Publications - Cesar Dario Cadena Lerma



Journals        International Conferences        International Workshops
PhD Thesis        Local Conferences         Journal abstracts         Other publications
google scholar

                       Journals

T-RO C. Cadena, L. Carlone, H. Carrillo, Y. Latif, D. Scaramuzza, J. Neira, I. Reid, J.J. Leonard
Past, Present, and Future of Simultaneous Localization And Mapping:
Towards the Robust-Perception Age

IEEE Transactions on RObotics 32 (6), pp. 1309-1332, 2016.
[pdf] [web] [git] [bibtex]
PR
IJRR C. Cadena, J. Kosecka
Semantic Parsing for Priming Object Detection in Indoors RGB-D Scenes
International Journal on Robotics Research 34 (4-5), pp. 582-597, 2015
[link to journal] [accepted version] [bibtex]
ijrr14
IJRR Y. Latif, C. Cadena, J. Neira
Robust Loop Closing Over Time for Pose Graph SLAM
International Journal on Robotics Research 32 (14), pp. 1611-1626, 2013.
[link to journal] [bibtex]
ijrr13
RAS Journal J. McDonald, M. Kaess, C. Cadena, J. Neira, J.J. Leonard
Real-time 6-DOF Multi-session Visual SLAM over Large Scale Environments
Robotics and Autonomous Systems 61 (10), pp. 1144-1158, 2013
[link to journal] [draft] [bibtex]
ecmr11
T-RO C. Cadena, D. Gálvez-López, J.D. Tardós, J. Neira
Robust Place Recognition with Stereo Sequences
IEEE Transactions on RObotics 28 (4), pp. 871-885, 2012.
[pdf] [bibtex]
PR
RAS Journal C. Cadena, J. Neira
SLAM in O(log n) with the Combined Kalman - Information Filter
Robotics and Autonomous Systems 58, pp. 1207-1219,  2010
[link to journal] [draft] [bibtex]
CF SLAM

                       International Conferences

ICRA 2016 M. Fehr, F. Furrer, I. Dryanovski, J. Sturm, I. Gilitschenski, R. Siegwart, C. Cadena
TSDF-based Change Detection for Consistent Long-Term Dense
Reconstruction and Dynamic Object Discovery

IEEE International Conference on Robotics and Automation,
Singapore, Singapore, May-June 2017.
[draft] [bibtex]
icra17_mfehr
ICRA 2017 M. Pfeiffer, M. Schaeuble, J. Nieto, R. Siegwart, C. Cadena 
From Perception to Decision: A Data-driven Approach to End-to-end
Motion Planning for Autonomous Ground Robots

IEEE International Conference on Robotics and Automation,
Singapore, Singapore, May-June 2017.
[draft] [bibtex]
icra17_mpfeiffer
ICRA 2017 R. Dube, D. Dugas, E. Stumm, J. Nieto, R. Siegwart, C. Cadena 
SegMatch: Segment based place recognition in 3D point clouds
IEEE International Conference on Robotics and Automation,
Singapore, Singapore, May-June 2017.
[draft] [bibtex]
icra17_rdube
IROS 2016 C. Cadena, Y. Latif, I.D. Reid
Measuring the Performance of Single Image Depth Estimation Methods
IEEE/RJS Int. Conference on Intelligent RObots and Systems,
Daejeon, Korea, October 2016.
[draft] [bibtex]
iros16
RSS 2016 C. Cadena, A. Dick, I.D. Reid
Multimodal AutoEncoders as Joint Estimators for Robotics Scene Understanding
Robotics Science and Systems, Ann Arbor, MI, USA, June 2016.
[pdf] [bibtex]
rss16
ICRA 2016 JH. Kim, C. Cadena, I.D. Reid
Direct Semi-dense SLAM for Rolling Shutter Cameras
IEEE International Conference on Robotics and Automation,
Stockholm, Sweden, May 2016.
[draft] [bibtex]
icra16
ICRA 2015 C. Cadena, A. Dick, I.D. Reid
A Fast, Modular Scene Understanding System using Context-Aware Object Detection
IEEE International Conference on Robotics and Automation,
Seatle, Washington, USA, May 2015.
[draft] [bibtex]
icra15
IROS 2014 Y. Latif, C. Cadena, J. Neira
Robust Graph SLAM Back-Ends: A Comparative Analysis
IEEE/RJS Int. Conference on Intelligent RObots and Systems,
Chicago, Illinois, USA, September 2014.
[draft] [bibtex]
iros14
ICRA 2014 C. Cadena, J. Kosecka
Semantic Segmentation with Heterogeneous Sensor Coverages
IEEE International Conference on Robotics and Automation,
Hong Kong, China, May 2014.
[draft] [bibtex]
icra14
ISRR 2013 C. Cadena, J. Kosecka
Recursive Inference for Prediction of Objects in Urban Environments
The 16th International Symposium on Robotics Research,
Singapore, December 2013.
[draft] [interactive poster] [bibtex]
isrr13
IROS 2012 Y. Latif, C. Cadena, J. Neira
Realizing, Reversing, Recovering:
Incremental Robust Loop Closing over time using the iRRR algorithm

