Maurice Fallon

/Maurice Fallon

Email: mfallon@robots.ox.ac.uk

Phone: 01865 613951

Dr. Maurice Fallon is a Departmental Lecturer at the University of Oxford and a Royal Society University Research Fellow. He leads the Dynamic Robot Systems Group. You will find more detailed information on the DRS website.

His research is focused on probabilistic methods for localization and mapping. He has also made research contributions to state estimation for legged robots and is interested in dynamic motion planning and control. Of particular concern is developing methods which are robust in the most challenging situations by leveraging sensor fusion.

Biography

Dr. Fallon studied Electronic Engineering at University College Dublin. His PhD research in the field of acoustic source tracking was carried out in the Engineering Department of the University of Cambridge.

Immediately after his PhD he moved to MIT as a post-doc and later research scientist in the Marine Robotics Group (2008-2012). From 2012-2015 he was the perception lead of MIT’s team in the DARPA Robotics Challenge – a multi-year competition developing technologies for semi-autonomous humanoid exploration and manipulation in disaster situations. The MIT DRC team competed in several phases of the international competition, finishing 3rd, 6th and finally 7th.

From 2015, he was a Lecturer at University of Edinburgh where he led research in collaboration with NASA’s humanoid robotics program. He moved to Oxford in April 2017 and took up the Royal Society University Research Fellowship in October 2017.

Publications

Dr. Fallon’s list of publications appears on Google Scholar here.
These publications have received best paper awards or nominations at ICRA (3 times), AAAI and Humanoids.

2018

  • M. Fallon, “Accurate and robust localization for walking robots fusing kinematics, inertial, vision and LIDAR,” Interface Focus, 2018.
    [Bibtex]
    @article{2018Interface_fallon,
    title = {Accurate and robust localization for
    walking robots fusing kinematics, inertial,
    vision and {LIDAR}},
    author = {Maurice Fallon},
    journal = {Interface Focus},
    year = 2018,
    month = jun,
    publisher= {Royal Society, London}
    }
  • [PDF] S. Nobili, G. Tinchev, and M. Fallon, “Predicting Alignment Risk to Prevent Localization Failure,” in IEEE Intl. Conf. on Robotics and Automation (ICRA), Brisbane, 2018.
    [Bibtex]
    @inproceedings{2018ICRA_nobili,
    title = {Predicting Alignment Risk to Prevent Localization Failure},
    author = {Simona Nobili and Georgi Tinchev and Maurice Fallon},
    booktitle = {IEEE Intl. Conf. on Robotics and Automation (ICRA)},
    year = 2018,
    address = {Brisbane},
    Pdf = {http://www.robots.ox.ac.uk/~mobile/drs/Papers/2018ICRA_nobili.pdf},
    }
  • [PDF] C. Rauch, T. Hospedales, J. Shotton, and M. Fallon, “Visual Articulated Tracking in the Presence of Occlusions,” in IEEE Intl. Conf. on Robotics and Automation (ICRA), Brisbane, 2018.
    [Bibtex]
    @inproceedings{2018ICRA_rauch,
    title = {Visual Articulated Tracking in the Presence of Occlusions},
    author = {Christian Rauch and Timothy Hospedales and Jamie Shotton and Maurice Fallon},
    booktitle = {IEEE Intl. Conf. on Robotics and Automation (ICRA)},
    year = 2018,
    address = {Brisbane},
    Pdf = {http://www.robots.ox.ac.uk/~mobile/drs/Papers/2018ICRA_rauch.pdf},
    }
  • [PDF] R. Scona, M. Jaimez, Y. R. Petillot, M. Fallon, and D. Cremers, “StaticFusion: Background Reconstruction for Dense RGB-D SLAM in Dynamic Environments,” in IEEE Intl. Conf. on Robotics and Automation (ICRA), Brisbane, 2018.
    [Bibtex]
    @inproceedings{2018ICRA_scona,
    title = {{StaticFusion}: Background Reconstruction for Dense {RGB-D} {SLAM} in
    Dynamic Environments},
    author = {Raluca Scona and Mariano Jaimez and Yvan R. Petillot and Maurice Fallon and Daniel Cremers},
    booktitle = {IEEE Intl. Conf. on Robotics and Automation (ICRA)},
    year = 2018,
    address = {Brisbane},
    Pdf = {http://www.robots.ox.ac.uk/~mobile/drs/Papers/2018ICRA_scona.pdf},
    }
  • P. Marion, M. Fallon, R. Deits, A. Valenzuela, C. P. D’Arpino, G. Izatt, L. Manuelli, M. Antone, H. Dai, T. Koolen, J. Carter, S. Kuindersma, and R. Tedrake, “Director: A User Interface Designed for Robot Operation With Shared Autonomy,” , 2018.
    [Bibtex]
    @article{2018CHAPTER_marion,
    title = {Director: A User Interface Designed for Robot Operation With Shared Autonomy},
    author = {Pat Marion and Maurice Fallon and Robin Deits and Andr\'{e}s Valenzuela and
    Claudia P\'{e}rez D'Arpino and Greg Izatt and Lucas Manuelli and
    Matt Antone and Hongkai Dai and Twan Koolen and John Carter and
    Scott Kuindersma and Russ Tedrake},
    booktitle = {The {DARPA} Robotics Challenge Finals: Humanoid Robots To The Rescue},
    year = 2018,
    publisher= {Springer, Berlin},
    editor= {Steven Buerger, Karl Iangnemma, Matthew Spenko},
    }
  • [PDF] G. Tinchev, S. Nobili, and M. Fallon, “Seeing the Wood for the Trees: Reliable Localization in Urban and Natural Environments,” in IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS), Madrid, Spain, 2018.
    [Bibtex]
    @inproceedings{2018IROS_tinchev,
    title = {Seeing the Wood for the Trees: Reliable Localization in Urban and Natural Environments},
    author = {Georgi Tinchev and Simona Nobili and Maurice Fallon},
    booktitle = {IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS)},
    year = 2018,
    month = october,
    address= {Madrid, Spain},
    Pdf = {http://www.robots.ox.ac.uk/~mobile/drs/Papers/2018IROS_tinchev.pdf},
    }

