Journal papers
14. P. Deng, Q. Zhu, A. Davare, A.I. Mourikis, X. Liu, M. Di Natale:
"An Efficient Control-driven Period Optimization Algorithm for Distributed Real-time Systems,"
IEEE Transactions on Computers,
in print, 2016.
[pdf, bibtex]
13. M. Li, A.I. Mourikis:
"Vision-aided Inertial Navigation with Rolling-Shutter Cameras,"
International Journal of Robotics Research,
33(11), pp. 1490-1507, 2014.
[pdf preprint,
publisher site,
bibtex,
Videos]
12. M. Li, A.I. Mourikis:
"Online Temporal Calibration for Camera-IMU Systems: Theory and Algorithms,"
International Journal of Robotics Research,
33(7), pp. 947-964, 2014.
[pdf preprint,
publisher site,
bibtex]
11. G. Huang, A.I. Mourikis, S.I. Roumeliotis:
"A Quadratic-Complexity Observability-Constrained Unscented Kalman Filter for SLAM,"
IEEE Transactions on Robotics,
29(5), pp. 1226-1243, 2013.
[pdf preprint,
publisher site,
bibtex]
10. M. Li, A.I. Mourikis:
"High-Precision, Consistent EKF-based Visual-Inertial Odometry,"
International Journal of Robotics Research,
32(6), pp. 690-711, 2013.
[pdf preprint,
publisher site,
bibtex]
9. N. Trawny, G. Huang, A.I. Mourikis, S.I. Roumeliotis:
"Observability-based Consistent EKF Estimators for Multi-robot Cooperative Localization,"
Autonomous Robots,
30(1), pp. 99-122, 2011.
[pdf preprint,
publisher site,
bibtex]
8. G. Huang, A.I. Mourikis, S.I. Roumeliotis:
"Observability-based Rules for Designing Consistent EKF SLAM Estimators,"
International Journal of Robotics Research,
29(5), pp. 502-528, 2010.
[pdf preprint,
publisher site,
bibtex]
7. A.I. Mourikis, N. Trawny, S.I. Roumeliotis, A. Johnson, A. Ansar, L. Matthies: "Vision-Aided Inertial Navigation for Spacecraft Entry, Descent, and Landing," IEEE Transactions on Robotics, 25(2), pp. 264-280, 2009.
[2009 IEEE Transactions on Robotics Best Paper Award]
6. A.I. Mourikis, S.I. Roumeliotis, J.W. Burdick:
"SC-KF Mobile Robot Localization: A Stochastic Cloning-Kalman Filter for Processing Relative-State Measurements,"
IEEE Transactions on Robotics,
23(4), pp. 717-730, 2007.
[pdf,
bibtex]
5. A.I. Mourikis, N. Trawny, S.I. Roumeliotis, D.M. Helmick, L. Matthies:
"Autonomous Stair Climbing for Tracked Vehicles," Joint issue of the
International Journal of Computer Vision and the International Journal of Robotics Research,
26(7), pp.737-758, 2007.
[pdf,
bibtex]
4. N. Trawny, A.I. Mourikis, S.I. Roumeliotis, A.E. Johnson, J. Montgomery:
"Vision-Aided Inertial Navigation for Pin-Point Landing using Observations of Mapped Landmarks,"
Journal of Field Robotics,
24(5), pp. 357-378, 2007.
[pdf,
bibtex]
3. A.I. Mourikis, S.I. Roumeliotis:
"Predicting the Performance of Cooperative Simultaneous Localization and Mapping (C-SLAM),"
International Journal of Robotics Research,
25(12), pp. 1273-1286, 2006.
[pdf,
bibtex]
2. A.I. Mourikis, S.I. Roumeliotis:
"Optimal Sensor Scheduling for Resource-Constrained Localization of Mobile Robot Formations,"
IEEE Transactions on Robotics,
22(5), pp. 917-931, 2006.
[pdf,
bibtex]
1. A.I. Mourikis, S.I. Roumeliotis:
"Performance Analysis of Multirobot Cooperative Localization,"
IEEE Transactions on Robotics,
22(4), pp. 666-681, 2006.
[pdf,
bibtex]
Conference papers
39. H. Yu, A.I. Mourikis:
"Edge-based Visual-Inertial Odometry,"
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS),
Vancouver, BC, September 2017 (to appear).
[pdf,
bibtex]
38. X. Zheng, Z. Moratto, M. Li, A.I. Mourikis:
"Photometric Patch-Based Visual-Inertial Odometry,"
Proceedings of the IEEE International Conference on Robotics and Automation (ICRA),
Singapore, May 29-June 3, 2017.
