Publications by John Folkesson
Peer reviewed
Articles
[1]
J. Zhang et al., "A fully-automatic side-scan sonar simultaneous localization and mapping framework," IET radar, sonar & navigation, vol. 18, no. 5, pp. 674-683, 2024.
[2]
Y. Xie et al., "Bathymetric Surveying With Imaging Sonar Using Neural Volume Rendering," IEEE Robotics and Automation Letters, vol. 9, no. 9, pp. 8146-8153, 2024.
[3]
Y. Xie, N. Bore and J. Folkesson, "Bathymetric Reconstruction From Sidescan Sonar With Deep Neural Networks," IEEE Journal of Oceanic Engineering, vol. 48, no. 2, pp. 372-383, 2023.
[4]
Y. Xie, N. Bore and J. Folkesson, "Neural Network Normal Estimation and Bathymetry Reconstruction From Sidescan Sonar," IEEE Journal of Oceanic Engineering, vol. 48, no. 1, pp. 218-232, 2023.
[5]
N. Bore and J. Folkesson, "Neural Shape-From-Shading for Survey-Scale Self-Consistent Bathymetry From Sidescan," IEEE Journal of Oceanic Engineering, vol. 48, no. 2, pp. 416-430, 2023.
[6]
I. Torroba et al., "Online Stochastic Variational Gaussian Process Mapping for Large-Scale Bathymetric SLAM in Real Time," IEEE Robotics and Automation Letters, vol. 8, no. 6, pp. 3150-3157, 2023.
[7]
I. Stenius et al., "A system for autonomous seaweed farm inspection with an underwater robot," Sensors, vol. 22, no. 13, 2022.
[8]
I. Torroba, C. Sprague and J. Folkesson, "Fully-Probabilistic Terrain Modelling and Localization With Stochastic Variational Gaussian Process Maps," IEEE Robotics and Automation Letters, vol. 7, no. 4, pp. 8729-8736, 2022.
[9]
Y. Xie, N. Bore and J. Folkesson, "Sidescan Only Neural Bathymetry from Large-Scale Survey," Sensors, vol. 22, no. 14, pp. 5092, 2022.
[10]
Y. Xie, N. Bore and J. Folkesson, "Inferring Depth Contours from Sidescan Sonar using Convolutional Neural Nets," IET radar, sonar & navigation, vol. 14, no. 2, pp. 328-334, 2020.
[11]
N. Bore and J. Folkesson, "Modeling and Simulation of Sidescan Using Conditional Generative Adversarial Network," IEEE Journal of Oceanic Engineering, pp. 1-11, 2020.
[12]
I. Torroba et al., "PointNetKL : Deep Inference for GICP Covariance Estimation in Bathymetric SLAM," IEEE Robotics and Automation Letters, vol. 5, no. 3, pp. 4078-4085, 2020.
[13]
N. Bore et al., "Detection and Tracking of General Movable Objects in Large Three-Dimensional Maps," IEEE Transactions on robotics, vol. 35, no. 1, pp. 231-247, 2019.
[14]
J. Tang et al., "GCNv2 : Efficient Correspondence Prediction for Real-Time SLAM," IEEE Robotics and Automation Letters, vol. 4, no. 4, pp. 3505-3512, 2019.
[15]
D. Peng, J. Folkesson and C. Xu, "Robust Particle Filter Based on Huber Function for Underwater Terrain Aided Navigation," IET radar, sonar & navigation, 2019.
[16]
J. Tang, J. Folkesson and P. Jensfelt, "Sparse2Dense : From Direct Sparse Odometry to Dense 3-D Reconstruction," IEEE Robotics and Automation Letters, vol. 4, no. 2, pp. 530-537, 2019.
[17]
J. Tang, J. Folkesson and P. Jensfelt, "Geometric Correspondence Network for Camera Motion Estimation," IEEE Robotics and Automation Letters, vol. 3, no. 2, pp. 1010-1017, 2018.
[18]
T. Faeulhammer et al., "Autonomous Learning of Object Models on a Mobile Robot," IEEE Robotics and Automation Letters, vol. 2, no. 1, pp. 26-33, 2017.
[19]
N. Bore et al., "Efficient retrieval of arbitrary objects from long-term robot observations," Robotics and Autonomous Systems, vol. 91, pp. 139-150, 2017.
[20]
E. Ward et al., "Probabilistic Model for Interaction Aware Planning in Merge Scenarios," IEEE Transactions on Intelligent Vehicles, vol. 2, no. 2, pp. 133-146, 2017.
[21]
N. Hawes et al., "The STRANDS Project Long-Term Autonomy in Everyday Environments," IEEE robotics & automation magazine, vol. 24, no. 3, pp. 146-156, 2017.
