chi

Email:  chi_at_robots.ox.ac.uk

Chi’s Google Scholar Page

Chi joined the Mobile Robotics Group in October 2013 as a postdoctoral research assistant. His research focus is on perception and planning.

Research

Chi is currently working on the following research topics:

  • Online perception for autonomous road vehicles
  • Experience-based classification
  • Efficient introspective classification
  • Energy-efficient planning

Bio

Chi holds a BASc (2008) in Engineering Science (Computer Option) and a PhD (2013), both from the University of Toronto, Canada. His research focused on laser-based 3D mapping and navigation in planetary worksite environments, which resulted in algorithms for nonparametric continuous-time batch state estimation. More information about his previous research activities can be found here.


MRG Publications

2017

  • [PDF] C. Gurau, D. Rao, C. H. Tong, and I. Posner, “Learn from Experience: Probabilistic Prediction of Perception Performance to Avoid Failure,” The International Journal of Robotics Research, 2017.
    [Bibtex]

    @article{GurauIJRR2017,
    author = {Corina Gurau and Dushyant Rao and Chi Hay Tong and Ingmar Posner},
    title = {Learn from Experience: Probabilistic Prediction of Perception Performance to Avoid Failure},
    journal = {The International Journal of Robotics Research},
    year = {2017},
    pdf = {http://www.robots.ox.ac.uk/~mobile/Papers/2017IJRR_gurau.pdf}
    }

2016

  • [PDF] C. Gurau, C. H. Tong, and I. Posner, “Fit for purpose? Predicting Perception Performance based on Past Experience,” in International Symposium on Experimental Robotics (ISER), Tokyo, Japan, 2016.
    [Bibtex]

    @inproceedings{GurauISER2016,
    Address = {Tokyo, Japan},
    Author = {Gurau, Corina and Tong, Chi Hay and Posner, Ingmar},
    Title = {Fit for purpose? Predicting Perception Performance based on Past Experience},
    Booktitle = {International Symposium on Experimental Robotics (ISER)},
    Year = {2016},
    Month = {October},
    Pdf = {http://www.robots.ox.ac.uk/~mobile/Papers/2016ISER_gurau.pdf}
    }

  • [PDF] J. Dequaire, C. H. Tong, W. Churchill, and I. Posner, “Off the Beaten Track: Predicting Localisation Performance in Visual Teach and Repeat,” in Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Stockholm, Sweden, 2016.
    [Bibtex]

    @inproceedings{DequaireICRA2016,
    Address = {Stockholm, Sweden},
    Author = {Dequaire, Julie and Tong, Chi Hay and Churchill, Winston and Posner, Ingmar},
    Booktitle = {Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)},
    Month = {May},
    Pdf = {http://www.robots.ox.ac.uk/~mobile/Papers/2016ICRA_dequaire.pdf},
    Title = {Off the Beaten Track: Predicting Localisation Performance in Visual Teach and Repeat},
    Year = {2016}}

2015

  • [PDF] J. Hawke, C. Gurau, C. H. Tong, and I. Posner, “Wrong Today, Right Tomorrow: Experience-Based Classification for Robot Perception,” in Field and Service Robotics (FSR), Toronto, ON, Canada, 2015.
    [Bibtex]

    @inproceedings{HawkeFSR2015,
    Address = {Toronto, ON, Canada},
    Author = {Hawke, Jeffrey and Gurau, Corina and Tong, Chi Hay and Posner, Ingmar},
    Booktitle = {{F}ield and {S}ervice {R}obotics ({FSR})},
    Month = {June},
    Pdf = {http://www.robots.ox.ac.uk/~mobile/Papers/2015FSR_hawke.pdf},
    Title = {Wrong Today, Right Tomorrow: Experience-Based Classification for Robot Perception},
    Year = {2015}}

  • [PDF] W. Churchill, C. H. Tong, C. Gurau, I. Posner, and P. Newman, “Know Your Limits: Embedding Localiser Performance Models in Teach and Repeat Maps,” in Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Seattle, WA, USA, 2015.
    [Bibtex]