[pdf,
bibtex]
37. S. Zhang, A.I. Mourikis:
"Distributed Estimation for Sensor Networks with Arbitrary Topologies,"
Proceedings of the American Control Conference (ACC),
Boston, MA, July 2016, pp. 7048-7054.
[pdf,
bibtex]
36. H. Yu, A.I. Mourikis:
"Vision-aided inertial navigation with line features and a rolling-shutter camera,"
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS),
Hamburg, Germany, October 2015, pp. 892-899.
[pdf,
bibtex]
35. X. Zheng, M. Li, A.I. Mourikis:
"Decoupled Representation of the Error and Trajectory Estimates for Efficient Pose Estimation,"
Proceedings of the Robotics: Science and Systems Conference,
Rome, Italy, June 2015.
[pdf,
bibtex]
34. M. Li, A.I. Mourikis:
"A Convex Formulation for Motion Estimation using Visual and Inertial Sensors,"
Proceedings of the Workshop on Multi-view Geometry in Robotics, held in conjunction with the Robotics: Science and Systems conference,
Berkeley, CA, June 13, 2014.
[pdf,
bibtex]
33. M. Li, H. Yu, X. Zheng, A.I. Mourikis: "High-fidelity Sensor Modeling and Self-Calibration in Vision-aided Inertial Navigation," Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Hong Kong, May 31-June 7 2014, pp. 409-416.
[Best Vision paper award finalist]
32. M. Li, B.H. Kim, A.I. Mourikis:
"Real-time Motion Tracking on a Cellphone using Inertial Sensing and a Rolling-Shutter Camera,"
Proceedings of the IEEE International Conference on Robotics and Automation (ICRA),
Karlsruhe, Germany, May 6-10 2013, pp. 4697-4704.
[pdf,
bibtex]
31. M. Li, A.I. Mourikis:
"3-D Motion Estimation and Online Temporal Calibration for Camera-IMU Systems,"
Proceedings of the IEEE International Conference on Robotics and Automation (ICRA),
Karlsruhe, Germany, May 6-10 2013, pp. 5689-5696.
[pdf,
bibtex]
30. T.C Dong-Si, A.I. Mourikis:
"Initialization in Vision-aided Inertial Navigation with Unknown Camera-IMU Calibration,"
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS),
Vilamoura, Portugal, October 7-12 2012, pp. 1064-1071.
[pdf,
bibtex]
29. M. Li, A.I. Mourikis:
"Vision-aided Inertial Navigation for Resource-Constrained Systems,"
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS),
Vilamoura, Portugal, October 7-12, pp. 1057-1063.
[pdf,
bibtex]
28. M. Li, A.I. Mourikis:
"Optimization-based Estimator Design for Vision-aided Inertial Navigation,"
Proceedings of the Robotics: Science and Systems Conference,
Sydney, Australia, July 9-13 2012.
[pdf,
bibtex,
supplemental material]
27. M. Li, A.I. Mourikis:
"Improving the Accuracy of EKF-Based Visual-Inertial Odometry,"
Proceedings of the IEEE International Conference on Robotics and Automation (ICRA),
Minneapolis, MN, May 14-18 2012, pp. 828-835.
[pdf,
bibtex]
26. T.C Dong-Si, A.I. Mourikis:
"Consistency Analysis for Sliding-Window Visual Odometry,"
Proceedings of the IEEE International Conference on Robotics and Automation (ICRA),
Minneapolis, MN, May 14-18 2012, pp. 5202-5209.
[pdf,
bibtex]
25. G.P. Huang, A.I. Mourikis, S.I. Roumeliotis:
"An Observability-Constrained Sliding-Window Filter for SLAM,"
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS),
San Francisco, CA, Sept. 23-25 2011, pp. 65-72.
[pdf,
bibtex]
24. T.C Dong-Si, A.I. Mourikis:
"Motion Tracking with Fixed-Lag Smoothing: Algorithm and Consistency Analysis,"
Proceedings of the IEEE International Conference on Robotics and Automation (ICRA),
Shanghai, China, May 9-13 2011, pp. 5655-5662.
[pdf,
bibtex]
23. T. Yap, M. Li, A.I. Mourikis, C.R. Shelton:
"A Particle Filter for Monocular Vision-aided Odometry,"
Proceedings of the IEEE International Conference on Robotics and Automation (ICRA),
Shanghai, China, May 9-13 2011, pp. 5663-5669.
[pdf,
bibtex]
22. J.A. Hesch, A.I. Mourikis, S.I. Roumeliotis:
"Extrinsic Camera Calibration using Multiple Mirror Reflections,"
Proceedings of the European Conference on Computer Vision (ECCV),
Hersonnissos, Greece, September 5-11, 2010.
