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thesis
[T1]. Joel A. Hesch. Consistency Analysis and Improvement for Vision-aided Inertial Navigation. PhD thesis, University of Minnesota, 100 Church St. S.E., Minneapolis, MN 55455, March 2016. [ bib | .pdf ]

book chapters
[B4]. Dimitrios G. Kottas, Joel A. Hesch, Sean L. Bowman, and Stergios I. Roumeliotis. Experimental Robotics, volume 88 of Springer Tracts in Advanced Robotics, chapter On the Consistency of Vision-Aided Inertial Navigation, pages 303-317. Springer-Verlag, Berlin, Germany, December 2013. [ bib | DOI | .pdf ]
[B3]. Joel A. Hesch, Dimitrios G. Kottas, Sean L. Bowman, and Stergios I. Roumeliotis. Algorithmic Foundation of Robotics X, volume 86 of Springer Tracts in Advanced Robotics, chapter Towards Consistent Vision-Aided Inertial Navigation, pages 559-574. Springer-Verlag, Berlin, Germany, December 2013. [ bib | DOI | .pdf ]
[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 ]

journal and magazine articles
[J8]. Simon Lynen, Bernhard Zeisl, Dror Aiger, Michael Bosse, Joel Hesch, Marc Pollefeys, Roland Siegwart, and Torsten Sattler. Large-scale, real-time visual-inertial localization revisited. Int. Journal of Robotics Research, January 2019. Under review. [ bib ]
[J7]. Chao X. Guo, Kourosh Sartipi, Ryan C. DuToit, Georgios A. Georgiou, Ruipeng Li, John O'Leary, Esha D. Nerurkar, Joel A. Hesch, and Stergios I. Roumeliotis. Resource-aware large-scale cooperative three-dimensional mapping using multiple mobile devices. IEEE Trans. on Robotics, 43(5):1349-1369, October 2018. [ bib | DOI | .pdf ]
[J6]. Giuseppe Loianno, Gareth Cross, Chao Qu, Yash Mulgaonkar, Joel A. Hesch, and Vijay Kumar. Flying smartphones: Automated flight enabled by consumer electronics. IEEE Robotics and Automation Magazine, 22(2):24-32, June 2015. [ bib | DOI | .pdf ]
[J5]. Joel A. Hesch, Dimitrios G. Kottas, Sean L. Bowman, and Stergios I. Roumeliotis. Consistency analysis and improvement of vision-aided inertial navigation. IEEE Trans. on Robotics, 30(1):158-176, February 2014. [ bib | DOI | .pdf ]
[J4]. Joel A. Hesch, Dimitrios G. Kottas, Sean L. Bowman, and Stergios I. Roumeliotis. Camera-IMU-based localization: Observability analysis and consistency improvement. Int. Journal of Robotics Research, 33(1):182-201, January 2014. [ 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 | .pdf ]
[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. Int. Journal of Robotics Research, 2011. Under review. [ bib | .pdf ]
[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 ]