[22]
M. F. Fallon et al., "Relocating Underwater Features Autonomously Using Sonar-Based SLAM," IEEE Journal of Oceanic Engineering, vol. 38, no. 3, pp. 500-513, 2013.
[23]
J. Folkesson and H. Christensen, "SIFT Based Graphical SLAM on a Packbot," Springer Tracts in Advanced Robotics, vol. 42, pp. 317-328, 2008.
[24]
J. Folkesson and H. Christensen, "Closing the Loop With Graphical SLAM," IEEE Transactions on robotics, vol. 23, no. 4, pp. 731-741, 2007.
[25]
J. Folkesson and H. I. Christensen, "Graphical SLAM for Outdoor Applications," Journal of Field Robotics, vol. 24, no. 1-2, pp. 51-70, 2007.
[26]
J. Folkesson, P. Jensfelt and H. I. Christensen, "The m-space feature representation for slam," IEEE Transactions on robotics, vol. 23, no. 5, pp. 1024-1035, 2007.
Conference papers
[27]
L. Ling et al., "Benchmarking classical and learning-based multibeam point cloud registration," in 2024 IEEE International Conference on Robotics and Automation, ICRA 2024, 2024, pp. 6118-6125.
[28]
Y. Yang et al., "Hard Cases Detection in Motion Prediction by Vision-Language Foundation Models," in 35th IEEE Intelligent Vehicles Symposium, IV 2024, 2024, pp. 2405-2412.
[29]
Y. Yang et al., "Human-Centric Autonomous Systems With LLMs for User Command Reasoning," in 2024 Ieee Winter Conference On Applications Of Computer Vision Workshops, Wacvw 2024, 2024, pp. 988-994.
[30]
J. Tan et al., "Data-driven Loop Closure Detection in Bathymetric Point Clouds for Underwater SLAM," in Proceedings - ICRA 2023: IEEE International Conference on Robotics and Automation, 2023, pp. 3131-3137.
[31]
W. Xu et al., "Evaluation of a Canonical Image Representation for Sidescan Sonar," in OCEANS 2023 - Limerick, OCEANS Limerick 2023, 2023.
[32]
Y. Yang et al., "RMP : A Random Mask Pretrain Framework for Motion Prediction," in 2023 IEEE 26th International Conference on Intelligent Transportation Systems, ITSC 2023, 2023, pp. 3717-3723.
[33]
Y. Xie, N. Bore and J. Folkesson, "Towards Differentiable Rendering for Sidescan Sonar Imagery," in 2022 IEEE/OES AUTONOMOUS UNDERWATER VEHICLES SYMPOSIUM (AUV), 2022.
[34]
I. Athanasiadis, N. Bore and J. Folkesson, "Underwater Image Classification via Multiview-based Auxiliary Learning," in 2022 OCEANS HAMPTON ROADS, 2022.
[35]
I. Mitsioni et al., "Interpretability in Contact-Rich Manipulation via Kinodynamic Images," in 2021 IEEE International Conference on Robotics and Automation (ICRA), 2021, pp. 10175-10181.
[36]
J. Mänttäri et al., "Interpreting Video Features : A Comparison of 3D Convolutional Networks and Convolutional LSTM Networks," in 15th Asian Conference on Computer Vision, ACCV 2020, 2021, pp. 411-426.
[37]
S. Bhat et al., "A Cyber-Physical System for Hydrobatic AUVs : System Integration and Field Demonstration," in 2020 IEEE/OES Autonomous Underwater Vehicles Symposium, AUV 2020, 2020.
[38]
S. Bhat et al., "A Cyber-Physical System for Hydrobatic AUVs: System Integration and Field Demonstration," in IEEE OES Autonomous Underwater Vehicles Symposium, St. Johns, Newfoundland, Canada, 2020, 2020.
[39]
J. Mänttäri et al., "Interpreting Video Features : A Comparison of 3D Convolutional Networks and Convolutional LSTM Networks," in Asian Conference on Computer Vision, 2020.
[40]
J. Folkesson, H. Chang and N. Bore, "Lambert’s Cosine Law and Sidescan Sonar Modeling," in 2020 IEEE/OES Autonomous Underwater Vehicles Symposium, AUV 2020, 2020.
[41]
M. Larsson, N. Bore and J. Folkesson, "Latent Space Metric Learning For Sidescan Sonar Place Recognition," in 2020 IEEE OES Autonomous Underwater Vehicle Symposium, St John's, NL, Canada, 30 September - 2 October 2020, 2020.
