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Michael Kaess

Assistant Research Professor
Field Robotics Center (FRC)
Robotics Institute (RI)
School of Computer Science (SCS)
Carnegie Mellon University (CMU)

NSH 1617
5000 Forbes Ave
Pittsburgh, PA 15213-3890
Phone: (412)268-6905
Email: kaess@cmu.edu

I am interested in mobile robot autonomy. One of the first problems encountered when robots operate outside controlled factory and research environments is the need to perceive their surroundings. My research focuses on efficient inference at the connection of linear algebra and probabilistic graphical models for 3D mapping and localization.

I have previously been a Research Scientist and a Postdoctoral Associate at the Massachusetts Institute of Technology (MIT), in John Leonard's Marine Robotics Lab. In 2008 I have received my PhD in Computer Science from the Georgia Institute of Technology, advised by Frank Dellaert.

Curriculum Vitae (CV)

News

Selected Publications   [All Publications...]

“RISE: An Incremental Trust-Region Method for Robust Online Sparse Least-Squares Estimation” by D.M. Rosen, M. Kaess, and J.J. Leonard. IEEE Trans. on Robotics, TRO, 2014. To appear. Details. Download: PDF.

“Deformation-based Loop Closure for Large Scale Dense RGB-D SLAM” by T. Whelan, M. Kaess, J.J. Leonard, and J.B. McDonald. In IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems, IROS, (Tokyo, Japan), Nov 2013. Details. Download: PDF.

“Temporally Scalable Visual SLAM using a Reduced Pose Graph” by H. Johannsson, M. Kaess, M.F. Fallon, and J.J. Leonard. In IEEE Intl. Conf. on Robotics and Automation, ICRA, (Karlsruhe, Germany), May 2013. Best student paper finalist (one of five). Details. Download: PDF.

“Advanced Perception, Navigation and Planning for Autonomous In-Water Ship Hull Inspection” by F.S. Hover, R.M. Eustice, A. Kim, B.J. Englot, H. Johannsson, M. Kaess, and J.J. Leonard. Intl. J. of Robotics Research, IJRR, vol. 31, no. 12, Oct. 2012, pp. 1445-1464. Details. Download: PDF.

“iSAM2: Incremental Smoothing and Mapping Using the Bayes Tree” by M. Kaess, H. Johannsson, R. Roberts, V. Ila, J.J. Leonard, and F. Dellaert. Intl. J. of Robotics Research, IJRR, vol. 31, Feb. 2012, pp. 217-236. Details. Download: PDF.

“Multiple Relative Pose Graphs for Robust Cooperative Mapping” by B. Kim, M. Kaess, L. Fletcher, J.J. Leonard, A. Bachrach, N. Roy, and S. Teller. In IEEE Intl. Conf. on Robotics and Automation, ICRA, (Anchorage, Alaska), May 2010, pp. 3185-3192. Details. Download: PDF.

“Covariance Recovery from a Square Root Information Matrix for Data Association” by M. Kaess and F. Dellaert. Journal of Robotics and Autonomous Systems, vol. 57, Dec. 2009, pp. 1198-1210. Details. Download: PDF.

“iSAM: Incremental Smoothing and Mapping” by M. Kaess, A. Ranganathan, and F. Dellaert. IEEE Trans. on Robotics, vol. 24, no. 6, Dec. 2008, pp. 1365-1378. Details. Download: PDF.

“Square Root SAM: Simultaneous Localization and Mapping via Square Root Information Smoothing” by F. Dellaert and M. Kaess. Intl. J. of Robotics Research, vol. 25, no. 12, Dec. 2006, pp. 1181-1204. Details. Download: PDF.

Last updated: August 14, 2014