Canonical Appearance Transformations for Robust Direct Localization Under Illumination Change

    L. Clement and J. Kelly

    IEEE Robotics and Automation Letters, vol. 3, iss. 3, pp. 2447-2454, 2018.
  • Overcoming the Challenges of Solar Rover Autonomy: Enabling Long-Duration Planetary Navigation

    O. Lamarre and J. Kelly

    Proceedings of the International Symposium on Artificial Intelligence, Robotics and Automation in Space (i-SAIRAS), Madrid, Spain, Jun. 4–6, 2018.
  • Self-Calibration of Mobile Manipulator Kinematic and Sensor Extrinsic Parameters Through Contact-Based Interaction

    O. Limoyo, T. Ablett, F. Maric, L. Volpatti, and J. Kelly

    Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Brisbane, Queensland, Australia, May 21–25, 2018.
  • Manipulability Maximization Using Continuous-Time Gaussian Processes

    F. Maric, O. Limoyo, L. Petrovic, I. Petrovic, and J. Kelly

    Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Workshop Towards Robots that Exhibit Manipulation Intelligence, Madrid, Spain, Oct. 1, 2018.
  • Unified Spatiotemporal Calibration of Egomotion Sensors and 2D Lidars in Arbitrary Environments

    J. Marr

    Master Thesis , University of Toronto, Toronto, Ontario, Canada, 2018.
  • DPC-Net: Deep Pose Correction for Visual Localization

    V. Peretroukhin and J. Kelly

    IEEE Robotics and Automation Letters, vol. 3, iss. 3, pp. 2424-2431, 2018.
  • Inferring Sun Direction to Improve Visual Odometry: A Deep Learning Approach

    V. Peretroukhin, L. Clement, and J. Kelly

    The International Journal of Robotics Research, vol. 37, iss. 9, pp. 996-1016, 2018.
  • Near-Optimal Budgeted Data Exchange for Distributed Loop Closure Detection

    Y. Tian, K. Khosoussi, M. Giamou, J. Kelly, and J. How

    Proceedings of Robotics: Science and Systems (RSS), Pittsburgh, Pennsylvania, USA, Jun. 26–28, 2018.
  • Load Sharing — Obstacle Avoidance and Admittance Control on a Mobile Manipulator

    T. Ulrich

    Master Thesis , Swiss Federal Institute of Technology Zurich, Zurich, Switzerland, 2018.
  • LSTM-Based Zero-Velocity Detection for Robust Inertial Navigation

    B. Wagstaff and J. Kelly

    Proceedings of the International Conference on Indoor Positioning and Indoor Navigation (IPIN), Nantes, France, Sep. 24–27, 2018.
    Best Student Paper Runner-Up

2017

  • Cheap or Robust? The Practical Realization of Self-Driving Wheelchair Technology

    M. Burhanpurkar, M. Labbe, X. Gong, C. Guan, F. Michaud, and J. Kelly

    Proceedings of the IEEE International Conference on Rehabilitation Robotics (ICORR), London, United Kingdom, Jul. 17–20, 2017, pp. 1079-1086.
  • Improving the Accuracy of Stereo Visual Odometry Using Visual Illumination Estimation

    L. Clement, V. Peretroukhin, and J. Kelly

    in 2016 International Symposium on Experimental Robotics , D. Kulic, Y. Nakamura, O. Khatib, and G. Venture, Eds., Cham: Springer International Publishing AG, 2017, vol. 1, pp. 409-419.
  • Robust Monocular Visual Teach and Repeat Aided by Local Ground Planarity and Colour-Constant Imagery

    L. Clement, J. Kelly, and T. D. Barfoot

    Journal of Field Robotics, vol. 34, iss. 1, pp. 74-97, 2017.
  • Automatic and Featureless Sim(3) Calibration of Planar Lidars to Egomotion Sensors

    J. Lambert

    Master Thesis , University of Toronto, Toronto, Ontario, Canada, 2017.
  • From Global to Local: Maintaining Accurate Mobile Manipulator State Estimates Over Long Trajectories