    @inproceedings{ChurchillICRA2015,
    Address = {Seattle, WA, USA},
    Author = {Churchill, Winston and Tong, Chi Hay and Gurau, Corina and Posner, Ingmar and Newman, Paul},
    Booktitle = {{P}roceedings of the {IEEE} {I}nternational {C}onference on {R}obotics and {A}utomation ({ICRA})},
    Month = {May},
    Pdf = {http://www.robots.ox.ac.uk/~mobile/Papers/2015ICRA_Churchill.pdf},
    Title = {{K}now {Y}our {L}imits: {E}mbedding {L}ocaliser {P}erformance {M}odels in {T}each and {R}epeat {M}aps},
    Year = {2015}}

  • [PDF] P. Ondruska, C. Gurau, L. Marchegiani, C. H. Tong, and I. Posner, “Scheduled Perception for Energy-Efficient Path Following,” in Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Seattle, WA, USA, 2015.
    [Bibtex]

    @inproceedings{OndruskaICRA2015,
    Address = {Seattle, WA, USA},
    Author = {Peter Ondruska and Corina Gurau and Letizia Marchegiani and Chi Hay Tong and Ingmar Posner},
    Booktitle = {Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)},
    Month = {May},
    Pdf = {http://www.robots.ox.ac.uk/~mobile/Papers/2015ICRA_ondruska.pdf},
    Title = {Scheduled Perception for Energy-Efficient Path Following},
    Year = {2015}}

2014

  • [PDF] C. Gurau, J. Hawke, C. H. Tong, and I. Posner, “Learning on the Job: Improving Robot Perception Through Experience,” in Neural Information Processing Systems (NIPS) Workshop on “Autonomously Learning Robots”, Montreal, Quebec, Canada, 2014.
    [Bibtex]

    @inproceedings{GurauNIPSWorkshop2014,
    Address = {Montreal, Quebec, Canada},
    Annote = {full-paper-refereed},
    Author = {Corina Gurau and Jeff Hawke and Chi Hay Tong and Ingmar Posner},
    Booktitle = {Neural Information Processing Systems (NIPS) Workshop on ``Autonomously Learning Robots''},
    Keywords = {workshop_posner, Experience Based Classification},
    Month = {12 December},
    Pdf = {http://www.robots.ox.ac.uk/~mobile/Papers/2014NIPSWorkshop_gurau.pdf},
    Title = {Learning on the Job: Improving Robot Perception Through Experience},
    Year = {2014}}

Other Publications

2015

  • [DOI] S. Anderson, T. D. Barfoot, C. H. Tong, and S. Särkkä, “Batch Nonlinear Continuous-Time Trajectory Estimation as Exactly Sparse Gaussian Process Regression,” Autonomous Robots, Special Issue on “Robotics Science and Systems”, 2015.
    [Bibtex]

    @article{anderson_auro2015,
    Author = {Sean Anderson and Timothy D. Barfoot and Chi Hay Tong and Simo S\"{a}rkk\"{a}},
    Doi = {10.1007/s10514-015-9455-y},
    Journal = {Autonomous Robots, Special Issue on ``Robotics Science and Systems''},
    Title = {Batch Nonlinear Continuous-Time Trajectory Estimation as Exactly Sparse Gaussian Process Regression},
    Year = {2015}}

  • [DOI] P. Furgale, C. H. Tong, T. D. Barfoot, and G. Sibley, “Continuous-Time Batch Trajectory Estimation using Temporal Basis Functions,” International Journal of Robotics Research (IJRR), 2015.
    [Bibtex]

    @article{furgale_ijrr2015,
    Author = {Paul Furgale and Chi Hay Tong and Timothy D. Barfoot and Gabe Sibley},
    Doi = {10.1177/0278364915585860},
    Journal = {International Journal of Robotics Research (IJRR)},
    Title = {Continuous-Time Batch Trajectory Estimation using Temporal Basis Functions},
    Year = {2015}}

2014

  • [PDF] T. D. Barfoot, C. H. Tong, and S. Särkkä, “Batch Continuous-Time Trajectory Estimation as Exactly Sparse Gaussian Process Regression,” in Proceedings of Robotics: Science and Systems (RSS), Berkeley, USA, 2014.
    [Bibtex]

    @inproceedings{barfoot_rss2014,
    Address = {Berkeley, USA},
    Author = {Barfoot, Timothy D. and Tong, Chi Hay and S\"{a}rkk\"{a}, Simo},
    Booktitle = {Proceedings of Robotics: Science and Systems (RSS)},
    Month = {12-16 July},
    Pdf = {https://dl.dropboxusercontent.com/u/20861605/bib/barfoot_rss2014.pdf},
    Title = {Batch Continuous-Time Trajectory Estimation as Exactly Sparse Gaussian Process Regression},
    Year = {2014}}