conference papers
[C21]. Ryan C. DuToit, Joel A. Hesch, Esha D. Nerurkar, and Stergios I. Roumeliotis. Consistent map-based 3D localization on mobile devices. In Proc. of the IEEE Int. Conf. on Robotics and Automation, pages 6253-6260, Singapore, Singapore, May 29 - June 3, 2017. [ bib | DOI | .pdf ]
[C20]. Mrinal K. Paul, Kejian Wu, Joel A. Hesch, Esha D. Nerurkar, and Stergios I. Roumeliotis. A comparative analysis of tightly-coupled monocular, binocular, and stereo VINS. In Proc. of the IEEE Int. Conf. on Robotics and Automation, pages 936-943, Singapore, Singapore, May 29 - June 3, 2017. [ bib | DOI | .pdf ]
[C19]. Veronica U. Weser, Joel Hesch, Johnny Lee, and Dennis R. Proffitt. User sensitivity to speed-and height-mismatch in VR. In Proc. of the ACM Symposium on Applied Perception, page 143, Anaheim, CA, July 22-23, 2016. [ bib | DOI | http | .pdf ]
[C18]. Chao X. Guo, Kourosh Sartipi, Ryan C. DuToit, Georgios A. Georgiou, Ruipeng Li, John O'Leary, Esha D. Nerurkar, Joel A. Hesch, and Stergios I. Roumeliotis. Large-scale cooperative 3D visual-inertial mapping in a Manhattan world. In Proc. of the IEEE Int. Conf. on Robotics and Automation, pages 1071-1078, Stockholm, Sweden, May 16-21, 2016. [ bib | DOI | .pdf ]
[C17]. Simon Lynen, Torsten Sattler, Michael Bosse, Joel Hesch, Marc Pollefeys, and Roland Siegwart. Get out of my lab: Large-scale, real-time visual-inertial localization. In Proc. of RSS: Robotics Science and Systems, Rome, Italy, July 13-17, 2015. [ bib | .html | .pdf ]
[C16]. Dimitrios G. Kottas, Joel A. Hesch, Sean L. Bowman, and Stergios I. Roumeliotis. On the consistency of vision-aided inertial navigation. In Proc. of the Int. Symposium on Experimental Robotics, pages 303-317, Québec City, Canada, June 17-22, 2012. [ bib | http | .pdf ]
[C15]. Joel A. Hesch and Stergios I. Roumeliotis. Consistency analysis and improvement for single-camera localization. In Proc. of the IEEE Conf. on Computer Vision and Pattern Recognition, pages 15-22, Providence, RI, June 16-21, 2012. [ bib | DOI | http | .pdf ]
[C14]. Joel A. Hesch, Dimitrios G. Kottas, Sean L. Bowman, and Stergios I. Roumeliotis. Towards consistent vision-aided inertial navigation. In Proc. of the Int. Workshop on the Algorithmic Foundations of Robotics, pages 559-574, Cambridge, MA, June 12-15, 2012. [ bib | .html | .pdf ]
[C13]. Igor V. Melnyk, Joel A. Hesch, and Stergios I. Roumeliotis. Cooperative vision-aided inertial navigation using overlapping views. In Proc. of the IEEE Int. Conf. on Robotics and Automation, pages 936-943, Saint Paul, MN, May 14-18, 2012. [ bib | DOI | .pdf ]
[C12]. Zhen Zhu, Stergios Roumeliotis, Joel Hesch, Han Park, and Don Venable. Architecture for asymmetric collaborative navigation. In Proc. of the IEEE/ION Position Location and Navigation Symposium, pages 777-782, Myrtle Beach, SC, April 23-26, 2012. [ 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 | DOI | .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, pages 1328-1336, 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, pages 311-325, Crete, Greece, September 5-11, 2010. [ bib | DOI | http | .pdf ]
[C7]. John Shackleton, Brian VanVoorst, and Joel 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 | DOI | .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 ]