    F. Maric

    Master Thesis , University of Zagreb, Zagreb, Croatia, 2017.
  • Reducing Drift in Visual Odometry by Inferring Sun Direction Using a Bayesian Convolutional Neural Network

    V. Peretroukhin, L. Clement, and J. Kelly

    Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Singapore, May 29–Jun. 3, 2017, pp. 2035-2042.
  • Editorial: Special Issue on Field and Service Robotics

    F. Pomerleau and J. Kelly

    Journal of Field Robotics, vol. 34, iss. 1, pp. 3-4, 2017.
  • Increasing Persistent Navigation Capabilities for Underwater Vehicles with Augmented Terrain-Based Navigation

    G. M. Reis, M. Fitzpatrick, J. Anderson, J. Kelly, L. Bobadilla, and R. N. Smith

    Proceedings of the MTS/IEEE Oceans Conference (OCEANS), Aberdeen, United Kingdom, Jun. 19–22, 2017.
    Best Student Paper Finalist
  • Improving Foot-Mounted Inertial Navigation Through Real-Time Motion Classification

    B. Wagstaff, V. Peretroukhin, and J. Kelly

    Proceedings of the International Conference on Indoor Positioning and Indoor Navigation (IPIN), Sapporo, Japan, Sep. 18–21, 2017.

2016

  • Monocular Visual Teach and Repeat Aided by Local Ground Planarity

    L. Clement, J. Kelly, and T. D. Barfoot

    in Field and Service Robotics: Results of the 10th International Conference , D. S. Wettergreen and T. D. Barfoot, Eds., Cham: Springer International Publishing AG, 2016, vol. 113, pp. 547-561.
  • Entropy-Based Sim(3) Calibration of 2D Lidars to Egomotion Sensors

    J. Lambert, L. Clement, M. Giamou, and J. Kelly

    Proceedings of the IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI), Baden-Baden, Germany, Sep. 19–21, 2016, pp. 455-461.
    Best Student Paper Award
  • PROBE-GK: Predictive Robust Estimation using Generalized Kernels

    V. Peretroukhin, W. Vega-Brown, N. Roy, and J. Kelly

    Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Stockholm, Sweden, May 16–21, 2016, pp. 817-824.
  • Enabling Persistent Autonomy for Underwater Gliders with Ocean Model Predictions and Terrain Based Navigation

    A. Stuntz, J. Kelly, and R. N. Smith

    Frontiers in Robotics and AI, vol. 3, iss. 23, 2016.

2015

  • The Battle for Filter Supremacy: A Comparative Study of the Multi-State Constraint Kalman Filter and the Sliding Window Filter

    L. Clement, V. Peretroukhin, J. Lambert, and J. Kelly

    Proceedings of the 12th Conference on Computer and Robot Vision (CRV), Halifax, Nova Scotia, Canada, Jun. 3–5, 2015, pp. 23-30.
  • Get to the Point: Active Covariance Scaling for Feature Tracking Through Motion Blur

    V. Peretroukhin, L. Clement, and J. Kelly

    Proceedings of the IEEE International Conference on Robotics and Automation (ICRA) Workshop on Scaling Up Active Perception, Seattle, Washington, USA, May 30, 2015.
  • PROBE: Predictive Robust Estimation for Visual-Inertial Navigation

    V. Peretroukhin, L. Clement, M. Giamou, and J. Kelly

    Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS’15), Hamburg, Germany, Sep. 28–Oct. 2, 2015, pp. 3668-3675.
  • Vision-based Collision Avoidance for Personal Aerial Vehicles using Dynamic Potential Fields

    F. Rehmatullah and J. Kelly

    Proceedings of the 12th Conference on Computer and Robot Vision (CRV), Halifax, Nova Scotia, Canada, Jun. 3–5, 2015, pp. 297-304.

