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2026

Quadruped Obstacle Avoidance and Footstep Planning with Distributed Low-cost Time-of-Flight Sensors. Giammarco Caroleo, Timothée Mahamoodally, Matteo Manzardo, Jin Jin, Marco Pontin, Matias Mattamala, Renato Vidoni, Perla Maiolino, Maurice Fallon, IEEE Robotics and Automation Letters (RAL), 2026.
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Visual localization in 3D maps: comparing point cloud, mesh, and NeRF representations. Lintong Zhang, Yifu Tao, Jiarong Lin, Fu Zhang, Maurice Fallon, Autonomous Robotics, 2026.
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2025

SafeMove: Multi-Model Navigation for Fail-Resistant Autonomous Nuclear Material Transport. David Marquez-Gamez, Matt Harrison, Christian Pilon, Robert Marwood, Samuel Stephens, Michal Staniaszek, Tobit Flatscher, Chris Prahacs, Nick Hawes, Maurice Fallon, Waste Management Conference, 2025.
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SiLVR: Scalable Lidar-Visual Radiance Field Reconstruction With Uncertainty Quantification. Yifu Tao, Maurice Fallon, IEEE Transactions on Robotics, 2025.
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AutoInspect: Toward Long-Term Autonomous Inspection and Monitoring. Michal Staniaszek, Tobit Flatscher, Joseph Rowell, Hanlin Niu, Wenxing Liu, Yang You, Matthew Gadd, Matias Mattamala, Alex Schutz, Daniele Martini, Luke Pitt, Robert Skilton, Maurice Fallon, Nick Hawes, IEEE Transactions on Field Robotics, 2025.
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Building Forest Inventories With Autonomous Legged Robots—System, Lessons, and Challenges Ahead. Matías Mattamala, Nived Chebrolu, Jonas Frey, Leonard Freißmuth, Haedam Oh, Benoit Casseau, Marco Hutter, Maurice Fallon, IEEE Transactions on Field Robotics, 2025.
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Boxi: Design Decisions in the Context of Algorithmic Performance for Robotics. Jonas Frey, Turcan Tuna, Lanke Fu, Cedric Weibel, Katharine Patterson, Benjamin Krummenacher, Matthias Müller, Julian Nubert, Maurice Fallon, Cesar Cadena, Marco Hutter, Robotics: Science and Systems, 2025.
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Exosense: A Vision-Centric Scene Understanding System For Safe Exoskeleton Navigation. Jianeng Wang, Matias Mattamala, Christina Kassab, Lintong Zhang, Maurice Fallon, , 2025.
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Seeing in the Dark: Benchmarking Egocentric 3D Vision with the Oxford Day-and-Night Dataset. Zirui Wang, Wenjing Bian, Xinghui Li, Yifu Tao, Jianeng Wang, Maurice Fallon, Victor Prisacariu, Conference on Neural Information Processing Systems (NeurIPS, 2025.
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OpenLex3D: A Tiered Evaluation Benchmark for Open-Vocabulary 3D Scene Representations. Christina Kassab, Sacha Morin, Martin Büchner, Matías Mattamala, Kumaraditya Gupta, Abhinav Valada, Liam Paull, Maurice Fallon, Conference on Neural Information Processing Systems (NeurIPS, 2025.
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PlanarMesh: Building Compact 3D Meshes from LiDAR using Incremental Adaptive Resolution Reconstruction. Jiahao Wang, Nived Chebrolu, Yifu Tao, Lintong Zhang, Ayoung Kim, Maurice Fallon, IEEE/RSJ International Conference on Intelligent Robots and Systems, 2025.
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The Oxford Spires Dataset: Benchmarking large-scale LiDAR-visual localisation, reconstruction and radiance field methods. Yifu Tao, Miguel Muñoz-Bañón, Lintong Zhang, Jiahao Wang, Lanke Fu, Maurice Fallon, The International Journal of Robotics Research, 2025.
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ImLPR: Image-based LiDAR Place Recognition using Vision Foundation Models. Minwoo Jung, Lanke Fu, Maurice Fallon, Ayoung Kim, Conference on Robot Learning, 2025.
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DigiForest: Digital Analytics and Robotics for Sustainable Forestry. Marco Camurri, Enrico Tomelleri, Matias Mattamala, Sebastian Laina, Martin Jacquet, Jens Behley, Sunni Kushwaha, Fang Nan, Nived Chebrolu, Leonard Freißmuth, Marvin Harms, Meher Malladi, Fan Yang, Jonas Frey, Cesar Cadena, Marco Hutter, Janine Schweier, Kostas Alexis, Cyrill Stachniss, Maurice Fallon, Stefan Leutenegger, Recent Advances in Robotic Perception for Forestry, 2025.
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LiDAR SLAM. Jens Behley, Maurice Fallon, Shibo Zhao, Giseop Kim, Ji Zhang, Fu Zhang, Ayoung Kim, The SLAM Handbook: From Localization and Mapping to Spatial Intelligence, 2025.
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Perceptive Locomotion Through Whole-Body MPC and Optimal Region Selection. Thomas Corbères, Carlos Mastalli, Wolfgang Merkt, Jaehyun Shim, Ioannis Havoutis, Maurice Fallon, Nicolas Mansard, Thomas Flayols, Sethu Vijayakumar, Steve Tonneau, IEEE Access, 2025.
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Wild Visual Navigation: Fast Traversability Learning via Pre-Trained Models and Online Self-Supervision. Matias Mattamala, Jonas Frey, Piotr Libera, Nived Chebrolu, Georg Martius, Cesar Cadena, Marco Hutter, Maurice Fallon, Autonomous Robots, 2025.
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Sapling-NeRF: Geo-Localised Sapling Reconstruction in Forests for Ecological Monitoring. Miguel Muñoz-Bañón, Nived Chebrolu, Sruthi Moorthy, Yifu Tao, Fernando Torres, Roberto Salguero-Gómez, Maurice Fallon, ArXiv preprint, 2025.
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2024

