Stergios Roumeliotis
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Electrical Engineer
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Electrical Engineering
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Engineering
Stergios Roumeliotis's Degrees
- Masters Electrical Engineering Stanford University
- PhD Electrical Engineering California Institute of Technology
Why Is Stergios Roumeliotis Influential?
(Suggest an Edit or Addition)According to Wikipedia, Stergios Roumeliotis is an engineer and adjunct professor at the Department of Computer Science and Engineering at the University of Minnesota, Minneapolis. He was named a Fellow of the Institute of Electrical and Electronics Engineers in 2016 for his contributions to visual-inertial navigation and cooperative localization.
Stergios Roumeliotis's Published Works
Number of citations in a given year to any of this author's works
Total number of citations to an author for the works they published in a given year. This highlights publication of the most important work(s) by the author
Published Works
- A Multi-State Constraint Kalman Filter for Vision-aided Inertial Navigation (2007) (1250)
- Distributed multirobot localization (2002) (716)
- Indirect Kalman Filter for 3 D Attitude Estimation (2005) (364)
- SOI-KF: Distributed Kalman Filtering With Low-Cost Communications Using the Sign of Innovations (2006) (358)
- Vision-Aided Inertial Navigation for Spacecraft Entry, Descent, and Landing (2009) (331)
- A Direct Least-Squares (DLS) method for PnP (2011) (310)
- Augmenting inertial navigation with image-based motion estimation (2002) (240)
- Performance analysis of multirobot Cooperative localization (2006) (237)
- Multi-robot SLAM with Unknown Initial Correspondence: The Robot Rendezvous Case (2006) (231)
- Distributed maximum a posteriori estimation for multi-robot cooperative localization (2009) (230)
- Weighted line fitting algorithms for mobile robot map building and efficient data representation (2003) (228)
- Robust localization using relative and absolute position estimates (1999) (221)
- Observability-based Rules for Designing Consistent EKF SLAM Estimators (2010) (215)
- Collective localization: a distributed Kalman filter approach to localization of groups of mobile robots (2000) (214)
- Consensus in Ad Hoc WSNs With Noisy Links—Part II: Distributed Estimation and Smoothing of Random Signals (2008) (212)
- Camera-IMU-based localization: Observability analysis and consistency improvement (2014) (210)
- Analysis and improvement of the consistency of extended Kalman filter based SLAM (2008) (206)
- Multirobot Active Target Tracking With Combinations of Relative Observations (2011) (206)
- A Kalman Filter-Based Algorithm for IMU-Camera Calibration: Observability Analysis and Performance Evaluation (2008) (205)
- Distributed Multi-Robot Localization (2000) (200)
- Consistency Analysis and Improvement of Vision-aided Inertial Navigation (2014) (197)
- Bayesian estimation and Kalman filtering: a unified framework for mobile robot localization (2000) (197)
- Circumventing dynamic modeling: evaluation of the error-state Kalman filter applied to mobile robot localization (1999) (179)
- Fault detection and identification in a mobile robot using multiple model estimation and neural network (2000) (161)
- Sensor fault detection and identification in a mobile robot (1998) (160)
- Vision‐aided inertial navigation for pin‐point landing using observations of mapped landmarks (2007) (160)
- Weighted range sensor matching algorithms for mobile robot displacement estimation (2002) (158)
- Stochastic cloning: a generalized framework for processing relative state measurements (2002) (157)
- Kalman Filtering in Wireless Sensor Networks (2010) (155)
- 3D LIDAR–camera intrinsic and extrinsic calibration: Identifiability and analytical least-squares-based initialization (2012) (151)
- Decentralized Quantized Kalman Filtering With Scalable Communication Cost (2008) (148)
- Decentralized multi-robot cooperative localization using covariance intersection (2013) (137)
- Path following using visual odometry for a Mars rover in high-slip environments (2004) (133)
- Robot-to-Robot Relative Pose Estimation From Range Measurements (2008) (129)
- Autonomous Stair Climbing for Tracked Vehicles (2007) (116)
- Propagation of Uncertainty in Cooperative Multirobot Localization: Analysis and Experimental Results (2004) (110)
- Optimal sensor scheduling for resource-constrained localization of mobile robot formations (2006) (108)
- Fault detection and identification in a mobile robot using multiple-model estimation (1998) (103)
- A Square Root Inverse Filter for Efficient Vision-aided Inertial Navigation on Mobile Devices (2015) (94)