2017

  • [PDF] S. Nobili, M. Camurri, V. Barasuol, M. Focchi, D. Caldwell, C. Semini, and M. Fallon, “\textbfHeterogeneous Sensor Fusion for Accurate State Estimation of Dynamic Legged Robots,” in Robotics: Science and Systems (RSS), Cambridge, MA, 2017.
    [Bibtex]
    @inproceedings{2017RSS_nobili,
    title = {\textbf{Heterogeneous Sensor Fusion for Accurate State Estimation of Dynamic Legged Robots}},
    author = {Simona Nobili and Marco Camurri and Victor Barasuol and Michele Focchi and Darwin Caldwell and Claudio Semini and Maurice Fallon},
    booktitle = "Robotics: Science and Systems (RSS)",
    year = 2017,
    month = aug,
    address = {Cambridge, MA},
    Pdf = {http://www.robots.ox.ac.uk/~mobile/drs/Papers/2017RSS_nobili.pdf},
    }
  • [PDF] M. Camurri, M. Fallon, S. Bazeille, A. Radulescu, V. Barasuol, D. G. Caldwell, and C. Semini, “Probabilistic Contact Estimation and Impact Detection for State Estimation of Quadruped Robots,” IEEE Robotics and Automation Letters, vol. 2, pp. 1023-1030, 2017.
    [Bibtex]
    @article{2017RAL_camurri,
    title = {Probabilistic Contact Estimation and Impact Detection for State Estimation of Quadruped Robots},
    author = {Marco Camurri and Maurice Fallon and St\'{e}phane Bazeille and Andreea Radulescu and Victor Barasuol and Darwin G. Caldwell and Claudio Semini},
    journal = "{IEEE} Robotics and Automation Letters",
    year = 2017,
    month = apr,
    volume = 2,
    issue = 2,
    pages = {1023-1030},
    Pdf = {http://www.robots.ox.ac.uk/~mobile/drs/Papers/2017RAL_camurri.pdf},
    }
  • [PDF] P. Marion, M. Fallon, R. Deits, A. Valenzuela, C. P. D’Arpino, G. Izatt, L. Manuelli, M. Antone, H. Dai, T. Koolen, J. Carter, S. Kuindersma, and R. Tedrake, “Director: A User Interface Designed for Robot Operation With Shared Autonomy,” J. of Field Robotics, vol. 34, pp. 225-426, 2017.
    [Bibtex]
    @article{2017JFR_marion,
    title = {Director: A User Interface Designed for Robot Operation With Shared Autonomy},
    author = {Pat Marion and Maurice Fallon and Robin Deits and Andr\'{e}s Valenzuela and
    Claudia P\'{e}rez D'Arpino and Greg Izatt and Lucas Manuelli and
    Matt Antone and Hongkai Dai and Twan Koolen and John Carter and
    Scott Kuindersma and Russ Tedrake},
    journal = "J. of Field Robotics",
    year = 2017,
    month = mar,
    volume = 34,
    issue = 2,
    pages = {225-426},
    Pdf = {http://www.robots.ox.ac.uk/~mobile/drs/Papers/2017JFR_marion.pdf},
    }
  • [PDF] S. Nobili, R. Scona, M. Caravagna, and M. Fallon, “Overlap-based ICP Tuning for Robust Localization of a Humanoid Robot,” in IEEE Intl. Conf. on Robotics and Automation (ICRA), Singapore, 2017.
    [Bibtex]
    @inproceedings{2017ICRA_nobili,
    title = {Overlap-based {ICP} Tuning for Robust Localization of a Humanoid Robot},
    author = {Simona Nobili and Raluca Scona and Marco Caravagna and Maurice Fallon},
    booktitle = {IEEE Intl. Conf. on Robotics and Automation (ICRA)},
    year = 2017,
    address = {Singapore},
    Pdf = {http://www.robots.ox.ac.uk/~mobile/drs/Papers/2017ICRA_nobili.pdf},
    }
  • [PDF] W. Merkt, Y. Yang, T. Stouraitis, C. Mower, M. Fallon, and S. Vijayakumar, “Robust Shared Autonomy for Mobile Manipulation with Continuous Scene Monitoring,” in IEEE Intl. Conf. on Automation Science and Engineering (CASE), Xian, China, 2017.
    [Bibtex]
    @inproceedings{2017CASE_merkt,
    title = {Robust Shared Autonomy for Mobile Manipulation with Continuous Scene Monitoring},
    author = {Wolfgang Merkt and Yiming Yang and Theodoros Stouraitis and Christopher Mower and Maurice Fallon and Sethu Vijayakumar},
    year = 2017,
    booktitle = "IEEE Intl. Conf. on Automation Science and Engineering (CASE)",
    address = {Xian, China},
    Pdf = {http://www.robots.ox.ac.uk/~mobile/drs/Papers/2017CASE_merkt.pdf},
    }
  • [PDF] R. Scona, S. Nobili, Y. Petillot, and M. Fallon, “Direct Visual SLAM Fusing Proprioception for a Humanoid Robot,” in IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS), Vancouver, Canada, 2017.
    [Bibtex]
    @inproceedings{2017IROS_scona,
    title = {Direct Visual {SLAM} Fusing Proprioception for a Humanoid Robot},
    author = {Raluca Scona and Simona Nobili and Yvan Petillot and Maurice Fallon},
    booktitle = {IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS)},
    year = 2017,
    address = {Vancouver, Canada},
    Pdf = {http://www.robots.ox.ac.uk/~mobile/drs/Papers/2017IROS_scona.pdf},
    }