  • [DOI] C. H. Tong, S. Anderson, H. Dong, and T. D. Barfoot, “Pose Interpolation for Laser-Based Visual Odometry,” Journal of Field Robotics, Special Issue on “Field and Service Robotics”, vol. 31, iss. 5, pp. 729-860, 2014.
    [Bibtex]

    @article{tong_jfr2014,
    Author = {Tong, Chi Hay and Anderson, Sean and Dong, Hang and Barfoot, Timothy D.},
    Doi = {10.1002/rob.21537},
    Journal = {Journal of Field Robotics, Special Issue on ``Field and Service Robotics''},
    Month = {September/October},
    Number = {5},
    Pages = {729--860},
    Title = {Pose Interpolation for Laser-Based Visual Odometry},
    Volume = {31},
    Year = {2014}}

2013

  • [PDF] T. D. Barfoot, C. McManus, S. Anderson, H. Dong, E. Beerepoot, C. H. Tong, P. Furgale, J. D. Gammell, and J. Enright, “Into Darkness: Visual Navigation based on a Lidar-Intensity-Image Pipeline,” in Proceedings of the International Symposium on Robotics Research (ISRR), Singapore, 2013.
    [Bibtex]

    @inproceedings{barfoot_isrr2013,
    Address = {Singapore},
    Author = {Timothy D. Barfoot and Colin McManus and Sean Anderson and Hang Dong and Erik Beerepoot and Chi Hay Tong and Paul Furgale and Jonathan D. Gammell and John Enright},
    Booktitle = {Proceedings of the International Symposium on Robotics Research (ISRR)},
    Month = {16-19 December},
    Pdf = {http://asrl.utias.utoronto.ca/~jdg/sbib/barfoot_isrr13.pdf},
    Title = {Into Darkness: Visual Navigation based on a Lidar-Intensity-Image Pipeline},
    Year = {2013}}

  • [PDF] [DOI] L. Berczi, J. D. Gammell, C. H. Tong, M. Daly, and T. D. Barfoot, “A Proof-of-Concept, Rover-Based System for Autonomously Locating Methane Gas Sources on Mars,” in Proceedings of the 10th Conference on Computer and Robot Vision (CRV), Regina, Saskatchewan, Canada, 2013, pp. 29-36.
    [Bibtex]

    @inproceedings{berczi_crv2013,
    Address = {Regina, Saskatchewan, Canada},
    Author = {Laszlo-Peter Berczi and Jonathan D. Gammell and Chi Hay Tong and Michael Daly and Timothy D. Barfoot},
    Booktitle = {Proceedings of the 10th Conference on Computer and Robot Vision (CRV)},
    Doi = {10.1109/CRV.2013.16},
    Month = {28-31 May},
    Pages = {29--36},
    Title = {A Proof-of-Concept, Rover-Based System for Autonomously Locating Methane Gas Sources on Mars},
    Year = {2013},
    Pdf = {http://asrl.utias.utoronto.ca/~jdg/sbib/berczi_crv13.pdf}}

  • [PDF] [DOI] J. D. Gammell, C. H. Tong, P. Berczi, S. Anderson, and T. D. Barfoot, “Rover Odometry Aided by a Star Tracker,” in Proceedings of the IEEE Aerospace Conference, Big Sky, MT, USA, 2013.
    [Bibtex]

    @inproceedings{gammell_aero2013,
    Address = {Big Sky, MT, USA},
    Author = {Jonathan D. Gammell and Chi Hay Tong and Peter Berczi and Sean Anderson and Timothy D. Barfoot},
    Booktitle = {Proceedings of the IEEE Aerospace Conference},
    Doi = {10.1109/AERO.2013.6496953},
    Month = {2-9 March},
    Title = {Rover Odometry Aided by a Star Tracker},
    Year = {2013},
    Pdf = {http://asrl.utias.utoronto.ca/~jdg/sbib/gammell_ieeeac13.pdf}}

  • [PDF] [DOI] J. D. Gammell, C. H. Tong, and T. D. Barfoot, “Blinded by the Light: Exploiting the Deficiencies of a Laser Rangefinder for Rover Attitude Estimation,” in Proceedings of the 10th Conference on Computer and Robot Vision (CRV), Regina, Saskatchewan, Canada, 2013, pp. 144-150.
    [Bibtex]