IEEE/RJS Int. Conference on Intelligent RObots and Systems,
Vilamoura-Algarve, Portugal, October 2012.
[draft] [bibtex]
iros12
RSS 2012 Y. Latif, C. Cadena, J. Neira
Robust Loop Closing Over Time
Robotics Science and Systems, Sydney, NSW, Australia, July 2012.
[pdf] [bibtex]
rss12
IFAC 2011 C. Cadena, J. McDonald, J.J. Leonard, J. Neira
Place Recognition using Near and Far Visual Information
18th IFAC World Congress, Milano, Italy, August-September 2011.
[draft] [bibtex]
ifac11
ECMR 2011 J. McDonald, M. Kaess, C. Cadena, J. Neira, J.J. Leonard
6-DOF Multi-session Visual SLAM using Anchor Nodes
European Conference on Mobile Robots, Örebro, Sweden, September 2011.
[pdf] [bibtex]
ecmr11
IROS 2010 C. Cadena, D. Gálvez-López, F. Ramos, J.D. Tardós, J. Neira
Robust Place Recognition with Stereo Cameras
IEEE/RJS Int. Conference on Intelligent RObots and Systems, Taipei, Taiwan, October 2010.
[pdf] [bibtex]
iros10
ECMR 2009 C. Cadena, F. Ramos, J. Neira
Efficient Large Scale SLAM including data association using the Combined Filter
European Conference on Mobile Robots, Mlini/Dubrovnik, Croatia, September 2009.
[pdf] [bibtex]
ecmr09
IROS 2009 C. Cadena, J. Neira
SLAM in O(log n) with the Combined Kalman - Information Filter
IEEE/RJS Int. Conference on Intelligent RObots and Systems, St. Louis, MO, USA, October 2009.
[pdf] [bibtex]
iros09

                      International Workshops

SPME 13 C. Cadena, J. Kosecka
Semantic Parsing for Priming Object Detection in RGB-D Scenes
Semantic Perception Mapping and Exploration (SPME), Karlsruhe, Germany, May 5th, 2013.
[pdf] [talk]
spme13
ICRA 13 Y. Latif, C. Cadena, J. Neira
Detecting the Correct Graph Structure in Pose-graph SLAM
2013 ICRA Workshop on Robust and Multimodal Inference in Factor Graphs,
Karlsruhe, Germany, May 2013.
[pdf]
wicra13
ICRA 11 C. Cadena, J. Neira
A Learning Algorithm for Place Recognition
2011 ICRA Workshop on Long-term Autonomy, Shanghai, China, May 2011.
[pdf]
wicra11

                      Local Conferences


C. Cadena, A. Gauthier, L. Solaque
Caracterización y Control de los Propulsores de un Dirigible
VII Congreso de la Asociación Colombiana de Automática, Cali, Colombia, Marzo 2007.
[pdf-Spanish]
Engines
ELAVIO 05 C. Cadena, A. Gauthier
Identificación de Modelos Dinámicos No Lineales con Algoritmos Genéticos
XI Escuela Latinoaméricana de Verano en Investigación de Operaciones, Villa de Leyva, Colombia, Julio 2005.
Engines

                      Journal abstracts

ASAIO Journal C. Cadena, D.M. Tabima, J.C. Briceno
Tensile Mechanical Properties of Porcine Small Intestinal Submucosa Scaffolds: Effect of Orientation and Number of Layers
American Society of Artificial Internal Organs, ASAIO, Journal. 51(2):10A, March/April 2005.
SIS

                       PhD Thesis

PhD Thesis C. Cadena
Efficient Simultaneous Localisation And Mapping in Large and Complex Environments
Universidad de Zaragoza
[pdf] [bibtex]

                      Other publications

GMU C. Cadena, J. Kosecka
Semantic Segmentation of Urban Environments into Object and Background Categories
Technical Report, Computer Science Department
GMU-CS-TR-2013-6
streetview
UniAndes C. Cadena, A. Gauthier
Validación del Modelo y Control de Seguimiento de un Dirigible
Thesis of Master in Engineering, Bogotá, Colombia, 2006.
Control

C. Cadena, A. Gauthier
Estudio del Modelo e Identificación de un Dirigible
Thesis of Electronic Engineering, Bogotá, Colombia, 2005.
Blimb

C. Cadena, J.C. Briceno
Caracterización de las Propiedades Mecánicas de la Pared Arterial
Thesis of Mechanical Engineering, Bogotá, Colombia, 2004.
P-V


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