2016

  • [PDF] Y. Yang, V. Ivan, Z. Li, M. Fallon, and S. Vijayakumar, “iDRM: Humanoid Motion Planning with Real-time End-pose Selection in Complex Environments,” in IEEE/RSJ Int. Conf. on Humanoid Robots, 2016.
    [Bibtex]
    @inproceedings{2016HUMANOIDS_yang,
    title = {{iDRM}: Humanoid Motion Planning with Real-time End-pose Selection in Complex Environments},
    author = {Yiming Yang and Vladimir Ivan and Zhibin Li and Maurice Fallon and Sethu Vijayakumar},
    booktitle = "IEEE/RSJ Int. Conf. on Humanoid Robots",
    year = 2016,
    month = nov,
    Pdf = {http://www.robots.ox.ac.uk/~mobile/drs/Papers/2016HUMANOIDS_yang.pdf},
    }
  • [PDF] F. Nori, S. Traversaro, and M. Fallon, “Sensor fusion and State estimation of the robot,” in Humanoid Robotics: a Reference, A. G. Prahlad Vadakkepat, Ed., Springer, Berlin, 2016.
    [Bibtex]
    @incollection{2016CHAPTER_nori,
    title = {Sensor fusion and State estimation of the robot},
    author = {Francesco Nori and Silvio Traversaro and Maurice Fallon},
    booktitle = {Humanoid Robotics: a Reference},
    year = 2016,
    publisher= {Springer, Berlin},
    editor= {Prahlad Vadakkepat, Ambarish Goswami},
    Pdf = {http://www.robots.ox.ac.uk/~mobile/drs/Papers/2016CHAPTER_nori.pdf},
    }

2015

  • [PDF] M. F. Fallon, P. Marion, R. Deits, T. Whelan, M. Antone, J. McDonald, and R. Tedrake, “\textbfContinuous Humanoid Locomotion over Uneven Terrain using Stereo Fusion,” in IEEE/RSJ Int. Conf. on Humanoid Robots, Seoul, Korea, 2015.
    [Bibtex]
    @inproceedings{2015HUMANOIDS_fallon,
    title = {\textbf{Continuous Humanoid Locomotion over Uneven Terrain using Stereo Fusion}},
    author = {Maurice F. Fallon and Pat Marion and Robin Deits and Thomas Whelan and Matthew Antone and John McDonald and Russ Tedrake},
    booktitle = "IEEE/RSJ Int. Conf. on Humanoid Robots",
    month = nov,
    year = 2015,
    address = {Seoul, Korea},
    note = {\textbf{Best Oral Paper Winner}},
    Pdf = {http://www.robots.ox.ac.uk/~mobile/drs/Papers/2015HUMANOIDS_fallon.pdf},
    }
  • M. F. Fallon, Continuous Locomotion with Stereo Fusion and Online Footstep OptimizationHamburg, Germany: , 2015.
    [Bibtex]
    @misc{2015IROSWORKSHOP_fallon,
    title = {Continuous Locomotion with Stereo Fusion and Online Footstep Optimization},
    author = {Maurice F. Fallon},
    booktitle = {Workshop on Perception and Planning for Legged Robot Locomotion in Challenging Domains at IROS 2015},
    month = oct,
    year = 2015,
    address = {Hamburg, Germany}
    }
  • [PDF] S. Kuindersma, R. Deits, M. F. Fallon, A. Valenzuela, H. Dai, F. Permenter, T. Koolen, P. Marion, and R. Tedrake, “\textbfOptimization-based locomotion planning, estimation, and control design for the Atlas humanoid robot,” Autonomous Robots, pp. 1-27, 2015.
    [Bibtex]
    @article{2015AR_kuindersma,
    title = {\textbf{Optimization-based locomotion planning, estimation, and control design for the {Atlas} humanoid robot}},
    author = {Scott Kuindersma and Robin Deits and Maurice F. Fallon and Andres Valenzuela and Hongkai Dai and Frank Permenter and Twan Koolen and Pat Marion and Russ Tedrake},
    year = {2015},
    journal = "Autonomous Robots",
    pages = {1-27},
    month = jul,
    Pdf = {http://www.robots.ox.ac.uk/~mobile/drs/Papers/2015AR_kuindersma.pdf},
    }
  • [PDF] P. Marion, M. F. Fallon, R. Deits, T. Whelan, M. Antone, J. McDonald, and R. Tedrake, “Continuous Humanoid Locomotion over Uneven Terrain using Stereo Fusion,” in Dynamic Walking, Columbus, Ohio, 2015.
    [Bibtex]
    @inproceedings{2015DYNAMICWALKING_marion,
    title = {Continuous Humanoid Locomotion over Uneven Terrain using Stereo Fusion},
    author = {Pat Marion and Maurice F. Fallon and Robin Deits and Thomas Whelan and Matthew Antone and John McDonald and Russ Tedrake},
    booktitle = {Dynamic Walking},
    month = jul,
    year = 2015,
    address = {Columbus, Ohio},
    Pdf = {http://www.robots.ox.ac.uk/~mobile/drs/Papers/2015DYNAMICWALKING_marion.pdf},
    }
  • [PDF] M. Fallon, S. Kuindersma, S. Karumanchi, M. Antone, T. Schneider, H. Dai, C. P. D’Arpino, Robin Deits, M. DiCicco, D. Fourie, T. Koolen, P. Marion, Michael Posa, A. Valenzuela, K. Yu, J. Shah, K. Iagnemma, R. Tedrake, and S. Teller, “\textbfAn Architecture for Online Affordance-based Perception and Whole-body Planning,” J. of Field Robotics, vol. 32, pp. 229-254, 2015.
    [Bibtex]
    @article{2015JFR_fallon,
    title = {\textbf{An Architecture for Online Affordance-based Perception and Whole-body Planning}},
    author = {Maurice Fallon and Scott Kuindersma and Sisir Karumanchi and Matthew Antone
    and Toby Schneider and Hongkai Dai and Claudia P\'{e}rez D'Arpino and Robin
    Deits and Matt DiCicco and Dehann Fourie and Twan Koolen and Pat Marion and Michael
    Posa and Andr\'{e}s Valenzuela and Kuan-Ting Yu and
    Julie Shah and Karl Iagnemma and Russ Tedrake and Seth Teller},
    journal = "J. of Field Robotics",
    month = mar,
    year = 2015,
    pages = {229-254},
    issue = 2,
    volume = 32,
    Pdf = {http://www.robots.ox.ac.uk/~mobile/drs/Papers/2015JFR_fallon.pdf},
    }
  • [PDF] T. Whelan, M. Kaess, H. Johannsson, M. F. Fallon, J. J. Leonard, and J. B. McDonald, “Real-time Large Scale Dense RGB-D SLAM with Volumetric Fusion,” Intl. J. of Robotics Research, vol. 34, iss. 4-5, pp. 598-626, 2015.
    [Bibtex]
    @article{2015IJRR_whelan,
    author = {Thomas Whelan and Michael Kaess and Hordur Johannsson and Maurice F. Fallon and John J. Leonard and John B. McDonald},
    title = {Real-time Large Scale Dense {RGB-D SLAM} with Volumetric Fusion},
    journal = "Intl. J. of Robotics Research",
    year = {2015},
    volume = {34},
    number = {4-5},
    pages = {598-626},
    month = apr,
    Pdf = {http://www.robots.ox.ac.uk/~mobile/drs/Papers/2015IJRR_whelan.pdf},
    }