    @inproceedings{gammell_crv2013,
    Address = {Regina, Saskatchewan, Canada},
    Author = {Jonathan D. Gammell and Chi Hay Tong and Timothy D. Barfoot},
    Booktitle = {Proceedings of the 10th Conference on Computer and Robot Vision (CRV)},
    Doi = {10.1109/CRV.2013.37},
    Month = {28-31 May},
    Pages = {144--150},
    Title = {Blinded by the Light: Exploiting the Deficiencies of a Laser Rangefinder for Rover Attitude Estimation},
    Year = {2013},
    Pdf = {http://asrl.utias.utoronto.ca/~jdg/sbib/gammell_crv13.pdf}}

  • [DOI] C. H. Tong and T. D. Barfoot, “Evaluation of Heterogenous Measurement Outlier Rejection Schemes for Robotic Planetary Worksite Mapping,” Acta Astronautica, vol. 88, pp. 146-162, 2013.
    [Bibtex]

    @article{tong_aa2013,
    Author = {Tong, Chi Hay and Barfoot, Timothy D.},
    Doi = {10.1016/j.actaastro.2012.08.011},
    Journal = {Acta Astronautica},
    Month = {July-August},
    Pages = {146--162},
    Title = {Evaluation of Heterogenous Measurement Outlier Rejection Schemes for Robotic Planetary Worksite Mapping},
    Volume = {88},
    Year = {2013}}

  • [DOI] C. H. Tong and T. D. Barfoot, “Gaussian Process Gauss-Newton for 3D Laser-Based Visual Odometry,” in Proceedings of the IEEE Conference on Robotics and Automation (ICRA), Karlsruhe, Germany, 2013, pp. 5184-5191.
    [Bibtex]

    @inproceedings{tong_icra2013,
    Address = {Karlsruhe, Germany},
    Author = {Tong, Chi Hay and Barfoot, Timothy D.},
    Booktitle = {Proceedings of the IEEE Conference on Robotics and Automation (ICRA)},
    Doi = {10.1109/ICRA.2013.663132},
    Month = {6-10 May},
    Pages = {5184--5191},
    Title = {{Gaussian Process Gauss-Newton} for {3D} Laser-Based Visual Odometry},
    Year = {2013}}

  • [DOI] C. H. Tong, D. Gingras, K. Larose, T. D. Barfoot, and E. Dupuis, “The Canadian Planetary Emulation Terrain 3D Mapping Dataset,” International Journal of Robotics Research (IJRR), vol. 32, iss. 4, pp. 389-395, 2013.
    [Bibtex]

    @article{tong_ijrr2013a,
    Author = {Tong, Chi Hay and Gingras, David and Larose, Kevin and Barfoot, Timothy D. and Dupuis, Erick},
    Doi = {10.1177/0278364913478897},
    Journal = {International Journal of Robotics Research (IJRR)},
    Month = {April},
    Number = {4},
    Pages = {389--395},
    Title = {The {Canadian} Planetary Emulation Terrain {3D} Mapping Dataset},
    Volume = {32},
    Year = {2013}}

  • [DOI] C. H. Tong, P. Furgale, and T. D. Barfoot, “Gaussian Process Gauss-Newton for Non-Parametric Simultaneous Localization and Mapping,” International Journal of Robotics Research (IJRR), vol. 32, iss. 5, pp. 507-525, 2013.
    [Bibtex]

    @article{tong_ijrr2013b,
    Author = {Tong, Chi Hay and Furgale, Paul and Barfoot, Timothy D.},
    Doi = {10.1177/0278364913478672},
    Journal = {International Journal of Robotics Research (IJRR)},
    Month = {April},
    Number = {5},
    Pages = {507--525},
    Title = {{Gaussian Process Gauss-Newton} for Non-Parametric Simultaneous Localization and Mapping},
    Volume = {32},
    Year = {2013}}

  • [PDF] C. H. Tong, “Laser-Based 3D Mapping and Navigation in Planetary Worksite Environments,” PhD Thesis, 2013.
    [Bibtex]

    @phdthesis{tong_phd2013,
    Author = {Tong, Chi Hay},
    Pdf = {https://dl.dropboxusercontent.com/u/20861605/bib/tong_phd2013.pdf},
    School = {University of Toronto},
    Title = {Laser-Based {3D} Mapping and Navigation in Planetary Worksite Environments},
    Year = {2013}}