Osprey: Multi-Session Autonomous Aerial Mapping with LiDAR-based SLAM and Next Best View Planning. Rowan Border, Nived Chebrolu, Yifu Tao, Jonathan Gammell, Maurice Fallon, IEEE Transactions on Field Robotics, 2024.
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3D Bone Surface Image Reconstruction from Freehand Ultrasound using Visual-Inertial Odometry and Deep Inertial Odometry. Russell Buchanan, S. Tu, Marco Camurri, Stephen Mellon, Maurice Fallon, IEEE Symposium on Medical Measurements and Applications, 2024.
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IMU-based Online Multi-lidar Calibration. Sandipan Das, Bengt Boberg, Maurice Fallon, Saikat Chatterjee, IEEE Intelligent Vehicles Symposium, 2024.
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Evaluation and Deployment of LiDAR-based Place Recognition in Dense Forests. Haedam Oh, Nived Chebrolu, Matias Mattamala, Leonard Freissmuth, Maurice Fallon, IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS), 2024.
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Online Tree Reconstruction and Forest Inventory on a Mobile Robotic System. Leonard Freissmuth, Matias Mattamala, Nived Chebrolu, Simon Schaefer, Stefan Leutenegger, Maurice Fallon, IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS), 2024.
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Markerless Aerial-Terrestrial Co-Registration of Forest Point Cloudsusing a Deformable Pose Graph. Benoit Casseau, Nived Chebrolu, Matias Mattamala, Leonard Freissmuth, Maurice Fallon, IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS), 2024.
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SiLVR: Scalable Lidar-Visual Reconstruction with Neural Radiance Fields for Robotic Inspection. Yifu Tao, Yash Bhalgat, Lanke Fu, Matias Mattamala, Nived Chebrolu, Maurice Fallon, IEEE Intl. Conf. on Robotics and Automation (ICRA), 2024.
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LiSTA: Geometric Object-Based Change Detection in Cluttered Environments. Joseph Rowell, Lintong Zhang, Maurice Fallon, IEEE Intl. Conf. on Robotics and Automation (ICRA), 2024.
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Tree Instance Segmentation and Traits Estimation for Forestry Environments Exploiting LiDAR Data Collected by Mobile Robots. Meher Malladi, Tiziano Guadagnino, Luca Lobefaro, Matias Mattamala, Holger Griess, Janine Schweier, Nived Chebrolu, Maurice Fallon, Jens Behley, Cyrill Stachniss, IEEE Intl. Conf. on Robotics and Automation (ICRA), 2024.
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Language-EXtended Indoor SLAM (LEXIS): A Versatile System for Real-time Visual Scene Understanding. Christina Kassab, Matias Mattamala, Lintong Zhang, Maurice Fallon, IEEE Intl. Conf. on Robotics and Automation (ICRA), 2024.
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Team Cerberus wins the DARPA Subterranean Challenge: Technical overview and lessons learned. Marco Tranzatto, Mihir Dharmadhikari, Lukas Bernreiter, Marco Camurri, Shehryar Khattak, Frank Mascarich, Patrick Pfreundschuh, David Wisth, Samuel Zimmermann, Mihir Kulkarni, Victor Reijgwart, Benoit Casseau, Timon Homberger, Paolo Petris, Lionel Ott, Wayne Tubby, Gabriel Waibel, Huan Nguyen, Cesar Cadena, Russell Buchanan, Lorenz Wellhausen, Nikhil Khedekar, Olov Andersson, Lintong Zhang, Takahiro Miki, Tung Dang, Matias Mattamala, Markus Montenegro, Konrad Meyer, Xiangyu Wu, Adrien Briod, Mark Mueller, Maurice Fallon, Roland Siegwart, Marco Hutter, Kostas Alexis, Field Robotics Journal, 2024.
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The Bare Necessities: Designing Simple, Effective Open-Vocabulary Scene Graphs. Christina Kassab, Matías Mattamala, Sacha Morin, Martin Büchner, Abhinav Valada, Liam Paull, Maurice Fallon, , 2024.
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2023