2014

  • M. F. Fallon, Bridging the Gap between Operator Intent and Robot Execution with Automated Whole-Body Planning and PerceptionMadrid, Spain: , 2014.
    [Bibtex]
    @misc{2014HUMANOIDSWORKSHOP_fallon,
    title = {Bridging the Gap between Operator Intent and Robot Execution with Automated Whole-Body Planning and Perception},
    author = {Maurice F. Fallon},
    booktitle = {Workshop on How to Make Best Use of a Human Supervisor for Semi-Autonomous Humanoid Operation at Humanoids 2014},
    month = nov,
    year = 2014,
    address = {Madrid, Spain}
    }
  • T. Whelan, M. Kaess, R. Finman, M. F. Fallon, H. Johannsson, J. J. Leonard, and J. McDonald, “3D mapping, localisation and object retrieval using low cost robotic platforms: A robotic search engine for the real-world,” in RSS Workshop on RGB-D: Advanced Reasoning with Depth Cameras, 2014.
    [Bibtex]
    @inproceedings{2014RSSWORKSHOP_whelan,
    author={Thomas Whelan and Michael Kaess and Ross Finman and Maurice F. Fallon and Hordur Johannsson and John J. Leonard and John McDonald},
    title={{3D} mapping, localisation and object retrieval using low cost robotic platforms: A robotic search engine for the real-world},
    booktitle={RSS Workshop on RGB-D: Advanced Reasoning with Depth Cameras},
    location={Berkeley, CA},
    month=jul,
    year={2014}
    }
  • [PDF] R. Tedrake, M. Fallon, S. Karumanchi, S. Kuindersma, M. Antone, T. Schneider, T. Howard, M. Walter, H. Dai, R. Deits, M. Fleder, D. Fourie, R. Hammoud, S. Hemachandra, P. Ilardi, C. PĂ©rez-D’Arpino, S. Pillai, A. Valenzuela, C. Cantu, C. Dolan, I. Evans, S. Jorgensen, J. Kristeller, J. A. Shah, K. Iagnemma, and S. Teller, “A Summary of Team MIT’s Approach to the Virtual Robotics Challenge,” in IEEE Intl. Conf. on Robotics and Automation (ICRA), Hong Kong, China, 2014.
    [Bibtex]
    @inproceedings{2014ICRA_tedrake,
    title = {A Summary of {T}eam {MIT}'s Approach to the {V}irtual
    {R}obotics {C}hallenge},
    author = {R. Tedrake and M. Fallon and S. Karumanchi and S. Kuindersma and
    M. Antone and T. Schneider and T. Howard and M. Walter and H.
    Dai and R. Deits and M. Fleder and D. Fourie and R. Hammoud and
    S. Hemachandra and P. Ilardi and C. P\'{e}rez-D'Arpino and S. Pillai
    and A. Valenzuela and C. Cantu and C. Dolan and I. Evans and S.
    Jorgensen and J. Kristeller and J. A. Shah and K. Iagnemma and
    S. Teller},
    booktitle = {IEEE Intl. Conf. on Robotics and Automation (ICRA)},
    month = jun,
    year = 2014,
    address = {Hong Kong, China},
    Pdf = {http://www.robots.ox.ac.uk/~mobile/drs/Papers/2014ICRA_tedrake.pdf},
    }
  • [PDF] H. Wang, Y. Landa, M. Fallon, and S. Teller, “Spatially Prioritized and Persistent Text Detection and Decoding,” in Camera-Based Document Analysis and Recognition (CBDAR), Springer-Verlag, 2014, pp. 3-17.
    [Bibtex]
    @incollection{2014CHAPTER_wang,
    author = {Hsueh-Cheng Wang and Yafim Landa and Maurice Fallon and Seth Teller},
    title = {Spatially Prioritized and Persistent Text Detection and Decoding},
    booktitle = {Camera-Based Document Analysis and Recognition {(CBDAR)}},
    year = {2014},
    publisher={Springer-Verlag},
    location={New York},
    note={Lecture Notes in Computer Science},
    pages={3-17},
    Pdf = {http://www.robots.ox.ac.uk/~mobile/drs/Papers/2014CHAPTER_wang.pdf},
    }
  • [PDF] J. C. Leedekerken, M. F. Fallon, and J. J. Leonard, “Mapping Complex Marine Environments with Autonomous Surface Craft,” in Experimental Robotics, O. Khatib, V. Kumar, and G. Sukhatme, Eds., Springer, Berlin, 2014, vol. 79, pp. 525-539.
    [Bibtex]
    @incollection{2014CHAPTER_leedekerken,
    year={2014},
    booktitle={Experimental Robotics},
    volume=79,
    series={Springer Tracts in Advanced Robotics},
    editor={Oussama Khatib and Vijay Kumar and Gaurav Sukhatme},
    title={Mapping Complex Marine Environments with Autonomous Surface Craft},
    publisher={Springer, Berlin},
    author={Jacques C. Leedekerken and Maurice F. Fallon and John J. Leonard},
    pages={525-539},
    Pdf = {http://www.robots.ox.ac.uk/~mobile/drs/Papers/2014CHAPTER_leedekerken.pdf},
    }
  • [PDF] M. F. Fallon, M. Antone, N. Roy, and S. Teller, “\textbfDrift-Free Humanoid State Estimation fusing Kinematic, Inertial and LIDAR sensing,” in IEEE/RSJ Int. Conf. on Humanoid Robots, Madrid, Spain, 2014.
    [Bibtex]
    @inproceedings{2014HUMANOIDS_fallon,
    title = {\textbf{Drift-Free Humanoid State Estimation fusing Kinematic, Inertial and {LIDAR} sensing}},
    author = {Maurice F. Fallon and Matthew Antone and Nicholas Roy and Seth Teller},
    booktitle = "IEEE/RSJ Int. Conf. on Humanoid Robots",
    month = nov,
    year = 2014,
    address = {Madrid, Spain},
    Pdf = {http://www.robots.ox.ac.uk/~mobile/drs/Papers/2014HUMANOIDS_fallon.pdf},
    }