[pdf,
bibtex]
21. S. Yang, B. Bhanu, A.I. Mourikis:
"Error Model for Scene Reconstruction from Motion and Stereo,"
Proceedings of the Workshop on Three Dimensional Information Extraction for Video Analysis and Mining, held in conjunction with CVPR,
San Francisco, CA, June 14, 2010.
[pdf,
bibtex]
20. G. Huang, N. Trawny, A.I. Mourikis, S.I. Roumeliotis: "On the Consistency of Multi-robot Cooperative Localization," Proceedings of the Robotics: Science and Systems Conference, Seattle, WA, June 28-July 1, 2009.
[Best paper award finalist]
19. G. Huang, A.I. Mourikis, S.I. Roumeliotis:
"On the Complexity and Consistency of UKF-based SLAM,"
Proceedings of the IEEE International Conference on Robotics and Automation (ICRA),
Kobe, Japan, May 12-17 2009, pp. 4401-4408.
[pdf,
bibtex]
18. J.A. Hesch, A.I. Mourikis, S.I. Roumeliotis:
"Mirror-Based Extrinsic Camera Calibration,"
Proceedings of the Workshop on the Algorithmic Foundations of Robotics (WAFR),
Guanajuato, Mexico, December 7-9 2008.
[pdf,
bibtex]
17. J.A. Hesch, A.I. Mourikis, S.I. Roumeliotis:
"Determining the Camera to Robot-body Transformation from Planar Mirror Reflections,"
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS),
Nice, France, September 22-26 2008, pp. 3865-3871.
[pdf,
bibtex]
16. G. Huang, A.I. Mourikis, S.I. Roumeliotis:
"A First-Estimates Jacobian EKF for Improving SLAM consistency,"
Proceedings of the International Symposium on Experimental Robotics (ISER),
Athens, Greece, July 14-17 2008.
[pdf,
bibtex]
15. A.I. Mourikis, S.I. Roumeliotis:
"A Dual-layer Estimator Architecture for Long-term Localization,"
Proceedings of the Workshop on Visual Localization for Mobile Platforms, held in conjunction with the IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR),
Anchorage, AL, June 28 2008 (oral presentation)
[pdf,
bibtex]
14. G. Huang, A.I. Mourikis, S.I. Roumeliotis:
"Analysis and Improvement of the Consistency of Extended Kalman Filter-Based SLAM,"
Proceedings of the IEEE International Conference on Robotics and Automation (ICRA),
Pasadena, CA, May 19-23, 2008, pp. 473-479.
[pdf,
bibtex]
13. A.I. Mourikis, N. Trawny, S.I. Roumeliotis, A.E. Johnson, L.H. Matthies:
"Vision-Aided Inertial Navigation for Precise Planetary Landing: Analysis and Experiments,"
Proceedings of the Robotics: Science and Systems Conference,
Atlanta, GA, June 26-30 2007, pp. 158-165.
[pdf,
bibtex]
12. N. Trawny, A.I. Mourikis, S.I. Roumeliotis, A. Johnson, J. Montgomery, A. Ansar, and L. Matthies:
"Coupled Vision and Inertial Navigation for Pin-Point Landing,"
Proceedings of the NASA Science Technology Conference (NSTC’07),
College Park, MD, June 19-21, 2007.
[pdf,
bibtex]
11. A.E. Johnson, A. Ansar, L.H. Matthies, N. Trawny, A.I. Mourikis, S.I. Roumeliotis:
"A General Approach to Terrain-Relative Navigation for Planetary Landing,"
Proceedings of the AIAA Infotech@Aerospace Conference,
Rohnert Park, CA, May 7-10 2007, AIAA 2007-2854.
[pdf,
bibtex]
10. A.I. Mourikis, S.I. Roumeliotis:
"A Multi-state Constraint Kalman Filter for Vision-Aided Inertial Navigation,"
Proceedings of the IEEE International Conference on Robotics and Automation (ICRA),
Rome, Italy, April 10-14 2007, pp. 3565-3572.
[pdf,
bibtex,
videos]
9. F.M. Mirzaei, A.I. Mourikis, S.I. Roumeliotis:
"On the Performance of Multi-robot Target Tracking,"
Proceedings of the IEEE International Conference on Robotics and Automation (ICRA),
Rome, Italy, April 10-14 2007, pp. 3482-3489.
[pdf,
bibtex]
8. A.I. Mourikis, S.I. Roumeliotis:
"Analytical Characterization of the Accuracy of SLAM without Absolute Orientation Measurements,"
Proceedings of the Robotics: Science and Systems Conference,
Philadelphia, PA, Aug. 16-19, 2006, pp. 215-222.