InstaLoc: One-shot Global Lidar Localisation in Indoor Environments through Instance Learning. Lintong Zhang, Tejaswi Digumarti, Georgi Tinchev, Maurice Fallon, Robotics: Science and Systems (RSS), 2023.
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Fast Traversability Estimation for Wild Visual Navigation. Jonas Frey, Matias Mattamala, Nived Chebrolu, Cesar Cadena, Maurice Fallon, Marco Hutter, Robotics: Science and Systems (RSS), 2023.
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Hilti-Oxford Dataset: A Millimetre-Accurate Benchmark for Simultaneous Localization and Mapping. Lintong Zhang, Michael Helmberger, Lanke Fu, David Wisth, Marco Camurri, Davide Scaramuzza, Maurice Fallon, IEEE Robotics and Automation Letters, 2023.
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Observability-aware online multi-lidar extrinsic calibration. Sandipan Das, Ludvig Klinteberg, Maurice Fallon, Saikat Chatterjee, IEEE Robotics and Automation Letters, 2023.
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Deep IMU Bias Inference for Robust Visual-Inertial Odometry with Factor Graphs. Russell Buchanan, Varun Agrawal, Marco Camurri, Frank Dellaert, Maurice Fallon, IEEE Robotics and Automation Letters, 2023.
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M-LIO: Multi-lidar, multi-IMU odometry with sensor dropout tolerance. Sandipan Das, Navid Mahabadi, Maurice Fallon, Saikat Chatterjee, IEEE Intelligent Vehicles Symposium, 2023.
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Extrinsic Calibration of Camera to LIDAR using a Differentiable Checkerboard Model. Lanke Fu, Nived Chebrolu, Maurice Fallon, IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS), 2023.
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Autonomous Aerial Mapping for Construction. Rowan Border, Nived Chebrolu, Maurice Fallon, Jonathan Gammell, ICRA Workshop on Construction Robotics, 2023.
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Factor Graph Fusion of Raw GNSS Sensing with IMU and Lidar for Precise Robot Localization without a Base Station. Jonas Beuchert, Marco Camurri, Maurice Fallon, IEEE Intl. Conf. on Robotics and Automation (ICRA), 2023.
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Batch Differentiable Pose Refinement for In-The-Wild Camera/LiDAR Extrinsic Calibration. Lanke Fu, Maurice Fallon, Conf. on Robot Learning, 2023.
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2022

