The downloadable publications on this web site are presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. These works may not be reposted without the explicit permission of the copyright holder.

[B2].	Joel A. Hesch, Anastasios I. Mourikis, and Stergios I. Roumeliotis. Computer Vision - ECCV 2010, volume 6314 of Lecture Notes in Computer Science, chapter Extrinsic Camera Calibration Using Multiple Reflections, pages 311-325. Springer-Verlag, Berlin, Germany, 2010. [ bib | DOI | .pdf ]
[B1].	Joel A. Hesch, Anastasios I. Mourikis, and Stergios I. Roumeliotis. Algorithmic Foundation of Robotics VIII, volume 57 of Springer Tracts in Advanced Robotics, chapter Mirror-Based Extrinsic Camera Calibration, pages 285-299. Springer-Verlag, Berlin, Germany, December 2009. [ bib | DOI | .pdf ]

[J3].	Joel A. Hesch, Anastasios I. Mourikis, and Stergios I. Roumeliotis. Concurrent extrinsic camera calibration and 3D scene reconstruction using multiple mirrors. IEEE Trans. on Robotics, 2011. Under review. [ bib ]
[J2].	Joel A. Hesch, Faraz M. Mirzaei, Gian Luca Mariottini, and Stergios I. Roumeliotis. A Laser-aided Inertial Navigation System (L-INS) for semi-structured indoor environments. 2011. In preparation. [ bib ]
[J1].	Joel A. Hesch and Stergios I. Roumeliotis. Design and analysis of a portable indoor localization aid for the visually impaired. International Journal of Robotics Research, 29(11):1400-1415, September 2010. [ bib | DOI | .pdf ]

[C11].	Joel A. Hesch and Stergios I. Roumeliotis. A direct least-squares (dls) method for PnP. In Proc. of the Int. Conf. on Computer Vision, Barcelona, Spain, November 6-13, 2011. [ bib | .pdf ]
[C10].	Yunqian Ma and Joel A. Hesch. Gait classification using wavelet descriptors in pedestrian navigation. In Proc. of the ION Int. Conf. on Global Navigation Satellite Systems, Portland, OR, September 20-23, 2011. [ bib | http | .pdf ]
[C9].	Joel A. Hesch, Gian Luca Mariottini, and Stergios I. Roumeliotis. Descending-stair detection, approach, and traversal with an autonomous tracked vehicle. In Proc. of the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pages 5525-5531, Taipei, Taiwan, October 18-22, 2010. [ bib | video | .pdf ]
[C8].	Joel A. Hesch, Anastasios I. Mourikis, and Stergios I. Roumeliotis. Extrinsic camera calibration using multiple reflections. In Proc. of the European Conf. on Computer Vision, Crete, Greece, September 5-11, 2010. [ bib | .pdf ]
[C7].	John Shackleton, Brian VanVoorst, and Joel A. Hesch. Tracking people with a 360-degree lidar. In Proc. of the IEEE Int. Conf. on Advanced Video and Signal-Based Surveillance, pages 420-426, Boston, MA, August 29 - September 1, 2010. [ bib | .pdf ]
[C6].	Joel A. Hesch, Faraz M. Mirzaei, Gian Luca Mariottini, and Stergios I. Roumeliotis. A Laser-aided Inertial Navigation System (L-INS) for human localization in unknown indoor environments. In Proc. of the IEEE Int. Conf. on Robotics and Automation, pages 5376-5382, Anchorage, AK, May 3-8, 2010. [ bib | DOI | .pdf ]
[C5].	Joel A. Hesch, Faraz M. Mirzaei, Gian Luca Mariottini, and Stergios I. Roumeliotis. A 3D pose estimator for the visually impaired. In Proc. of the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pages 2716-2723, St. Louis, MO, October 11-15, 2009. [ bib | DOI | video | .pdf ]
[C4].	Joel A. Hesch, Anastasios I. Mourikis, and Stergios I. Roumeliotis. Mirror-based extrinsic camera calibration. In Proc. of the Int. Workshop on the Algorithmic Foundations of Robotics, pages 285-299, Guanajuato, Mexico, December 7-9, 2008. [ bib | .pdf ]
[C3].	Joel A. Hesch, Anastasios I. Mourikis, and Stergios I. Roumeliotis. Determining the camera to robot-body transformation from planar mirror reflections. In Proc. of the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pages 3865-3871, Nice, France, September 22-26, 2008. [ bib | DOI | .pdf ]
[C2].	Joel A. Hesch and Stergios I. Roumeliotis. An indoor navigation aid for the visually impaired. In Proc. of the IEEE Int. Conf. on Robotics and Automation, pages 3545-3551, Rome, Italy, April 10-14, 2007. [ bib | DOI | .pdf ]
[C1].	Byung H. Kim, Colin D'Souza, Richard M. Voyles, Joel A. Hesch, and Stergios I. Roumeliotis. A reconfigurable computing platform for plume detection with mobile sensor networks. In Proc. of the SPIE Conf. on Unmanned Systems Technology VIII, Orlando, FL, April 17-21, 2006. [ bib | DOI | .pdf ]