technical reports, white papers, and patents
[R30]. Joel Hesch and James Fung. Continuation of balancing exposure and gain at an electronic device based on device motion and scene distance. US Patent: US10154190B2, December 11, 2018. Google LLC. [ bib | http | .pdf ]
[R29]. Joel Hesch and Esha Nerurkar. Electronic device pose identification based on imagery and non-image sensor data. US Patent: US10073531B2, September 11, 2018. Google LLC. [ bib | http | .pdf ]
[R28]. Joel Hesch, Esha Nerurkar, and Patrick Mihelich. Electronic device localization based on imagery. US Patent Application: US20180211137A1, July 26, 2018. Google LLC. [ bib | http | .pdf ]
[R27]. Esha Nerurkar, Joel Hesch, and Simon Lynen. Managing feature data for environment mapping on an electronic device. US Patent: US9940542B2, April 10, 2018. Google LLC. [ bib | http | .pdf ]
[R26]. Joel Hesch, Ashish Shah, and James Fung. Low-power mode feature identification at a head mounted display. US Patent Application: US20180033201A1, February 1, 2018. Google LLC. [ bib | http | .pdf ]
[R25]. Johnny Chung Lee, Joel Hesch, Ryan Hickman, Patrick Mihelich, and James Fung. Measuring dimension of object through visual odometry. US Patent Application: US20170358142A1, December 14, 2017. Google LLC. [ bib | http | .pdf ]
[R24]. Stergios I. Roumeliotis, Esha D. Nerurkar, Joel Hesch, Chao Guo, Ryan C. DuToit, Kourosh Sartipi, and Georgios Georgiou. Resource-aware large-scale cooperative 3D mapping using multiple mobile devices. US Patent Application: US20170343356A1, November 30, 2017. University of Minnesota, Google LLC. [ bib | http | .pdf ]
[R23]. MingYang Li, Joel Hesch, and Zachary Moratto. Real-time visual-inertial motion tracking fault detection. US Patent Application: US20170336439A1, November 23, 2017. Google LLC. [ bib | http | .pdf ]
[R22]. Joel Hesch and James Fung. Balancing exposure and gain at an electronic device based on device motion and scene distance. US Patent: US9819855B2, November 14, 2017. Google LLC. [ bib | http | .pdf ]
[R21]. James Fung, Joel Hesch, and Johnny Lee. Methods and systems for acquiring sensor data on a device using multiple acquisition modes. US Patent: US9752892B2, September 5, 2017. Google LLC. [ bib | http | .pdf ]
[R20]. Joel Hesch, Johnny Lee, and Simon Lynen. Methods and systems for determining estimation of motion of a device. US Patent: US9303999B2, December 30, 2016. Google LLC. [ bib | http | .pdf ]
[R19]. James Fung, Joel Hesch, and Johnny Lee. Continuation of methods and systems for communicating sensor data on a mobile device. US Patent: US9485366B2, November 1, 2016. Google LLC. [ bib | http | .pdf ]
[R18]. Joel Hesch, Ryan Hickman, and Johnny Lee. Methods and systems for adjusting sensor viewpoint to a virtual viewpoint. US Patent: US9445015B2, September 13, 2016. Google LLC. [ bib | http | .pdf ]
[R17]. Johnny Lee and Joel Hesch. Odometry feature matching. US Patent: US9437000B2, September 6, 2016. Google LLC. [ bib | http | .pdf ]
[R16]. James Fung, Joel Hesch, and Johnny Lee. Methods and systems for detecting frame tears. US Patent: US9424619B2, August 23, 2016. Google LLC. [ bib | http | .pdf ]
[R15]. James Fung, Joel Hesch, and Johnny Lee. Methods and systems for communicating sensor data on a mobile device. US Patent: US9313343B2, April 12, 2016. Google LLC. [ bib | http | .pdf ]
[R14]. James Fung, Joel Hesch, and Johnny Lee. Methods and systems for cross-validating sensor data acquired using sensors of a mobile device. US Patent: US9277361B2, March 1, 2016. Google LLC. [ bib | http | .pdf ]
[R13]. Stergios I. Roumeliotis, Dimitrios G. Kottas, Chao Guo, and Joel Hesch. Observability-constrained vision-aided inertial navigation. US Patent: US9243916B2, January 26, 2016. University of Minnesota. [ bib | http | .pdf ]
[R12]. Joel Hesch. Methods and systems for calibrating sensors using recognized objects. US Patent Application: US20150362579A1, December 17, 2015. Google LLC. [ bib | http | .pdf ]
[R11]. Ivan Dryanovski, Simon Lynen, and Joel Hesch. Methods and systems for generating a map including sparse and dense mapping information. US Patent Application: US20150193971A1, July 9, 2015. Google Technology Holdings LLC. [ bib | http | .pdf ]
[R10]. Joel Hesch, James Fung, and Johnny Lee. Methods and systems for synchronizing data received from multiple sensors of a device. US Patent Application: US20150185054A1, December 30, 2013. Google Technology Holdings LLC. [ bib | http | .pdf ]
[R9]. Joel A. Hesch, Peter Lommel, and Yunqian Ma. A system and method for wavelet-based gait classification. US Patent: US8548740B2, October 1, 2013. Honeywell International Inc. [ bib | http | .pdf ]
[R8]. Yunqian Ma and Joel A. Hesch. A system and method for constructing distance estimate models for personal navigation. US Patent Application: US20120130284A1, May 24, 2012. Honeywell International Inc. [ bib | http | .pdf ]
[R7]. 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 ]
[R6]. 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 ]
[R5]. 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 | http | .pdf ]
[R4]. 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 ]
[R3]. 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 ]
[R2]. 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 ]
[R1]. Lisa Sullivan, Christopher Wiens, Mun Hoe Sze Tho, Trenton Palm, and Joel A. Hesch. Autonomous parallel parking of a nonholonomic vehicle. Technical report, University of Minnesota, Dept. of Elec. & and Comp. Eng., EE4951 Class Project, May 15, 2004. [ bib | .pdf ]

posters
[P7]. Chao X. Guo, Ryan C. DuToit, Kourosh Sartipi, Georgios Georgiou, Ruipeng Li, John O‚ÄôLeary, Esha D. Nerurkar, Joel A. Hesch, and Stergios I. Roumeliotis. Resource-aware large-scale cooperative 3D mapping from multiple cell phones. In Poster session of the IEEE Int. Conf. on Robotics and Automation, Seattle, WA, May 26-30, 2015. [ bib | http | .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 ]

talks
[Ta13]. 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 ]
[Ta12]. 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 ]
[Ta11]. 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 ]
[Ta10]. Wavelet-based human gait classification. at Honeywell International, August 18, 2010. Golden Valley, MN. [ bib ]
[Ta9]. 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 ]
[Ta8]. 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 ]
[Ta7]. 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 ]
[Ta6]. A 3D pose tracker for the visually impaired. At the NIH Roadmap Seminar, March 12, 2009. University of Minnesota, Minneapolis, MN. [ bib ]
[Ta5]. Mirror-based extrinsic camera calibration. At the Workshop on the Algorithmic Foundations of Robotics, December 8, 2008. Guanajuato, Mexico. [ bib ]
[Ta4]. 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 ]
[Ta3]. A 3D localization aid for first responders. At the NSF Safety, Security, and Rescue Research Center Symposium, June 9, 2008. Minneapolis, MN. [ bib ]
[Ta2]. Indoor localization and guidance for humans. At the NIH Roadmap Seminar, November 8, 2007. University of Minnesota, Minneapolis, MN. [ bib ]
[Ta1]. Firefighter localization using body mounted sensors. At the NSF Safety, Security, and Rescue Research Center Symposium, June 11, 2007. Minneapolis, MN. [ bib ]

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