2014

  • Determining the Time Delay Between Inertial and Visual Sensor Measurements

    J. Kelly, N. Roy, and G. S. Sukhatme

    IEEE Transactions on Robotics, vol. 30, iss. 6, pp. 1514-1523, 2014.
  • A General Framework for Temporal Calibration of Multiple Proprioceptive and Exteroceptive Sensors

    J. Kelly and G. S. Sukhatme

    in Experimental Robotics: The 12th International Symposium on Experimental Robotics , O. Khatib, V. Kumar, and G. S. Sukhatme, Eds., Berlin, Heidelberg: Springer, 2014, vol. 79, pp. 195-209.
  • Optimizing Camera Perspective for Stereo Visual Odometry

    V. Peretroukhin, J. Kelly, and T. D. Barfoot

    Proceedings of the Canadian Conference on Computer and Robot Vision (CRV), Montreal, Quebec, Canada, May 7–9, 2014, pp. 1-7.
  • An autonomous manipulation system based on force control and optimization

    L. Righetti, M. Kalakrishnan, P. Pastor, J. Binney, J. Kelly, R. C. Voorhies, G. S. Sukhatme, and S. Schaal

    Autonomous Robots, vol. 36, iss. 1–2, pp. 11-30, 2014.

2013

  • Editorial: Special Issue on Long-Term Autonomy

    T. Barfoot, J. Kelly, and G. Sibley

    The International Journal of Robotics Research, vol. 32, iss. 14, pp. 1609-1610, 2013.
  • Learning Task Error Models for Manipulation

    P. Pastor, M. Kalakrishnan, J. Binney, J. Kelly, L. Righetti, G. S. Sukhatme, and S. Schaal

    Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Karlsruhe, Germany, May 6–10, 2013, pp. 2612-2618.
  • An Investigation on the Accuracy of Regional Ocean Models Through Field Trials

    R. N. Smith, J. Kelly, K. Nazarzadeh, and G. S. Sukhatme

    Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Karlsruhe, Germany, May 6–10, 2013, pp. 3436-3442.
  • CELLO: A Fast Algorithm for Covariance Estimation

    W. Vega-Brown, A. Bachrach, A. Bry, J. Kelly, and N. Roy

    Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Karlsruhe, Germany, May 6–10, 2013, pp. 3160-3167.

2012

  • Taking the Long View: A Report on Two Recent Workshops on Long-Term Autonomy

    J. Kelly, G. Sibley, T. Barfoot, and P. Newman

    IEEE Robotics & Automation Magazine, vol. 19, iss. 1, pp. 109-111, 2012.
  • Towards Improving Mission Execution for Autonomous Gliders with an Ocean Model and Kalman Filter

    R. N. Smith, J. Kelly, and G. S. Sukhatme

    Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Saint Paul, Minnesota, USA, May 14–18, 2012, pp. 4870-4877.
  • Autonomous Mapping of Factory Floors Using a Quadrotor MAV

    W. Vega-Brown, J. Kelly, A. Bachrach, A. Bry, S. Prentice, and N. Roy

    Proceedings of Robotics: Science and Systems (RSS) Workshop on Integration of Perception with Control and Navigation for Resource-Limited, Highly Dynamic, Autonomous Systems, Sydney, Australia, Jul. 9–10, 2012.

2011

  • Simultaneous Mapping and Stereo Extrinsic Parameter Calibration Using GPS Measurements

    J. Kelly, L. H. Matthies, and G. S. Sukhatme

    Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Shanghai, China, May 9–13, 2011, pp. 279-286.
  • On Temporal and Spatial Calibration for High Accuracy Visual-Inertial Motion Estimation

    J. Kelly

    PhD Thesis , University of Southern California, Los Angeles, California, USA, 2011.
  • Visual-Inertial Sensor Fusion: Localization, Mapping and Sensor-to-Sensor Self-Calibration

    J. Kelly and G. S. Sukhatme

    The International Journal of Robotics Research, vol. 30, iss. 1, pp. 56-79, 2011.

2010

  • Self-Calibration of Inertial and Omnidirectional Visual Sensors for Navigation and Mapping

    J. Kelly and G. S. Sukhatme

    Proceedings of the IEEE International Conference on Robotics and Automation Workshop on Omnidirectional Robot Vision, Anchorage, Alaska, USA, May 7, 2010, pp. 1-6.
  • Towards the Improvement of Autonomous Glider Navigational Accuracy Through the Use of Regional Ocean Models

    R. N. Smith, J. Kelly, Y. Chao, B. H. Jones, and G. S. Sukhatme

    Proceedings of the ASME 29th International Conference on Ocean, Offshore and Arctic Engineering (OMAE), Shanghai, China, Jun. 6–11, 2010, pp. 597-606.