2013

  • [PDF] M. Fallon, H. Johannsson, M. Kaess, and J. J. Leonard, “The MIT Stata Center Dataset,” Intl. J. of Robotics Research, IJRR, vol. 32, iss. 14, pp. 1695-1699, 2013.
    [Bibtex]
    @article{2013IJRR_fallon,
    author = {Maurice Fallon and Hordur Johannsson and Michael Kaess and John J. Leonard},
    title = {The {MIT} {S}tata {C}enter Dataset},
    journal = {Intl. J. of Robotics Research, IJRR},
    volume = {32},
    number = {14},
    pages = {1695-1699},
    month = dec,
    year = {2013},
    Pdf = {http://www.robots.ox.ac.uk/~mobile/drs/Papers/2013IJRR_fallon.pdf},
    }
  • [PDF] M. F. Fallon, J. Folkesson, H. McClelland, and J. J. Leonard, “Relocating Underwater Features Autonomously Using Sonar-Based SLAM,” Journal of Oceanic Engineering, vol. 38, pp. 500-513, 2013.
    [Bibtex]
    @article{2013JOE_fallon,
    author={Maurice F. Fallon and John Folkesson and Hunter McClelland and John J. Leonard},
    title={Relocating Underwater Features Autonomously Using Sonar-Based {SLAM}},
    journal={Journal of Oceanic Engineering},
    year=2013,
    month=jul,
    issue={3},
    volume={38},
    pages={500-513},
    Pdf = {http://www.robots.ox.ac.uk/~mobile/drs/Papers/2013JOE_fallon.pdf},
    }
  • [PDF] H. Johannsson, M. Kaess, M. F. Fallon, and J. J. Leonard, “Temporally Scalable Visual SLAM using a Reduced Pose Graph,” in IEEE Intl. Conf. on Robotics and Automation (ICRA), 2013.
    [Bibtex]
    @inproceedings{2013ICRA_johannsson,
    author = {Hordur Johannsson and Michael Kaess and Maurice F. Fallon and John J. Leonard},
    title = {Temporally Scalable Visual {SLAM} using a Reduced Pose Graph},
    booktitle={IEEE Intl. Conf. on Robotics and Automation (ICRA)},
    month = may,
    year = {2013},
    note={\textbf{Best Student Paper Nominee} (4 from 2265 submissions)},
    Pdf = {http://www.robots.ox.ac.uk/~mobile/drs/Papers/2013ICRA_johannsson.pdf},
    }
  • T. Whelan, M. Kaess, M. F. Fallon, H. Johannsson, J. Leonard, and J. McDonald, “Kintinuous: Spatially Extended KinectFusion,” 2013.
    [Bibtex]
    @techreport{2013VIDEO_whelan,
    author = {Thomas Whelan and Michael Kaess and Maurice F. Fallon and Hordur Johannsson and John Leonard and John McDonald},
    title = {Kintinuous: Spatially Extended {KinectFusion}},
    booktitle={AAAI Conference on Artificial Intelligence},
    month = may,
    year = {2013},
    note = {Video Submission}
    }
  • [PDF] H. Wang, Y. Landa, M. Fallon, and S. Teller, “Spatially Prioritized and Persistent Text Detection and Decoding,” in International Workshop on Camera-Based Document Analysis and Recognition (CBDAR), 2013.
    [Bibtex]
    @inproceedings{2013CBDAR_wang,
    author = {Hsueh-Cheng Wang and Yafim Landa and Maurice Fallon and Seth Teller},
    title = {Spatially Prioritized and Persistent Text Detection and Decoding},
    booktitle = {International Workshop on Camera-Based Document Analysis and Recognition {(CBDAR)}},
    location = {Washington D. C., USA},
    year = {2013},
    month = aug,
    Pdf = {http://www.robots.ox.ac.uk/~mobile/drs/Papers/2013CBDAR_wang.pdf},
    }