VILENS: Visual, Inertial, Lidar, and Leg Odometry for All-Terrain Legged Robots. David Wisth, Marco Camurri, Maurice Fallon, IEEE Trans. Robotics, 2022.
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RLOC: Terrain-Aware Legged Locomotion using Reinforcement Learning and Optimal Control. Siddhant Gangapurwala, Mathieu Geisert, Romeo Orsolino, Maurice Fallon, Ioannis Havoutis, IEEE Transactions on Robotics, 2022.
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Strategies for Large Scale Elastic and Semantic LiDAR Reconstruction. Yiduo Wang, Milad Ramezani, Matias Mattamala, Sundara Digumarti, Maurice Fallon, J. of Robotics and Autonomous Systems, 2022.
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Towards Real-Time Forest Inventory using Handheld LiDAR. Alexander Proudman, Milad Ramezani, Sundara Digumarti, Nived Chebrolu, Maurice Fallon, J. of Robotics and Autonomous Systems, 2022.
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Balancing the Budget: Feature Selection and Tracking for Multi-Camera Visual-Inertial Odometry. Lintong Zhang, David Wisth, Marco Camurri, Maurice Fallon, IEEE Robotics and Automation Letters, 2022.
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An Efficient Locally Reactive Controller for Safe Navigation in Visual Teach and Repeat Missions. Matias Mattamala, Nived Chebrolu, Maurice Fallon, IEEE Robotics and Automation Letters, 2022.
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3D Lidar Reconstruction with Probabilistic Depth Completion for Robotic Navigation. Yifu Tao, Marija Popovic, Yiduo Wang, Sundara Digumarti, Nived Chebrolu, Maurice Fallon, IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS), 2022.
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Unsupervised Learning of Terrain Representations for Haptic Monte Carlo Localization. Mikołaj Łysakowski, Michał Nowicki, Russell Buchanan, Marco Camurri, Maurice Fallon, Krzysztof Walas, IEEE Intl. Conf. on Robotics and Automation (ICRA), 2022.
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Extrinsic Calibration and Verification of Multiple Non-overlapping Field of View Lidar Sensors. Sandipan Das, Navid Mahabadi, Addi Djikic, Cesar Nassir, Saikat Chatterjee, Maurice Fallon, IEEE Intl. Conf. on Robotics and Automation (ICRA), 2022.
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AEROS: AdaptivE RObust Least-Squares for Graph-Based SLAM. Milad Ramezani, Matias Mattamala, Maurice Fallon, Frontiers in Robotics and AI, 2022.
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CERBERUS: Autonomous Legged and Aerial Robotic Exploration in the Tunnel and Urban Circuits of the DARPA Subterranean Challenge. Marco Tranzatto, Frank Mascarich, Lukas Bernreiter, Carolina Godinho, Marco Camurri, Shehryar Khattak, Tung Dang, Victor Reijgwart, Johannes Loeje, David Wisth, Samuel Zimmermann, Huan Nguyen, Marius Fehr, Lukas Solanka, Russell Buchanan, Marko Bjelonic, Nikhil Khedekar, Mathieu Valceschini, Fabian Jenelten, Mihir Dharmadhikari, Timon Homberger, Paolo Petris, Lorenz Wellhausen, Mihir Kulkarni, Takahiro Miki, Satchel Hirsch, Markus Montenegro, Christos Papachristos, Fabian Tresoldi, Jan Carius, Giorgio Valsecchi, Joonho Lee, Konrad Meyer, Xiangyu Wu, Juan Nieto, Andy Smith, Marco Hutter, Roland Siegwart, Mark Mueller, Maurice Fallon, Kostas Alexis, Field Robotics Journal, 2022.
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2021