2009

  • A survey and evaluation of promising approaches for automatic image-based defect detection of bridge structures

    M. R. Jahanshahi, J. Kelly, S. F. Masri, and G. S. Sukhatme

    Structure and Infrastructure Engineering, vol. 5, iss. 6, pp. 455-486, 2009.
  • Coordinated Three-Dimensional Robotic Self-Assembly

    J. Kelly and H. Zhang

    Proceedings of the IEEE International Conference on Robotics and Biomimetics (ROBIO), Bangkok, Thailand, Feb. 21–26, 2009, pp. 172-178.
    Best Student Paper Award
  • Fast Relative Pose Calibration for Visual and Inertial Sensors

    J. Kelly and G. S. Sukhatme

    in Experimental Robotics: The Eleventh International Symposium , O. Khatib, V. Kumar, and G. J. Pappas, Eds., Berlin, Heidelberg: Springer, 2009, vol. 54, pp. 515-524.
  • Visual-Inertial Simultaneous Localization, Mapping and Sensor-to-Sensor Self-Calibration

    J. Kelly and G. S. Sukhatme

    Proceedings of the IEEE International Symposium on Computational Intelligence in Robotics and Automation (CIRA), Daejeon, Korea, Dec. 15–18, 2009, pp. 360-368.

2008

  • Algorithmic Distributed Assembly

    J. Kelly

    Master Thesis , University of Alberta, Edmonton, Alberta, Canada, 2008.
  • Combined Visual and Inertial Navigation for an Unmanned Aerial Vehicle

    J. Kelly, S. Saripalli, and G. S. Sukhatme

    in Field and Service Robotics: Results of the 6th International Conference , C. Laugier and R. Siegwart, Eds., Berlin Heidelberg: Springer, 2008, vol. 42/2008, pp. 255-264.
  • On the Observability and Self-Calibration of Visual-Inertial Navigation Systems

    J. Kelly

    Los Angeles, California, USA, Tech. Rep. CRES-08-005, November, 2008.
  • A Note on Unscented Filtering and State Propagation in Nonlinear Systems

    J. Kelly

    Los Angeles, California, USA, Tech. Rep. CRES-08-004, November, 2008.
  • Just Add Wheels: Leveraging Commodity Laptop Hardware for Robotics and AI Education

    J. Kelly, J. Binney, A. Pereira, O. Khan, and G. S. Sukhatme

    in AAAI Technical Report WS-08-02: Proceedings of the AAAI 2008 AI Education Colloquium , Z. Dodds, H. Hirsh, and K. Wagstaff, Eds., Menlo Park, California, USA: AAAI Press, 2008, pp. 50-55.

2007

  • An Experimental Study of Aerial Stereo Visual Odometry

    J. Kelly and G. S. Sukhatme

    Proceedings of the 6th IFAC Symposium on Intelligent Autonomous Vehicles (IAV), Toulouse, France, Sep. 3–5, 2007, pp. 197-202.

2006

  • A High-Level Nanomanipulation Control Framework

    D. J. Arbuckle, J. Kelly, and A. A. G. Requicha

    Proceedings of the IARP-IEEE/RAS-EURON Joint Workshop on Micro and Nanorobotics, Paris, France, Oct. 23–24, 2006.
  • Combinatorial Optimization of Sensing for Rule-Based Planar Distributed Assembly

    J. Kelly and H. Zhang

    Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Beijing, China, Oct. 9–15, 2006, pp. 3728-3734.

2003

  • Development of a Transformable Mobile Robot Composed of Homogeneous Gear-Type Units

    H. Tokashiki, H. Amagai, S. Endo, K. Yamada, and J. Kelly

    Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Las Vegas, Nevada, USA, Oct. 27–31, 2003, pp. 1602-1607.

2002

  • Learning Bayesian networks from data: An information-theory based approach

    J. Cheng, R. Greiner, J. Kelly, D. Bell, and W. Liu

    Artificial Intelligence, vol. 137, iss. 1–2, pp. 43-90, 2002.