- Set-Membership Constrained Particle Filter: Distributed Adaptation for Sensor Networks (2011) (92)
- Observability-based consistent EKF estimators for multi-robot cooperative localization (2011) (91)
- VINS on wheels (2017) (91)
- Optimal estimation of vanishing points in a Manhattan world (2011) (90)
- Slip-compensated path following for planetary exploration rovers (2006) (89)
- State estimation of an autonomous helicopter using Kalman filtering (1999) (88)
- A First-Estimates Jacobian EKF for Improving SLAM Consistency (2009) (86)
- Smoother based 3D attitude estimation for mobile robot localization (1999) (86)
- Two Efficient Solutions for Visual Odometry Using Directional Correspondence (2012) (85)
- Optimal Motion Strategies for Range-Only Constrained Multisensor Target Tracking (2008) (84)
- An Efficient Algebraic Solution to the Perspective-Three-Point Problem (2017) (81)
- Globally optimal pose estimation from line correspondences (2011) (79)
- On the Consistency of Vision-Aided Inertial Navigation (2012) (77)
- A Quadratic-Complexity Observability-Constrained Unscented Kalman Filter for SLAM (2013) (76)
- Cooperative multi-robot localization under communication constraints (2009) (76)
- Towards Consistent Vision-Aided Inertial Navigation (2012) (75)
- Multi-sensor, high speed autonomous stair climbing (2002) (69)
- SC-KF Mobile Robot Localization: A Stochastic Cloning Kalman Filter for Processing Relative-State Measurements (2007) (68)
- Algorithms and sensors for small robot path following (2002) (68)
- A dual-layer estimator architecture for long-term localization (2008) (67)
- An observability-constrained sliding window filter for SLAM (2011) (63)
- Extended Kalman filter for frequent local and infrequent global sensor data fusion (1997) (62)
- A Laser-Aided Inertial Navigation System (L-INS) for human localization in unknown indoor environments (2010) (61)
- C-KLAM: Constrained keyframe-based localization and mapping (2014) (61)
- Interrobot Transformations in 3-D (2010) (59)
- Design and Analysis of a Portable Indoor Localization Aid for the Visually Impaired (2010) (59)
- Analysis of multirobot localization uncertainty propagation (2003) (58)
- SEGMENTS: a layered, dual-Kalman filter algorithm for indoor feature extraction (2000) (58)
- An Indoor Localization Aid for the Visually Impaired (2007) (57)
- On the complexity and consistency of UKF-based SLAM (2009) (55)
- A comparative analysis of tightly-coupled monocular, binocular, and stereo VINS (2017) (55)
- Observability-constrained Vision-aided Inertial Navigation (2012) (54)
- Descending-stair detection, approach, and traversal with an autonomous tracked vehicle (2010) (52)
- A General Approach to Terrain Relative Navigation for Planetary Landing (2007) (51)
- Efficient Visual-Inertial Navigation using a Rolling-Shutter Camera with Inaccurate Timestamps (2014) (50)
- Slip compensation for a Mars rover (2005) (49)
- Adaptive Sensing for Instantaneous Gas Release Parameter Estimation (2005) (49)
- Synergetic localization for groups of mobile robots (2000) (49)
- Mirror-Based Extrinsic Camera Calibration (2008) (49)
- 1|A Kalman filter-based algorithm for IMU-camera calibration (2007) (48)
- Efficient and consistent vision-aided inertial navigation using line observations (2013) (47)
- Robust mobile robot localization: from single-robot uncertainties to multi-robot interdependencies (2000) (45)
- IMU-RGBD camera 3D pose estimation and extrinsic calibration: Observability analysis and consistency improvement (2013) (44)
- Predicting the Performance of Cooperative Simultaneous Localization and Mapping (C-SLAM) (2006) (44)
- Vision-Aided Inertial Navigation for Precise Planetary Landing: Analysis and Experiments (2007) (44)
- Recursive decentralized localization for multi-robot systems with asynchronous pairwise communication (2018) (42)
- The Jet Propulsion Laboratory Autonomous Helicopter Testbed: A platform for planetary exploration technology research and development (2006) (40)
- Lasso-Kalman smoother for tracking sparse signals (2009) (39)
- Detecting and dealing with hovering maneuvers in vision-aided inertial navigation systems (2013) (37)
- Performance Bounds for Cooperative Simultaneous Localization and Mapping (C-SLAM) (2005) (36)
- A Multi-Objective Exploration Strategy for Mobile Robots Under Operational Constraints (2013) (36)
- Recursive Decentralized Collaborative Localization for Sparsely Communicating Robots (2016) (35)
- On the treatment of relative-pose measurements for mobile robot localization (2006) (34)
- Asynchronous Multi-Centralized Cooperative Localization (2010) (33)
- An analytical least-squares solution to the odometer-camera extrinsic calibration problem (2012) (33)
- On the Performance of Multi-robot Target Tracking (2007) (32)