  • [PDF] T. D. Barfoot, B. E. Stenning, J. D. Gammell, C. H. Tong, C. McManus, L. Berczi, G. R. Osinski, M. Daly, and C. Dickinson, “Place Revisiting for Planetary Rovers: An Enabling Technology and Field Testing of Three Mission Concepts,” in Proceedings of the Planetary Rovers Workshop, IEEE International Conference on Robotics and Automation (ICRA), Karlsruhe, Germany, 2013.
    [Bibtex]

    @inproceedings{barfoot_icra2013,
    Address = {Karlsruhe, Germany},
    Author = {Timothy D. Barfoot and Braden E. Stenning and Jonathan D. Gammell and Chi Hay Tong and Colin McManus and Laszlo-Peter Berczi and Gordon R. Osinski and Michael Daly and Cameron Dickinson},
    Booktitle = {Proceedings of the Planetary Rovers Workshop, IEEE International Conference on Robotics and Automation (ICRA)},
    Month = {6-10 May},
    Pdf = {http://asrl.utias.utoronto.ca/~jdg/bib/barfoot_icra13.pdf},
    Title = {Place Revisiting for Planetary Rovers: An Enabling Technology and Field Testing of Three Mission Concepts},
    Year = {2013}}

2012

  • [PDF] R. S. Merali, C. H. Tong, J. D. Gammell, J. Bakambu, E. Dupuis, and T. D. Barfoot, “3D Surface Mapping Using a Semi-Autonomous Rover: A Planetary Analog Field Experiment,” in Proceedings of the 11th International Symposium on Artificial Intelligence, Robotics and Automation in Space (i-SAIRAS), Turin, Italy, 2012.
    [Bibtex]

    @inproceedings{merali_isairas2012,
    Address = {Turin, Italy},
    Author = {Rehman S. Merali and Chi Hay Tong and Jonathan D. Gammell and Joseph Bakambu and Erik Dupuis and Timothy D. Barfoot},
    Booktitle = {Proceedings of the 11th International Symposium on Artificial Intelligence, Robotics and Automation in Space (i-SAIRAS)},
    Month = {4-6 September},
    Pdf = {http://asrl.utias.utoronto.ca/~jdg/bib/merali_isairas12.pdf},
    Title = {{3D} Surface Mapping Using a Semi-Autonomous Rover: A Planetary Analog Field Experiment},
    Year = {2012}}

  • [DOI] C. H. Tong, P. Furgale, and T. D. Barfoot, “Gaussian Process Gauss-Newton: Non-Parametric State Estimation,” in Proceedings of the 9th Conference on Computer and Robot Vision (CRV), Toronto, Ontario, Canada, 2012, pp. 206-213.
    [Bibtex]

    @inproceedings{tong_crv2012,
    Address = {Toronto, Ontario, Canada},
    Author = {Tong, Chi Hay and Furgale, Paul and Barfoot, Timothy D.},
    Booktitle = {Proceedings of the 9th Conference on Computer and Robot Vision (CRV)},
    Doi = {10.1109/CRV.2012.35},
    Month = {27-30 May},
    Pages = {206--213},
    Title = {{Gaussian Process Gauss-Newton}: Non-Parametric State Estimation},
    Year = {2012}}

  • [DOI] C. H. Tong, T. D. Barfoot, and E. Dupuis, “Three-dimensional SLAM for Mapping Planetary Work Site Environments,” Journal of Field Robotics, Special issue on “Space Robotics”, vol. 29, iss. 3, pp. 381-412, 2012.
    [Bibtex]

    @article{tong_jfr2012,
    Author = {Tong, Chi Hay and Barfoot, Timothy D. and Dupuis, E.},
    Doi = {10.1002/ROB.21403},
    Journal = {Journal of Field Robotics, Special issue on ``Space Robotics''},
    Month = {May/June},
    Number = {3},
    Pages = {381--412},
    Title = {Three-dimensional {SLAM} for Mapping Planetary Work Site Environments},
    Volume = {29},
    Year = {2012}}

2011

  • [DOI] C. H. Tong and T. D. Barfoot, “Batch Heterogeneous Outlier Rejection for Feature-Poor SLAM,” in Proceedings of the IEEE Conference on Robotics and Automation (ICRA), Shanghai, China, 2011, pp. 2630-2637.
    [Bibtex]