Unified Multi-Modal Landmark Tracking for Tightly Coupled Lidar-Visual-Inertial Odometry. David Wisth, Marco Camurri, Sandipan Das, Maurice Fallon, IEEE Robotics and Automation Letters, 2021.
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SKD: Keypoint Detection for Point Clouds using Saliency Estimation. Georgi Tinchev, Adrian Penate-Sanchez, Maurice Fallon, IEEE Robotics and Automation Letters, 2021.
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Rapid Stability Margin Estimation for Contact-Rich Locomotion. Romeo Orsolino, Siddhant Gangapurwala, Oliwier Melon, Mathieu Geisert, Ioannis Havoutis, Maurice Fallon, IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS), 2021.
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Elastic and Efficient LiDAR Reconstruction for Large-Scale Exploration Tasks. Yiduo Wang, Nils Funk, Milad Ramezani, Sotiris Papatheodorou, Marija Popovic, Marco Camurri, Stefan Leutenegger, Maurice Fallon, IEEE Intl. Conf. on Robotics and Automation (ICRA), 2021.
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Receding-Horizon Perceptive Trajectory Optimization for Dynamic Legged Locomotion with Learned Initialization. Oliwier Melon, Romeo Orsolino, David Surovik, Mathieu Geisert, Ioannis Havoutis, Maurice Fallon, IEEE Intl. Conf. on Robotics and Automation (ICRA), 2021.
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Learning Camera Performance Models for Active Multi-Camera Visual Teach and Repeat. Matias Mattamala, Milad Ramezani, Marco Camurri, Maurice Fallon, IEEE Intl. Conf. on Robotics and Automation (ICRA), 2021.
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Real-Time Trajectory Adaptation for Quadrupedal Locomotion using Deep Reinforcement Learning. Siddhant Gangapurwala, Mathieu Geisert, Romeo Orsolino, Maurice Fallon, Ioannis Havoutis, IEEE Intl. Conf. on Robotics and Automation (ICRA), 2021.
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ICP Localization and Walking Experiments on a TALOS Humanoid Robot. T. Lasguignes, I. Maroger, M. Fallon, M. Ramezani, L. Marchionni, O. Stasse, N. Mansard, IEEE Intl. Conf. on Advanced Robotics (ICAR), 2021.
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Scalable and Elastic LiDAR Reconstruction in Complex Environments Through Spatial Analysis. Yiduo Wang, Milad Ramezani, Matias Mattamala, Maurice Fallon, European Conference on Mobile Robotics (ECMR), 2021.
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Online Estimation of Diameter at Breast Height (DBH) of Forest Trees Using a Handheld LiDAR. Alexander Proudman, Milad Ramezani, Maurice Fallon, European Conference on Mobile Robotics (ECMR), 2021.
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Learning Inertial Odometry for Dynamic Legged Robot State Estimation. Russell Buchanan, Marco Camurri, Frank Dellaert, Maurice Fallon, Conf. on Robot Learning, 2021.
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Navigating by Touch: Haptic Monte Carlo Localization via Geometric Sensing and Terrain Classification. Russell Buchanan, Jakub Bednarek, Marco Camurri, Michał Nowicki, Krzysztof Walas, Maurice Fallon, Autonomous Robots, 2021.
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Multi-Camera LiDAR Inertial Extension to the Newer College Dataset. Lintong Zhang, Marco Camurri, Maurice Fallon, , 2021.
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2020

Legged Robots For Autonomous Inspection And Monitoring Of Offshore Assets. Milad Ramezani, Martim Brandao, Benoit Casseau, Ioannis Havoutis, Maurice Fallon, Offshore Technology Conference, 2020.
DOI  

Towards Autonomous Inspection of Concrete Deterioration in Sewers with Legged Robots. Hendrik Kolvenback, David Wisth, Russell Buchanan, Giorgio Valsecchi, Ruben Grandia, Maurice Fallon, Marco Hutter, Journal of Field Robotics, 2020.
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The Newer College Dataset: Handheld LiDAR, Inertial and Vision with Ground Truth. Milad Ramezani, Yiduo Wang, Marco Camurri, David Wisth, Matias Mattamala, Maurice Fallon, IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS), 2020.
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Haptic Sequential Monte Carlo Localization for Quadrupedal Locomotion in Vision-Denied Scenarios. Russell Buchanan, Marco Camurri, Maurice Fallon, IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS), 2020.
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Preintegrated Velocity Bias Estimation to Overcome Contact Nonlinearities in Legged Robot Odometry. David Wisth, Marco Camurri, Maurice Fallon, IEEE Intl. Conf. on Robotics and Automation (ICRA), 2020.
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Actively Mapping Industrial Structures with Information Gain-Based Planning on a Quadruped Robot. Yiduo Wang, Milad Ramezani, Maurice Fallon, IEEE Intl. Conf. on Robotics and Automation (ICRA), 2020.
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Online LiDAR-SLAM for Legged Robots with Robust Registration and Deep-Learned Loop Closure. Milad Ramezani, Georgi Tinchev, Egor Iuganov, Maurice Fallon, IEEE Robotics and Automation Letters, 2020.
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Reliable Trajectories for Dynamic Quadrupeds using Analytical Costs and Learned Initializations. Oliwier Melon, Mathieu Geisert, David Surovik, Ioannis Havoutis, Maurice Fallon, IEEE Intl. Conf. on Robotics and Automation (ICRA), 2020.
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Pronto: a Multi-Sensor State Estimator for Legged Robots in Real World Scenarios. Marco Camurri, Milad Ramezani, Simona Nobili, Maurice Fallon, Frontiers in Robotics and AI, 2020.
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Learning an Expert Skill-Space for Replanning Dynamic Quadruped Locomotion over Obstacles. David Surovik, Oliwier Melon, Mathieu Geisert, Maurice Fallon, Ioannis Havoutis, Conf. on Robot Learning, 2020.
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2019