2012

  • [PDF] M. F. Fallon, H. Johannsson, J. Brookshire, S. Teller, and J. J. Leonard, “Sensor Fusion for Flexible Human-Portable Building-Scale Mapping,” in IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS), 2012.
    [Bibtex]
    @inproceedings{2012IROS_fallon,
    author={Maurice F. Fallon and Hordur Johannsson and Jonathon Brookshire and Seth Teller and John J. Leonard},
    title={Sensor Fusion for Flexible Human-Portable Building-Scale Mapping},
    booktitle={IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS)},
    location={Vilamoura, Algarve, Portugal},
    month=oct,
    year={2012},
    Pdf = {http://www.robots.ox.ac.uk/~mobile/drs/Papers/2012IROS_fallon.pdf},
    }
  • [PDF] H. Johannsson, M. Kaess, M. F. Fallon, and J. J. Leonard, “Temporally Scalable Visual SLAM using a Reduced Pose Graph,” 2012.
    [Bibtex]
    @techreport{2012RSSWORKSHOP_johannsson,
    author={Hordur Johannsson and Michael Kaess and Maurice F. Fallon and John J. Leonard},
    title={Temporally Scalable Visual {SLAM} using a Reduced Pose Graph},
    booktitle={RSS Workshop on Long-term Operation of Autonomous Robotic Systems in Changing Environments},
    location={Sydney, Australia},
    month=jul,
    year=2012,
    Pdf = {http://www.robots.ox.ac.uk/~mobile/drs/Papers/2012RSSWORKSHOP_johannsson.pdf},
    }
  • M. F. Fallon, H. Johannsson, M. Kaess, D. M. Rosen, E. Muggler, and J. J. Leonard, “Mapping the MIT Stata Center: Large-scale Integrated Visual and RGB-D SLAM,” in RSS Workshop on RGB-D: Advanced Reasoning with Depth Cameras, 2012.
    [Bibtex]
    @inproceedings{2012RSSWORKSHOP_fallon,
    author={Maurice F. Fallon and Hordur Johannsson and Michael Kaess and David M. Rosen and Elias Muggler and John J. Leonard},
    title={Mapping the {MIT} Stata Center: Large-scale Integrated Visual and {RGB-D} {SLAM}},
    booktitle={RSS Workshop on RGB-D: Advanced Reasoning with Depth Cameras},
    location={Sydney, Australia},
    month=jul,
    year=2012
    }
  • [PDF] T. Whelan, J. McDonald, M. Kaess, M. F. Fallon, H. Johannsson, and J. J. Leonard, “Kintinuous: Spatially Extended KinectFusion,” 2012.
    [Bibtex]
    @techreport{2012RSSWORKSHOP_whelan,
    author={Thomas Whelan and John McDonald and Michael Kaess and Maurice F. Fallon and Hordur Johannsson and John J. Leonard},
    title={Kintinuous: Spatially Extended {KinectFusion}},
    booktitle={RSS Workshop on RGB-D: Advanced Reasoning with Depth Cameras},
    location={Sydney, Australia},
    month=jul,
    year=2012,
    Pdf = {http://www.robots.ox.ac.uk/~mobile/drs/Papers/2012RSSWORKSHOP_whelan.pdf},
    }
  • [PDF] T. Whelan, J. McDonald, M. Kaess, M. F. Fallon, H. Johannsson, and J. J. Leonard, “Kintinuous: Spatially Extended KinectFusion,” Computer Science and Artificial Intelligence Laboratory, MIT, MIT-CSAIL-TR-2012-020, 2012.
    [Bibtex]
    @techreport{2012TECHREPORT_whelan,
    author={Thomas Whelan and John McDonald and Michael Kaess and Maurice F. Fallon and Hordur Johannsson and John J. Leonard},
    title={Kintinuous: Spatially Extended {KinectFusion}},
    institution = {Computer Science and Artificial Intelligence Laboratory, MIT},
    number = {MIT-CSAIL-TR-2012-020},
    month = jul,
    year = {2012},
    Pdf = {http://www.robots.ox.ac.uk/~mobile/drs/Papers/2012TECHREPORT_whelan.pdf},
    }
  • [PDF] M. F. Fallon and S. J. Godsill, “Acoustic Source Localisation and Tracking of a Time-Varying Number of Speakers,” IEEE Trans. on Audio, Speech, and Language Processing, vol. 20, pp. 1409-1415, 2012.
    [Bibtex]
    @article{2012TASLP_fallon,
    author={Maurice F. Fallon and Simon J. Godsill},
    title={Acoustic Source Localisation and Tracking of a Time-Varying Number of Speakers},
    journal="{IEEE} Trans. on Audio, Speech, and Language Processing",
    volume=20,
    issue=4,
    month=may,
    year=2012,
    pages={1409-1415},
    Pdf = {http://www.robots.ox.ac.uk/~mobile/drs/Papers/2012TASLP_fallon.pdf},
    }
  • [PDF] M. F. Fallon, H. Johannsson, and J. J. Leonard, “Efficient Scene Simulation for Robust Monte Carlo Localization using an RGB-D Camera,” in IEEE Intl. Conf. on Robotics and Automation (ICRA), 2012.
    [Bibtex]
    @inproceedings{2012ICRA_fallon,
    author={Maurice F. Fallon and Hordur Johannsson and John J. Leonard},
    title={Efficient Scene Simulation for Robust {M}onte {C}arlo Localization using an {RGB-D} Camera},
    booktitle={IEEE Intl. Conf. on Robotics and Automation (ICRA)},
    location={St Paul, Minnesota, USA},
    month=may,
    year={2012},
    note={\textbf{Best Conference Paper Nominee} (4 from 2067 submissions)},
    Pdf = {http://www.robots.ox.ac.uk/~mobile/drs/Papers/2012ICRA_fallon.pdf},
    }
  • H. Johannsson, M. Kaess, M. F. Fallon, and J. J. Leonard, “Temporally Scalable Visual SLAM using a Reduced Pose Graph,” CSAIL, MIT, MIT-CSAIL-TR-2012-013, 2012.
    [Bibtex]
    @techreport{2012TECHREPORT_johannsson,
    author = {Hordur Johannsson and Michael Kaess and Maurice F. Fallon and John J. Leonard},
    title = {Temporally Scalable Visual {SLAM} using a Reduced Pose Graph},
    institution = {CSAIL, MIT},
    number = {MIT-CSAIL-TR-2012-013},
    month = may,
    year = {2012}
    }
  • [PDF] M. F. Fallon, H. Johannsson, M. Kaess, J. Folkesson, H. McClelland, B. Englot, F. Hover, and J. J. Leonard, “Simultaneous Localization and Mapping in Marine Environments,” in Marine Robot Autonomy, M. Seto, Ed., Springer-Verlag, 2012.
    [Bibtex]
    @incollection{2013CHAPTER_fallon,
    author={Maurice F. Fallon and Hordur Johannsson and Michael Kaess and John Folkesson and Hunter McClelland and Brendan Englot and Franz Hover and John J. Leonard},
    title={Simultaneous Localization and Mapping in Marine Environments},
    booktitle={Marine Robot Autonomy},
    publisher={Springer-Verlag},
    location={New York},
    editor={Mae Seto},
    year={2012},
    Pdf = {http://www.robots.ox.ac.uk/~mobile/drs/Papers/2013CHAPTER_fallon.pdf},
    }