[R8].	Joel A. Hesch, Dimitrios G. Kottas, Sean L. Bowman, and Stergios I. Roumeliotis. Observability-constrained Vision-aided Inertial Navigation. Technical Report 2012-001, University of Minnesota, Dept. of Comp. Sci. & Eng., MARS Lab, February 2012. [ bib | .pdf ]
[R7].	Joel A. Hesch and Stergios I. Roumeliotis. A practical guide to direct least-squares (DLS) PnP. Technical Report 2011-001, University of Minnesota, Dept. of Comp. Sci. & Eng., MARS Lab, August 2011. [ bib | .pdf ]
[R6].	Yunqian Ma and Joel A. Hesch. A system and method for constructing distance estimate models for personal navigation. US Patent Application: 12/953565, November 24, 2010. Honeywell International Inc. [ bib ]
[R5].	Joel A. Hesch, Peter Lommel, and Yunqian Ma. A system and method for wavelet-based gait classification. US Patent Application: 12/900315, October 7, 2010. Honeywell International Inc. [ bib ]
[R4].	E.L. Ryan, S.M. Hörst, M.P.J. Benfield, F.J. Calef III, D.O. Cersosimo, R.I. Citron, R. Effinger, K.E. Gibson, D.J. Gombosi, J.A. Hesch, D. Ionita, E.A. Jensen, C.C. Jolley, D. Takir, and M.W. Turner. The TRACER mission: a proposed Trojan and Centaur flyby mission. Technical report, white paper submitted to the NASA Planetary Science Decadal Survey, August 2009. [ bib | .pdf ]
[R3].	Joel A. Hesch, Anastasios I. Mourikis, and Stergios I. Roumeliotis. Camera to robot-body calibration using planar mirror reflections. Technical Report 2008-001, University of Minnesota, Dept. of Comp. Sci. & Eng., MARS Lab, July 2008. [ bib | .pdf ]
[R2].	Joel A. Hesch and Stergios I. Roumeliotis. On attitude and position estimation for assisted human guidance. Technical Report 2005-002, University of Minnesota, Dept. of Comp. Sci. & Eng., MARS Lab, August 2005. [ bib ]
[R1].	Joel A. Hesch and Nikolas Trawny. Simultaneous localization and mapping using an omni-directional camera. Technical Report 2005-001, University of Minnesota, Dept. of Comp. Sci. & Eng., MARS Lab, May 2005. [ bib | .pdf ]

