T. Whelan, R.F. Salas-Moreno, B. Glocker, A.J. Davison and S. Leutenegger.
ElasticFusion: Real-Time Dense SLAM and Light Source Estimation
International Journal of Robotics Research RSS ’15 Special Issue, 2016.
Publications
Continuous Humanoid Locomotion Over Uneven Terrain Using Stereo Fusion
Best Oral Paper Award.
M. Fallon, P. Marion, R. Deits, T. Whelan, M. Antone, J.B. McDonald and R. Tedrake.
IEEE-RAS International Conference on Humanoid Robots, Seoul, South Korea, November 2015.
ElasticFusion: Dense SLAM Without A Pose Graph
T. Whelan, S. Leutenegger, R. F. Salas-Moreno, B. Glocker and A. J. Davison.
Robotics: Science and Systems (RSS), Rome, Italy, July 2015.
3D Mapping, Localisation and Object Retrieval using Low Cost Robotic Platforms: A Robotic Search Engine for the Real-world
T. Whelan, M. Kaess, R. Finman, M.F. Fallon, H. Johannsson, J.J. Leonard and J.B. McDonald.
RSS Workshop on RGB-D: Advanced Reasoning with Depth Cameras, Berkeley, USA, July 2014.
Incremental and Batch Planar Simplification of Dense Point Cloud Maps
T. Whelan, L. Ma, E. Bondarev, P. H. N. de With and J.B. McDonald.
Robotics and Autonomous Systems ECMR ’13 Special Issue, 2014.
Real-time Large Scale Dense RGB-D SLAM with Volumetric Fusion
T. Whelan, M. Kaess, H. Johannsson, M.F. Fallon, J. J. Leonard and J.B. McDonald.
International Journal of Robotics Research Special Issue on Robot Vision, 2014.
Physical Words for Place Recognition in Dense RGB-D Maps
R. Finman, T. Whelan, L. Paull and J.J. Leonard.
ICRA Workshop on Visual Place Recognition in Changing Environments, Hong Kong, June 2014.
A Benchmark for RGB-D Visual Odometry, 3D Reconstruction and SLAM
A. Handa, T. Whelan, J.B. McDonald and A.J. Davison.
IEEE Intl. Conf. on Robotics and Automation, ICRA, Hong Kong, China, May 2014.
Efficient Incremental Map Segmentation in Dense RGB-D Maps
R. Finman, T. Whelan, M. Kaess and J.J. Leonard.
IEEE Intl. Conf. on Robotics and Automation, ICRA, Hong Kong, China, May 2014.
Deformation-based Loop Closure for Large Scale Dense RGB-D SLAM
T. Whelan, M. Kaess, J.J. Leonard, and J.B. McDonald.
IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems, IROS, Tokyo, Japan, November 2013.
Toward Lifelong Object Segmentation from Change Detection in Dense RGB-D Maps
R. Finman, T. Whelan, M. Kaess, and J.J. Leonard.
European Conference on Mobile Robotics, ECMR, Barcelona, September 2013.
Planar Simplification and Texturing of Dense Point Cloud Maps
L. Ma, T. Whelan, E. Bondarev, P. H. N. de With, and J.B. McDonald.
European Conference on Mobile Robotics, ECMR, Barcelona, September 2013.
Robust Real-Time Visual Odometry for Dense RGB-D Mapping
T. Whelan, H. Johannsson, M. Kaess, J.J. Leonard, and J.B. McDonald.
IEEE Intl. Conf. on Robotics and Automation, ICRA, Karlsruhe, May 2013.
Kintinuous: Spatially Extended KinectFusion
T. Whelan, M. Kaess, M.F. Fallon, H. Johannsson, J. J. Leonard and J.B. McDonald.
RSS Workshop on RGB-D: Advanced Reasoning with Depth Cameras, Sydney, July 2012.
Efficient Localization for Robot Soccer Using Pattern Matching
T. Whelan, S. Stuedli, J.B. McDonald, and R.H. Middleton.
1st Intl. ISoLA Workshop on Software Aspects of Robotic Systems, Vienna, October 2011.
Line point registration: A technique for enhancing robot localization in a soccer environment
T. Whelan, S. Stuedli, J.B. McDonald, and R.H. Middleton.
Proc. RoboCup Symposium, Istanbul, July 2011.
Teaching discrete structures: a systematic review of the literature
T. Whelan, S. Bergin, and J.F. Power.
42nd SIGCSE Technical Symposium on Computer Science Education, Texas, March 2011.