Robust Legged Robot State Estimation Using Factor Graph Optimization. David Wisth, Marco Camurri, Maurice Fallon, IEEE Robotics and Automation Letters, 2019.
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Learning to See the Wood for the Trees: Deep Laser Localization in Urban and Natural Environments on a CPU. Georgi Tinchev, Adrian Penate-Sanchez, Maurice Fallon, IEEE Robotics and Automation Letters, 2019.
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Multi-controller multi-objective locomotion planning for legged robots. Martim Brandao, Maurice Fallon, Ioannis Havoutis, IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS), 2019.
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Learning Driven Coarse-to-Fine Articulated Robot Tracking. Christian Rauch, Vladimir Ivan, Timothy Hospedales, Jamie Shotton, Maurice Fallon, IEEE Intl. Conf. on Robotics and Automation (ICRA), 2019.
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2018

Seeing the Wood for the Trees: Reliable Localization in Urban and Natural Environments. Georgi Tinchev, Simona Nobili, Maurice Fallon, IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS), 2018.
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Accurate and robust localization for walking robots fusing kinematics, inertial, vision and LIDAR. Maurice Fallon, Interface Focus, 2018.
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StaticFusion: Background Reconstruction for Dense RGB-D SLAM in Dynamic Environments. Raluca Scona, Mariano Jaimez, Yvan Petillot, Maurice Fallon, Daniel Cremers, IEEE Intl. Conf. on Robotics and Automation (ICRA), 2018.
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Visual Articulated Tracking in the Presence of Occlusions. Christian Rauch, Timothy Hospedales, Jamie Shotton, Maurice Fallon, IEEE Intl. Conf. on Robotics and Automation (ICRA), 2018.
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Predicting Alignment Risk to Prevent Localization Failure. Simona Nobili, Georgi Tinchev, Maurice Fallon, IEEE Intl. Conf. on Robotics and Automation (ICRA), 2018.
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Director: A User Interface Designed for Robot Operation With Shared Autonomy. Pat Marion, Maurice Fallon, Robin Deits, Andres Valenzuela, Claudia D’Arpino, Greg Izatt, Lucas Manuelli, Matt Antone, Hongkai Dai, Twan Koolen, John Carter, Scott Kuindersma, Russ Tedrake, The DARPA Robotics Challenge Finals: Humanoid Robots To The Rescue, 2018.
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2017

Heterogeneous Sensor Fusion for Accurate State Estimation of Dynamic Legged Robots. Simona Nobili, Marco Camurri, Victor Barasuol, Michele Focchi, Darwin Caldwell, Claudio Semini, Maurice Fallon, Robotics: Science and Systems (RSS), 2017.
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Probabilistic Contact Estimation and Impact Detection for State Estimation of Quadruped Robots. Marco Camurri, Maurice Fallon, Stephane Bazeille, Andreea Radulescu, Victor Barasuol, Darwin Caldwell, Claudio Semini, IEEE Robotics and Automation Letters, 2017.
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Director: A User Interface Designed for Robot Operation With Shared Autonomy. Pat Marion, Maurice Fallon, Robin Deits, Andres Valenzuela, Claudia D’Arpino, Greg Izatt, Lucas Manuelli, Matt Antone, Hongkai Dai, Twan Koolen, John Carter, Scott Kuindersma, Russ Tedrake, J. of Field Robotics, 2017.
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Direct Visual SLAM Fusing Proprioception for a Humanoid Robot. Raluca Scona, Simona Nobili, Yvan Petillot, Maurice Fallon, IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS), 2017.
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Overlap-based ICP Tuning for Robust Localization of a Humanoid Robot. Simona Nobili, Raluca Scona, Marco Caravagna, Maurice Fallon, IEEE Intl. Conf. on Robotics and Automation (ICRA), 2017.
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Robust Shared Autonomy for Mobile Manipulation with Continuous Scene Monitoring. Wolfgang Merkt, Yiming Yang, Theodoros Stouraitis, Christopher Mower, Maurice Fallon, Sethu Vijayakumar, IEEE Intl. Conf. on Automation Science and Engineering (CASE), 2017.
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2016