    @inproceedings{tong_icra2011a,
    Address = {Shanghai, China},
    Author = {Tong, Chi Hay and Barfoot, Timothy D.},
    Booktitle = {Proceedings of the IEEE Conference on Robotics and Automation (ICRA)},
    Doi = {10.1109/ICRA.2011.5979612},
    Month = {9-13 May},
    Pages = {2630--2637},
    Title = {Batch Heterogeneous Outlier Rejection for Feature-Poor {SLAM}},
    Year = {2011}}

  • [DOI] C. H. Tong and T. D. Barfoot, “A Self-Calibrating Ground-Truth Localization System Using Retroreflective Landmarks,” in Proceedings of the IEEE Conference on Robotics and Automation (ICRA), Shanghai, China, 2011, pp. 3601-3606.
    [Bibtex]

    @inproceedings{tong_icra2011b,
    Address = {Shanghai, China},
    Author = {Tong, Chi Hay and Barfoot, Timothy D.},
    Booktitle = {Proceedings of the IEEE Conference on Robotics and Automation (ICRA)},
    Doi = {10.1109/ICRA.2011.5979613},
    Month = {9-13 May},
    Pages = {3601--3606},
    Title = {A Self-Calibrating Ground-Truth Localization System Using Retroreflective Landmarks},
    Year = {2011}}

  • [DOI] C. H. Tong, T. D. Barfoot, and E. Dupuis, “3D SLAM for Planetary Worksite Mapping,” in Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Invited Symposium on “Field Robotics II”, San Francisco, CA, USA, 2011, pp. 631-638.
    [Bibtex]

    @inproceedings{tong_iros2011,
    Address = {San Francisco, CA, USA},
    Author = {Tong, Chi Hay and Barfoot, Timothy D. and Dupuis, Erick},
    Booktitle = {Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Invited Symposium on ``Field Robotics II''},
    Doi = {10.1109/IROS.2011.6048242},
    Month = {25-30 September},
    Pages = {631--638},
    Title = {{3D SLAM} for Planetary Worksite Mapping},
    Year = {2011}}

2010

  • [DOI] C. H. Tong and T. D. Barfoot, “A Comparison of the EKF, SPKF, and the Bayes Filter for Landmark-Based Localization,” in Proceedings of the 7th Conference on Computer and Robot Vision (CRV), Ottawa, Ontario, Canada, 2010, pp. 199-206.
    [Bibtex]

    @inproceedings{tong_crv2010,
    Address = {Ottawa, Ontario, Canada},
    Author = {Tong, Chi Hay and Barfoot, Timothy D.},
    Booktitle = {Proceedings of the 7th Conference on Computer and Robot Vision (CRV)},
    Doi = {10.1109/CRV.2010.33},
    Month = {31 May - 2 June},
    Pages = {199--206},
    Title = {A Comparison of the {EKF}, {SPKF}, and the {Bayes} Filter for Landmark-Based Localization},
    Year = {2010}}

2008

  • [PDF] C. H. Tong, Consistency Comparisons of EKF-SLAM with Investigations into Robust EKF-SLAM, 2008.
    [Bibtex]

    @misc{tong_basc2008,
    Author = {Tong, Chi Hay},
    Howpublished = {B.A.Sc. Thesis},
    Pdf = {https://dl.dropboxusercontent.com/u/20861605/bib/tong_basc2008.pdf},
    School = {University of Toronto},
    Title = {Consistency Comparisons of {EKF-SLAM} with Investigations into Robust {EKF-SLAM}},
    Year = {2008}}

  • C. Tong, R. S. Merali, T. D. Barfoot, and G. M. T. D’Eleuterio, “TRACTEUR: Worksite Localization and Mapping Study,” UTIAS — Prepared for MDA Space Missions (under subcontract to the Canadian Space Agency, Exploration Study) 2008.
    [Bibtex]

    @techreport{tong_mda2008,
    Author = {Tong, C. and Merali, R. S. and Barfoot, T. D. and D'Eleuterio, G. M. T.},
    Institution = {UTIAS -- Prepared for MDA Space Missions (under subcontract to the Canadian Space Agency, Exploration Study)},
    Month = {May},
    Title = {{TRACTEUR}: Worksite Localization and Mapping Study},
    Year = {2008}}