- On the global optimum of planar, range-based robot-to-robot relative pose estimation (2010) (32)
- Optimal Formations for Cooperative Localization of Mobile Robots (2005) (31)
- 3D relative pose estimation from distance-only measurements (2007) (31)
- On the consistency of multi-robot cooperative localization (2009) (30)
- Consistent map-based 3D localization on mobile devices (2016) (28)
- Power-SLAM: a linear-complexity, anytime algorithm for SLAM (2011) (28)
- Particle filter adaptation for distributed sensors via set membership (2010) (28)
- Multi Robot Trajectory Generation for Single Source Explosion Parameter Estimation (2005) (28)
- Coupled Vision and Inertial Navigation for Pin-Point Landing * (2007) (27)
- Cooperative vision-aided inertial navigation using overlapping views (2012) (27)
- IEEE International Conference on Intelligent Robots and Systems (2011) (26)
- Determining 3-D Relative Transformations for Any Combination of Range and Bearing Measurements (2013) (25)
- Optimal Sensing Strategies for Mobile Robot Formations: Resource-Constrained Localization (2005) (25)
- Large-scale cooperative 3D visual-inertial mapping in a Manhattan world (2016) (25)
- A hybrid estimation framework for Cooperative Localization under communication constraints (2011) (25)
- Analysis of positioning uncertainty in reconfigurable networks of heterogeneous mobile robots (2004) (24)
- Analysis of positioning uncertainty in simultaneous localization and mapping (SLAM) (2004) (24)
- Exploiting Urban Scenes for Vision-aided Inertial Navigation (2013) (24)
- Determining the camera to robot-body transformation from planar mirror reflections (2008) (23)
- Vision-aided inertial navigation for pin-point landing using observations of mapped landmarks: Research Articles (2007) (23)
- Deep Depth Estimation from Visual-Inertial SLAM (2020) (22)
- Appearance-based minimalistic metric SLAM (2003) (22)
- An analytical least-squares solution to the line scan LIDAR-camera extrinsic calibration problem (2013) (21)
- A unified framework for nearby and distant landmarks in bearing-only SLAM (2006) (21)
- Active vision-based robot localization and navigation in a visual memory (2011) (21)
- 3D relative pose estimation from six distances (2009) (21)
- A Bank of Maximum A Posteriori (MAP) Estimators for Target Tracking (2015) (20)
- Sensors and algorithms for small robot leader/follower behavior (2001) (20)
- A 3D pose estimator for the visually impaired (2009) (20)
- Surface Normal Estimation of Tilted Images via Spatial Rectifier (2020) (20)
- Ant-inspired navigation in unknown environments (2000) (19)
- IMU-RGBD camera navigation using point and plane features (2013) (18)
- Anytime Optimal Distributed Kalman Filtering and Smoothing (2007) (18)
- Optimal motion strategies for range-only distributed target tracking (2006) (18)
- Unobservable Directions of VINS Under Special Motions (2016) (18)
- A communication-bandwidth-aware hybrid estimation framework for multi-robot cooperative localization (2013) (17)
- 3 D Lidar-Camera Intrinsic and Extrinsic Calibration : Observability Analysis and Analytical Least Squares-based Initialization (2011) (17)
- High-speed autonomous quadrotor navigation through visual and inertial paths (2018) (17)
- Extrinsic Camera Calibration Using Multiple Reflections (2010) (15)
- Resource-Aware Large-Scale Cooperative Three-Dimensional Mapping Using Multiple Mobile Devices (2018) (15)
- Distributed Kalman filtering based on quantized innovations (2008) (14)
- Architecture for asymmetric collaborative navigation (2012) (14)
- Determining the robot-to-robot 3D relative pose using combinations of range and bearing measurements (Part II) (2011) (14)
- Multi-robot active target tracking with distance and bearing observations (2009) (13)
- Observability analysis of a vision-aided inertial navigation system using planar features on the ground (2013) (13)
- Power-SLAM: A linear-complexity, consistent algorithm for SLAM (2007) (13)
- Characterization and optimization of the accuracy of mobile robot localization (2008) (12)
- Consistency analysis and improvement for single-camera localization (2012) (12)
- A reconfigurable computing platform for plume tracking with mobile sensor networks (2006) (12)
- Determining the Robot-to-Robot Relative Pose Using Range-only Measurements (2007) (12)
- Immersive Sound Rendering Using Laser-Based Tracking (2000) (12)
- 3-D Localization for a Mars Rover Prototype (1999) (12)
- Determining the robot-to-robot 3D relative pose using combinations of range and bearing measurements: 14 minimal problems and closed-form solutions to three of them (2010) (12)
- Appearance-based mapping using minimalistic sensor models (2008) (11)
- "Small-World" Networks of Mobile Robots (2000) (11)
- Distributed Iteratively Quantized Kalman Filtering for Wireless Sensor Networks (2007) (10)