iDRM: Humanoid Motion Planning with Real-time End-pose Selection in Complex Environments. Yiming Yang, Vladimir Ivan, Zhibin Li, Maurice Fallon, Sethu Vijayakumar, IEEE/RSJ Int. Conf. on Humanoid Robots, 2016.
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Sensor fusion and State estimation of the robot. Francesco Nori, Silvio Traversaro, Maurice Fallon, Humanoid Robotics: a Reference, 2016.
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2015

An Architecture for Online Affordance-based Perception and Whole-body Planning. Maurice Fallon, Scott Kuindersma, Sisir Karumanchi, Matthew Antone, Toby Schneider, Hongkai Dai, Claudia D’Arpino, Robin Deits, Matt DiCicco, Dehann Fourie, Twan Koolen, Pat Marion, Michael Posa, Andres Valenzuela, Kuan-Ting Yu, Julie Shah, Karl Iagnemma, Russ Tedrake, Seth Teller, J. of Field Robotics, 2015.
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Real-time Large Scale Dense RGB-D SLAM with Volumetric Fusion. Thomas Whelan, Michael Kaess, Hordur Johannsson, Maurice Fallon, John Leonard, John McDonald, Intl. J. of Robotics Research, 2015.
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Continuous Humanoid Locomotion over Uneven Terrain using Stereo Fusion. Maurice Fallon, Pat Marion, Robin Deits, Thomas Whelan, Matthew Antone, John McDonald, Russ Tedrake, IEEE/RSJ Int. Conf. on Humanoid Robots, 2015.
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Optimization-based locomotion planning, estimation, and control design for the Atlas humanoid robot. Scott Kuindersma, Robin Deits, Maurice Fallon, Andres Valenzuela, Hongkai Dai, Frank Permenter, Twan Koolen, Pat Marion, Russ Tedrake, Autonomous Robots, 2015.
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2014

3D mapping, localisation and object retrieval using low cost robotic platforms: A robotic search engine for the real-world. Thomas Whelan, Michael Kaess, Ross Finman, Maurice Fallon, Hordur Johannsson, John Leonard, John McDonald, RSS Workshop on RGB-D: Advanced Reasoning with Depth Cameras, 2014.
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A Summary of Team MIT’s Approach to the Virtual Robotics Challenge. R. Tedrake, M. Fallon, S. Karumanchi, S. Kuindersma, M. Antone, T. Schneider, T. Howard, M. Walter, H. Dai, R. Deits, M. Fleder, D. Fourie, R. Hammoud, S. Hemachandra, P. Ilardi, C. Perez-D’Arpino, S. Pillai, A. Valenzuela, C. Cantu, C. Dolan, I. Evans, S. Jorgensen, J. Kristeller, J. Shah, K. Iagnemma, S. Teller, IEEE Intl. Conf. on Robotics and Automation (ICRA), 2014.
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Drift-Free Humanoid State Estimation fusing Kinematic, Inertial and LIDAR sensing. Maurice Fallon, Matthew Antone, Nicholas Roy, Seth Teller, IEEE/RSJ Int. Conf. on Humanoid Robots, 2014.
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Mapping Complex Marine Environments with Autonomous Surface Craft. Jacques Leedekerken, Maurice Fallon, John Leonard, Experimental Robotics, 2014.
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2013

Relocating Underwater Features Autonomously Using Sonar-Based SLAM. Maurice Fallon, John Folkesson, Hunter McClelland, John Leonard, Journal of Oceanic Engineering, 2013.
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The MIT Stata Center Dataset. Maurice Fallon, Hordur Johannsson, Michael Kaess, John Leonard, Intl. J. of Robotics Research, IJRR, 2013.
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Temporally Scalable Visual SLAM using a Reduced Pose Graph. Hordur Johannsson, Michael Kaess, Maurice Fallon, John Leonard, IEEE Intl. Conf. on Robotics and Automation (ICRA), 2013.
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Spatially Prioritized and Persistent Text Detection and Decoding. Hsueh-Cheng Wang, Yafim Landa, Maurice Fallon, Seth Teller, International Workshop on Camera-Based Document Analysis and Recognition (CBDAR), 2013.
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2012