[pdf,
bibtex]
7. A.I. Mourikis, S.I. Roumeliotis:
"On the Treatment of Relative-Pose Measurements for Mobile Robot Localization,"
Proceedings of the IEEE International Conference on Robotics and Automation (ICRA),
Orlando, FL, May 15-19 2006, pp. 2277-2284.
[pdf,
bibtex]
6. A.I. Mourikis, S.I. Roumeliotis:
"Performance Bounds for Cooperative Simultaneous Localization and Mapping (C-SLAM),"
Proceedings of the Robotics: Science and Systems Conference,
Boston, MA, June 8-11, 2005, pp. 73-80.
[pdf,
bibtex]
5. A.I. Mourikis, S.I. Roumeliotis:
"Optimal Sensing Strategies for Mobile Robot Formations: Resource-Constrained Localization,"
Proceedings of the Robotics: Science and Systems Conference,
Boston, MA, June 8-11, 2005, pp. 281-288.
[pdf,
bibtex]
4. Y.S. Hidaka, A.I. Mourikis, S.I. Roumeliotis:
"Optimal Formations for Cooperative Localization of Mobile Robots,"
Proceedings of the IEEE International Conference on Robotics and Automation (ICRA),
Barcelona, Spain, April 18-22, 2005, pp. 4137-4142.
[pdf,
bibtex]
3. A.I. Mourikis, S.I. Roumeliotis:
"Analysis of Positioning Uncertainty in Simultaneous Localization and Mapping (SLAM),"
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS),
Sendai, Japan, September 28 - October 2, 2004, pp. 13-20.
[pdf,
bibtex]
2. A.I. Mourikis, A. Tzes:
"Implementation of Identification Algorithms in Systems with Reduced Computational Resources,"
Proceedings of the IEEE-CSS Mediterranean Conference on Control and Automation,
Kusadasi, Turkey, June 6-9 2004.
[pdf,
bibtex]
1. A.I. Mourikis, S.I. Roumeliotis:
"Analysis of Positioning Uncertainty in Reconfigurable Networks of Heterogeneous Mobile Robots,"
Proceedings of the IEEE International Conference on Robotics and Automation (ICRA),
New Orleans, LA, April 26-May 1, 2004, pp. 572-579.
[pdf,
bibtex]
Dissertations
2. A.I. Mourikis:
"Characterization and Optimization of the Accuracy of Mobile Robot Localization,"
PhD thesis, Department of Computer Science and Engineering, University of Minnesota, June 2008.
[pdf,
bibtex]
1. A.I. Mourikis:
"3-D Reconstruction from Sequences of Images of a Moving Camera,"
Diploma thesis, Department of Electrical and Computer Engineering, University of Patras, June 2003 (in Greek).
Technical reports
9. M. Li, A.I. Mourikis:
"Consistency of EKF-Based Visual-Inertial Odometry,"
Technical Report, updated May 2012.
[pdf,
bibtex]
8. T.C. Dong-Si, A.I. Mourikis:
"Consistency Analysis for Sliding-Window Visual Odometry,"
Technical Report, October 2011.
[pdf,
bibtex]
7. T.C. Dong-Si, A.I. Mourikis:
"Motion Tracking with Fixed-lag Smoothing: Algorithm and Consistency Analysis,"
Technical Report, October 2010.
[pdf,
bibtex]
6. G. Huang, A.I. Mourikis, S.I. Roumeliotis:
"Analysis and Improvement of the Consistency of Extended Kalman Filter based SLAM,"
Technical Report, August 2007.
[pdf,
bibtex]
5. A.I. Mourikis, S.I. Roumeliotis:
"A Multi-state Kalman Filter for Vision-Aided Inertial Navigation,"
Technical Report, September 2006.
[pdf,
bibtex]
4. A.I. Mourikis, S.I. Roumeliotis:
"Analytical Characterization of the Accuracy of SLAM without Absolute Orientation Measurements,"
Technical Report, August 2006.
[pdf,
bibtex]
3. A.I. Mourikis, S.I. Roumeliotis:
"Performance Bounds for Cooperative Simultaneous Localization and Mapping (C-SLAM),"
Technical Report, September 2004.
[pdf,
bibtex]
2. A.I. Mourikis, S.I. Roumeliotis:
"Analysis of Positioning Uncertainty in Simultaneous Localization and Mapping (SLAM),"
Technical Report, September 2004.
[pdf,
bibtex]
1. A.I. Mourikis, S.I. Roumeliotis:
"Analysis of Positioning Uncertainty in Reconfigurable Networks of Heterogeneous Mobile Robots,"
Technical Report, November 2003.
[pdf,
bibtex]