- A Visual-Inertial Approach to Human Gait Estimation (2018) (10)
- IMU-Camera Calibration: Observability Analysis (2007) (9)
- Deep Multi-view Depth Estimation with Predicted Uncertainty (2020) (9)
- Alternating-Stereo VINS: Observability Analysis and Performance Evaluation (2018) (9)
- An iterative Kalman smoother for robust 3D localization on mobile and wearable devices (2015) (9)
- On filter consistency of discrete-time nonlinear systems with partial-state measurements (2013) (9)
- Analytically-selected multi-hypothesis incremental MAP estimation (2013) (8)
- A bank of maximum a posteriori estimators for single-sensor range-only target tracking (2010) (8)
- An Observability Constrained UKF for Improving SLAM Consistency (2008) (8)
- A comparison of maximum likelihood methods for appearance-based minimalistic SLAM (2004) (8)
- Analytical Characterization of the Accuracy of SLAM without Absolute Orientation Measurements (2006) (8)
- Globally Optimal Pose Estimation from Line-Plane Correspondences (2010) (7)
- Analytically-guided-sampling particle filter applied to range-only target tracking (2013) (7)
- Decentralized Visual-Inertial Localization and Mapping on Mobile Devices for Augmented Reality (2019) (7)
- Optimized motion strategies for localization in leader-follower formations (2011) (7)
- Autonomous Flights Through Image-Defined Paths (2015) (7)
- The JPL Autonomous Helicopter Testbed : A Platform for Planetary Exploration Technology Research and Development (2006) (6)
- Bearing-only target tracking using a bank of MAP estimators (2011) (6)
- Camera to Robot-body Calibration Using Planar Mirror Reflections (2008) (6)
- A sparsity-aware QR decomposition algorithm for efficient cooperative localization (2012) (6)
- Hybrid Estimation Framework for Multi-robot Cooperative Localization using Quantized Measurements (2011) (6)
- IMU-RGBD Camera Extrinsic Calibration: Observability Analysis and Consistency Improvement (2012) (6)
- C-KLAM : Constrained Keyframe Localization and Mapping for Long-Term Navigation (2013) (6)
- A Resource-aware Vision-aided Inertial Navigation System for Wearable and Portable Computers (2014) (5)
- Determining the Robot-to-Robot Relative Pose Using Range and/or Bearing Measurements (2010) (5)
- Appearance-based mapping using minimalistic sensor models (2008) (5)
- Multi-Centralized Cooperative Localization under Asynchronous Communication (2010) (4)
- Analysis of Positioning Uncertainty in Cooperative Localization and Target Tracking ( CLATT ) (2005) (4)
- Analytical Expressions for Positioning Uncertainty Propagation in Networks of Robots (2003) (4)
- Generalized Analysis and Improvement of the Consistency of EKF-based SLAM (2008) (3)
- Extrinsic and intrinsic sensor calibration (2013) (3)
- A generic framework for scalable and convergent multi-robot active simultaneous localization, mapping and target tracking (2011) (3)
- Bearing-only Tracking Using Bank of MAP Estimators (2010) (3)
- On the VINS Resource-Allocation Problem for a Dual-Camera, Small-Size Quadrotor (2016) (3)
- Distributed MAP estimation algorithm for cooperative localization (2008) (3)
- RISE-SLAM: A Resource-aware Inverse Schmidt Estimator for SLAM (2019) (2)
- Attitude Tracking from a Camera and an Accelerometer on Gyro-Less Devices (2019) (2)
- Analytical Least-Squares Solution for 3D Lidar-Camera Calibration (2011) (2)
- Fault Detection and Identi cation in a Mobile Robot Using Multiple Model Estimation and Neural Network (2000) (1)
- An Iterative Kalman Smoother for Robust 3D Localization and Mapping (2015) (1)
- Hybrid maximum a posteriori estimation under communication constraints (2013) (1)
- Structure From Motion With Directional Correspondence for Visual Odometry (2011) (1)
- Efficient Alignment of Visual-Inertial Maps (2018) (1)
- A Practical Guide to Direct Least-Squares (DLS) PnP (2011) (1)
- A Bank of Maximum A Posteriori Estimation Algorithm for Single-Sensor Range-only Target Tracking (2009) (1)
- CDI-Type II : Cyber Enhancement of Spatial Cognition for the Visually Impaired (2008) (0)
- Path Following with Slip Compensation for a Mars Rover (2005) (0)
- High-Speed Autonomous Quadrotor Navigation through Image Paths (2015) (0)
- Slice-based Path Planning 3 the Slice-based Path Planning Algorithm 33 5 Conclusions and Future Work 74 Bibliography 77 Vi List of Tables List of Figures (1998) (0)
- Vice President, Conference Activities (2008) (0)
- Guest Editorial (2004) (0)
- Resource-Aware Large-Scale Cooperative 3 D Mapping using Multiple Mobile Devices (2018) (0)
- Session 8: Localization and Mapping (2009) (0)
- Fault Detection and Identi cation in a Mobile Robot Using MultipleModel Estimation and Neural (2000) (0)
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