Simultaneous Localization and Mapping in Marine Environments. Maurice Fallon, Hordur Johannsson, Michael Kaess, John Folkesson, Hunter McClelland, Brendan Englot, Franz Hover, John Leonard, Marine Robot Autonomy, 2012.
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Kintinuous: Spatially Extended KinectFusion. Thomas Whelan, John McDonald, Michael Kaess, Maurice Fallon, Hordur Johannsson, John Leonard, Computer Science and Artificial Intelligence Laboratory, MIT, 2012.
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Temporally Scalable Visual SLAM using a Reduced Pose Graph. Hordur Johannsson, Michael Kaess, Maurice Fallon, John Leonard, CSAIL, MIT, 2012.

Acoustic Source Localisation and Tracking of a Time-Varying Number of Speakers. Maurice Fallon, Simon Godsill, IEEE Trans. on Audio, Speech, and Language Processing, 2012.
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Sensor Fusion for Flexible Human-Portable Building-Scale Mapping. Maurice Fallon, Hordur Johannsson, Jonathon Brookshire, Seth Teller, John Leonard, IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS), 2012.
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Efficient Scene Simulation for Robust Monte Carlo Localization using an RGB-D Camera. Maurice Fallon, Hordur Johannsson, John Leonard, IEEE Intl. Conf. on Robotics and Automation (ICRA), 2012.
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2011

Robust 3D Monte Carlo Localization using an RGB-D Camera and a Semantic Building Model. Maurice Fallon, Hordur Johannsson, John Leonard, IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS), 2011.
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Efficient AUV Navigation Fusing Acoustic Ranging and Side-scan Sonar. Maurice Fallon, Michael Kaess, Hordur Johannsson, John Leonard, IEEE Intl. Conf. on Robotics and Automation (ICRA), 2011.
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2010

Acoustic Source Localisation and Tracking using Track Before Detect. Maurice Fallon, Simon Godsill, IEEE Trans. on Audio, Speech, and Language Processing, 2010.
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Mapping Complex Marine Environments with Autonomous Surface Craft. Jacques Leedekerken, Maurice Fallon, John Leonard, Intl. Sym. on Experimental Robotics (ISER), 2010.
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Cooperative Localization of Marine Vehicles using Nonlinear State Estimation. Georgios Papadopoulos, Maurice Fallon, John Leonard, Nicholas Patrikalakis, IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS), 2010.
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Cooperative AUV Navigation using a Single Maneuvering Surface Craft. Maurice Fallon, Georgios Papadopoulos, John Leonard, Nicholas Patrikalakis, Intl. J. of Robotics Research, 2010.
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A Measurement Distribution Framework for Cooperative Navigation using multiple AUVs. Maurice Fallon, Georgios Papadopoulos, John Leonard, IEEE Intl. Conf. on Robotics and Automation (ICRA), 2010.
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Cooperative AUV Navigation using a single surface craft. Maurice Fallon, Georgios Papadopoulos, John Leonard, Field and Service Robotics, 2010.
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2009

Cooperative Localization for Autonomous Underwater Vehicles. Alexander Bahr, John Leonard, Maurice Fallon, Intl. J. of Robotics Research, 2009.
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Cooperative AUV Navigation using a Single Surface Craft. Maurice Fallon, Georgios Papadopoulos, John Leonard, Field and Service Robotics (FSR), 2009.
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2008

Acoustic Source Tracking using Sequential Monte Carlo. Maurice Fallon, University of Cambridge, 2008.
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Multi Target Acoustic Source Tracking with an unknown and time varying number of targets. Maurice Fallon, Simon Godsill, Joint Workshop on Hands-free Speech Communication and Microphone Arrays (HSCMA), 2008.
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2007

Multi-Target Acoustic Source Tracking Using Track Before Detect. Maurice Fallon, Simon Godsill, Workshop on Applications of Signal Processing to Audio and Acoustics (WASPAA), 2007.
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2006

Joint Acoustic Source Location and Orientation Estimation Using Sequential Monte Carlo. Maurice Fallon, Simon Godsill, Andrew Blake, International Conference on Digital Audio Effects (DAFx), 2006.
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2004

The Gini Index of Speech. Scott Rickard, Maurice Fallon, Conference on Information Sciences and Systems, 2004.
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