[P6].	Joel A. Hesch and Stergios I. Roumeliotis. A direct least-squares (DLS) method for PnP. In Proc. of the IEEE Int. Conf. on Computer Vision, Barcelona, Spain, November11, 2011. poster 4-74. [ bib | .pdf ]
[P5].	Joel A. Hesch, Brian M. Sadler, and Stergios I. Roumeliotis. Solving PnP directly using the multiplication matrix. In Summer Student Poster Session for the Computational and Information Science Directorate (CISD) at the Army Research Laboratory, Adelphi, MD, August 12, 2011. [ bib ]
[P4].	Joel A. Hesch, Anastasios I. Mourikis, and Stergios I. Roumeliotis. Extrinsic camera calibration using multiple reflections. In Poster session of the European Conf. on Computer Vision, Crete, Greece, September 5-11, 2010. [ bib | .pdf ]
[P3].	E.L. Ryan, S.M. Hörst, M.P.J. Benfield, F.J. Calef III, D.O. Cersosimo, R.I. Citron, R. Effinger, K.E. Gibson, D.J. Gombosi, J.A. Hesch, D. Ionita, E.A. Jensen, C.C. Jolley, D. Takir, and M.W. Turner. A JPL planetary science summer school Trojan and Centaur reconnaissance mission: Mission design. In Division of Planetary Sciences, meeting 49, Fajardo, Puerto Rico, October 4-9, 2009. poster 16.26. [ bib | http | .pdf ]
[P2].	S.M. Hörst, M.P.J. Benfield, F.J. Calef III, D.O. Cersosimo, R.I. Citron, R. Effinger, K.E. Gibson, D.J. Gombosi, J.A. Hesch, D. Ionita, E.A. Jensen, C.C. Jolley, E.L. Ryan, D. Takir, and M.W. Turner. A JPL planetary science summer school Trojan and Centaur reconnaissance mission: Science. In Division of Planetary Sciences, meeting 49, Fajardo, Puerto Rico, October 4-9, 2009. poster 16.17. [ bib | http | .pdf ]
[P1].	Joel A. Hesch, Anastasios I. Mourikis, and Stergios I. Roumeliotis. Determining the camera to robot-body transformation from planar mirror reflections. In Poster session of the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Nice, France, September 22-26, 2008. [ bib | .pdf ]

[T13].	Towards consistent vision-aided inertial navigation. Invited talk at the Computational and Information Sciences Directorate (CISD) Symposium at the Army Research Laboratory, July 27, 2011. Adelphi, MD. [ bib ]
[T12].	Visual tracking with applications to vision-aided inertial navigation. Invited Lecture for CSci 5561: Computer Vision, Professor Volkan Isler, April 26, 2011. Minneapolis, MN. [ bib ]
[T11].	Descending-stair detection, approach, and traversal with an autonomous tracked vehicle. at the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, October 20, 2010. Taipei, Taiwan. [ bib ]
[T10].	Wavelet-based human gait classification. at Honeywell International, August 18, 2010. Golden Valley, MN. [ bib ]
[T9].	A Laser-aided Inertial Navigation System (L-INS) for human localization in unknown indoor environments. at the IEEE Int. Conf. on Robotics and Automation, May 6, 2010. Anchorage, AK. [ bib ]
[T8].	A 3D pose estimator for the visually impaired. at the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, October 13, 2009. St. Louis, MO. [ bib ]
[T7].	A 3D position and orientation tracker for the visually impaired. at the Perception Seminar, March 30, 2009. Dept. of Psychology, University of Minnesota, Minneapolis, MN. [ bib ]
[T6].	A 3D pose tracker for the visually impaired. at the NIH Roadmap Seminar, March 12, 2009. University of Minnesota, Minneapolis, MN. [ bib ]
[T5].	Mirror-based extrinsic camera calibration. at the Workshop on the Algorithmic Foundations of Robotics, December 8, 2008. Guanajuato, Mexico. [ bib ]
[T4].	Determining the camera to robot-body transformation from planar mirror reflections. at the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, September 25, 2008. Nice, France. [ bib ]
[T3].	A 3D localization aid for first responders. at the NSF Safety, Security, and Rescue Research Center Symposium, June 9, 2008. Minneapolis, MN. [ bib ]
[T2].	Indoor localization and guidance for humans. at the NIH Roadmap Seminar, November 8, 2007. University of Minnesota, Minneapolis, MN. [ bib ]
[T1].	Firefighter localization using body mounted sensors. at the NSF Safety, Security, and Rescue Research Center Symposium, June 11, 2007. Minneapolis, MN. [ bib ]