2011

  • [PDF] M. F. Fallon, H. Johannsson, and J. J. Leonard, “Robust 3D Monte Carlo Localization using an RGB-D Camera and a Semantic Building Model,” in IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS), 2011.
    [Bibtex]
    @inproceedings{2011IROSWORKSHOP_fallon,
    author={Maurice F. Fallon and Hordur Johannsson and John J. Leonard},
    title={Robust {3D} {M}onte {C}arlo Localization using an {RGB-D} Camera and a Semantic Building Model},
    booktitle={IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS)},
    location={San Francisco},
    month=sep,
    year={2011},
    Pdf = {http://www.robots.ox.ac.uk/~mobile/drs/Papers/2011IROSWORKSHOP_fallon.pdf},
    }
  • [PDF] M. F. Fallon, M. Kaess, H. Johannsson, and J. J. Leonard, “Efficient AUV Navigation Fusing Acoustic Ranging and Side-scan Sonar,” in IEEE Intl. Conf. on Robotics and Automation (ICRA), 2011.
    [Bibtex]
    @inproceedings{2011ICRA_fallon,
    title = {Efficient {AUV} Navigation Fusing Acoustic Ranging and Side-scan Sonar},
    author = {Maurice F. Fallon and Michael Kaess and Hordur Johannsson and John J. Leonard},
    booktitle = {IEEE Intl. Conf. on Robotics and Automation (ICRA)},
    year = 2011,
    month = may,
    note = {\textbf{Best Automation Paper Nominee}},
    Pdf = {http://www.robots.ox.ac.uk/~mobile/drs/Papers/2011ICRA_fallon.pdf},
    }

2010

  • [PDF] [DOI] M. F. Fallon, G. Papadopoulos, J. J. Leonard, and N. M. Patrikalakis, “Cooperative AUV Navigation using a Single Maneuvering Surface Craft,” Intl. J. of Robotics Research, vol. 29, iss. 12, pp. 1461-1474, 2010.
    [Bibtex]
    @article{2010IJRR_fallon,
    title = {Cooperative {AUV} Navigation using a Single Maneuvering Surface Craft},
    author = {Maurice F. Fallon and Georgios Papadopoulos and John J. Leonard and Nicholas M. Patrikalakis},
    journal = {Intl. J. of Robotics Research},
    year = 2010,
    month = oct,
    volume = 29,
    number = 12,
    pages = {1461-1474},
    doi = {10.1177/0278364910380760},
    Pdf = {http://www.robots.ox.ac.uk/~mobile/drs/Papers/2010IJRR_fallon.pdf},
    }
  • [PDF] M. F. Fallon, G. Papadopoulos, and J. J. Leonard, “A Measurement Distribution Framework for Cooperative Navigation using multiple AUVs,” in IEEE Intl. Conf. on Robotics and Automation (ICRA), 2010, pp. 4803-4808.
    [Bibtex]
    @inproceedings{2010ICRA_fallon,
    title = {A Measurement Distribution Framework for Cooperative Navigation using multiple {AUVs}},
    author = {Maurice F. Fallon and Georgios Papadopoulos and John J. Leonard},
    booktitle = {IEEE Intl. Conf. on Robotics and Automation (ICRA)},
    month = may,
    year = 2010,
    pages = {4803-4808},
    location = {Anchorage, AK},
    Pdf = {http://www.robots.ox.ac.uk/~mobile/drs/Papers/2010ICRA_fallon.pdf},
    }
  • [PDF] M. F. Fallon and S. Godsill, “Acoustic Source Localisation and Tracking using Track Before Detect,” IEEE Trans. on Audio, Speech, and Language Processing, vol. 18, iss. 6, pp. 1228-1242, 2010.
    [Bibtex]
    @article{2010TASLP_fallon,
    author={Maurice F. Fallon and Simon Godsill},
    TITLE = {Acoustic Source Localisation and Tracking using {T}rack {B}efore {D}etect},
    JOURNAL = "{IEEE} Trans. on Audio, Speech, and Language Processing",
    VOLUME = 18,
    NUMBER = 6,
    YEAR = 2010,
    pages = {1228-1242},
    Pdf = {http://www.robots.ox.ac.uk/~mobile/drs/Papers/2010TASLP_fallon.pdf},
    }
  • [PDF] J. C. Leedekerken, M. F. Fallon, and J. J. Leonard, “Mapping Complex Marine Environments with Autonomous Surface Craft,” in Intl. Sym. on Experimental Robotics (ISER), Delhi, India, 2010.
    [Bibtex]
    @inproceedings{2010ISER_leedekerken,
    author = {Jacques C. Leedekerken and Maurice F. Fallon and John J. Leonard},
    title = {Mapping Complex Marine Environments with Autonomous Surface Craft},
    booktitle = {Intl. Sym. on Experimental Robotics (ISER)},
    address = {Delhi, India},
    year = 2010,
    month = dec,
    Pdf = {http://www.robots.ox.ac.uk/~mobile/drs/Papers/2010ISER_leedekerken.pdf},
    }
  • [PDF] G. Papadopoulos, M. F. Fallon, J. J. Leonard, and N. M. Patrikalakis, “Cooperative Localization of Marine Vehicles using Nonlinear State Estimation,” in IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS), 2010.
    [Bibtex]
    @inproceedings{2010IROS_papadopoulos,
    author = {Georgios Papadopoulos and Maurice F. Fallon and John J. Leonard and Nicholas M. Patrikalakis},
    title = {Cooperative Localization of Marine Vehicles using Nonlinear State Estimation},
    booktitle = {IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS)},
    year = 2010,
    Pdf = {http://www.robots.ox.ac.uk/~mobile/drs/Papers/2010IROS_papadopoulos.pdf},
    }
  • [PDF] M. F. Fallon, G. Papadopoulos, and J. J. Leonard, “Cooperative AUV Navigation using a single surface craft,” in Field and Service Robotics, A. Howard, K. Iagnemma, and A. Kelly, Eds., Springer, Berlin, 2010, vol. 79, pp. 331-340.
    [Bibtex]
    @incollection{2010CHAPTER_fallon,
    year={2010},
    booktitle={Field and Service Robotics},
    volume={79},
    series={Springer Tracts in Advanced Robotics},
    editor={Andrew Howard and Karl Iagnemma and Alonzo Kelly},
    title={Cooperative {AUV} Navigation using a single surface craft},
    publisher={Springer, Berlin},
    author={Maurice F. Fallon and Georgios Papadopoulos and John J. Leonard},
    pages={331-340},
    Pdf = {http://www.robots.ox.ac.uk/~mobile/drs/Papers/2010CHAPTER_fallon.pdf},
    }

2009

  • [PDF] A. Bahr, J. J. Leonard, and M. F. Fallon, “Cooperative Localization for Autonomous Underwater Vehicles,” Intl. J. of Robotics Research, vol. 28, iss. 6, pp. 714-728, 2009.
    [Bibtex]
    @article{2009IJRR_bahr,
    author={Alexander Bahr and John J. Leonard and Maurice F. Fallon},
    title={Cooperative Localization for Autonomous Underwater Vehicles},
    journal={Intl. J. of Robotics Research},
    volume=28,
    number=6,
    pages={714-728},
    year=2009,
    Pdf = {http://www.robots.ox.ac.uk/~mobile/drs/Papers/2009IJRR_bahr.pdf},
    }
  • [PDF] M. F. Fallon, G. Papadopoulos, and J. J. Leonard, “Cooperative AUV Navigation using a Single Surface Craft,” in Field and Service Robotics (FSR), 2009.
    [Bibtex]
    @inproceedings{2009FSR_fallon,
    author = {Maurice F. Fallon and Georgios Papadopoulos and John J. Leonard},
    title = {Cooperative {AUV} Navigation using a Single Surface Craft},
    booktitle = {Field and Service Robotics (FSR)},
    location = {Cambridge, USA},
    month = jul,
    year = 2009,
    Pdf = {http://www.robots.ox.ac.uk/~mobile/drs/Papers/2009FSR_fallon.pdf},
    }

2008

  • [PDF] M. F. Fallon and S. Godsill, “Multi Target Acoustic Source Tracking with an unknown and time varying number of targets,” in Joint Workshop on Hands-free Speech Communication and Microphone Arrays (HSCMA), 2008.
    [Bibtex]
    @inproceedings{2008HSCMA_fallon,
    author={Maurice F. Fallon and Simon Godsill},
    year={2008},
    month=may,
    title={Multi Target Acoustic Source Tracking with an unknown and time varying number of targets},
    booktitle={Joint Workshop on Hands-free Speech Communication and Microphone Arrays (HSCMA)},
    location={Trento, Italy},
    Pdf = {http://www.robots.ox.ac.uk/~mobile/drs/Papers/2008HSCMA_fallon.pdf},
    }
  • M. F. Fallon, “Acoustic Source Tracking using Sequential Monte Carlo,” PhD Thesis, 2008.
    [Bibtex]
    @phdthesis{2008THESIS_fallon,
    author={Maurice F. Fallon},
    title={Acoustic Source Tracking using Sequential {M}onte {C}arlo},
    month=jun,
    year={2008},
    school={University of Cambridge},
    }

2007

  • [PDF] M. F. Fallon and S. Godsill, “Multi-Target Acoustic Source Tracking Using Track Before Detect,” in Workshop on Applications of Signal Processing to Audio and Acoustics (WASPAA), 2007, pp. 77-80.
    [Bibtex]
    @inproceedings{2007WASPAA_fallon,
    author={Maurice F. Fallon and Simon Godsill},
    year={2007},
    month=oct,
    pages={77-80},
    title={Multi-{T}arget Acoustic Source Tracking Using Track Before Detect},
    booktitle={Workshop on Applications of Signal Processing to Audio and Acoustics (WASPAA)},
    location={New Paltz, NY, USA},
    Pdf = {http://www.robots.ox.ac.uk/~mobile/drs/Papers/2007WASPAA_fallon.pdf},
    }

2006

  • [PDF] M. F. Fallon, S. Godsill, and A. Blake, “Joint Acoustic Source Location and Orientation Estimation Using Sequential Monte Carlo,” in International Conference on Digital Audio Effects (DAFx), Montreal, Quebec, Canada, 2006, pp. 203-208.
    [Bibtex]
    @inproceedings{2006DAFX_fallon,
    Title = {Joint Acoustic Source Location and Orientation Estimation Using Sequential {M}onte {C}arlo},
    Author = {Maurice F. Fallon and Simon Godsill and Andrew Blake},
    Booktitle = {International Conference on Digital Audio Effects (DAFx)},
    Address = {Montreal, Quebec, Canada},
    Month = sep,
    Year = {2006},
    Pages = {203-208},
    Pdf = {http://www.robots.ox.ac.uk/~mobile/drs/Papers/2006DAFX_fallon.pdf},
    }

2004

  • [PDF] S. Rickard and M. F. Fallon, “The Gini Index of Speech,” in Conference on Information Sciences and Systems, Princeton, NJ, 2004.
    [Bibtex]
    @inproceedings{2004CISS_rickard,
    author={Scott Rickard and Maurice F. Fallon},
    title={The {Gini} Index of Speech},
    booktitle={Conference on Information Sciences and Systems},
    Address={Princeton, NJ},
    Month={March},
    year={2004},
    Pdf = {http://www.robots.ox.ac.uk/~mobile/drs/Papers/2004CISS_rickard.pdf},
    }
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