[42]
J. Shi et al., "Automated Underwater Pipeline Damage Detection using Neural Nets," in ICRA 2019 Workshop on Underwater Robotics Perception, 2019.
[43]
J. Mänttäri and J. Folkesson, "Incorporating Uncertainty in Predicting Vehicle Maneuvers at Intersections With Complex Interactions," in 2019 IEEE Intelligent Vehicles Symposium (IV), 2019.
[44]
I. Torroba et al., "Loop Closure Detection Through Environmental Indicators In Underwater SLAM," in OCEANS 2019 - Marseille, 2019.
[45]
I. Torroba, N. Bore and J. Folkesson, "Towards Autonomous Industrial-Scale Bathymetric Surveying," in IEEE International Conference on Intelligent Robots and Systems, 2019, pp. 6377-6382.
[46]
I. Torroba, N. Bore and J. Folkesson, "A Comparison of Submap Registration Methods for Multibeam Bathymetric Mapping," in AUV 2018 - 2018 IEEE/OES Autonomous Underwater Vehicle Workshop, Proceedings, 2018.
[47]
I. Torroba, N. Bore and J. Folkesson, "A Comparison of Submaps Registration Methods for Multibeam Bathymetric Mapping," in 2018 IEEE OES Autonomous Underwater Vehicle Symposium, 2018.
[48]
X. Chen et al., "Deep Reinforcement Learning to Acquire Navigation Skills for Wheel-Legged Robots in Complex Environments," in 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2018.
[49]
J. Mänttäri, J. Folkesson and E. Ward, "Learning to Predict Lane Changes in Highway Scenarios Using Dynamic Filters on a Generic Traffic Representation," in IEEE Intelligent Vehicles Symposium, Proceedings, 2018, pp. 1385-1392.
[50]
L. Rixon Fuchs, A. Gällström and J. Folkesson, "Object Recognition in Forward Looking Sonar Images using Transfer Learning," in Proceedings IEEE/OES Autonomous Underwater Vehicle Workshop, AUV 2018, 2018.
[51]
N. Bore, I. Torroba and J. Folkesson, "Sparse Gaussian Process SLAM, Storage and Filtering for AUV Multibeam Bathymetry," in AUV 2018 - 2018 IEEE/OES Autonomous Underwater Vehicle Workshop, Proceedings, 2018.
[52]
E. Ward and J. Folkesson, "Towards Risk Minimizing Trajectory Planning in On-Road Scenarios," in IEEE Intelligent Vehicles Symposium, Proceedings, 2018, pp. 490-497.
[53]
R. Ambrus et al., "Autonomous meshing, texturing and recognition of object models with a mobile robot," in 2017 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS), 2017, pp. 5071-5078.
[54]
R. Ambrus et al., "Autonomous meshing, texturing and recognition of objectmodels with a mobile robot," in Intelligent Robots and Systems, IEEE/RSJ International Conference on, 2017.
[55]
F. Schilling et al., "Geometric and visual terrain classification for autonomous mobile navigation," in 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2017.
[56]
H. Karaoguz et al., "Human-Centric Partitioning of the Environment," in 26th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN), 2017, pp. 844-850.
[57]
J. Folkesson, "The antiparticle filter—an adaptive nonlinear estimator," in 15th International Symposium of Robotics Research, 2011, 2017, pp. 219-234.
[58]
Z. Wang, P. Jensfelt and J. Folkesson, "Building a human behavior map from local observations," in Robot and Human Interactive Communication (RO-MAN), 2016 25th IEEE International Symposium on, 2016, pp. 64-70.
[59]
N. Evestedt et al., "Interaction aware trajectory planning for merge scenarios in congested traffic situations," in 2016 IEEE 19th International Conference on Intelligent Transportation Systems, 2016, pp. 465-472.
[60]
R. Ambrus, J. Folkesson and P. Jensfelt, "Unsupervised object segmentation through change detection in a long term autonomy scenario," in IEEE-RAS International Conference on Humanoid Robots, 2016, pp. 1181-1187.
[61]
E. Ward and J. Folkesson, "Vehicle localization with low cost radar sensors," in Intelligent Vehicles Symposium (IV), 2016 IEEE, 2016, pp. 864-870.
[62]
A. Thippur et al., "A comparison of qualitative and metric spatial relation models for scene understanding," in Proceedings of the National Conference on Artificial Intelligence, 2015, pp. 1632-1640.
[63]
Z. Wang, P. Jensfelt and J. Folkesson, "Modeling Spatial-Temporal Dynamics of Human Movements for Predicting Future Trajectories," in Workshop at the Twenty-Ninth AAAI Conference on Artificial Intelligence, "Knowledge, Skill, and Behavior Transfer in Autonomous Robots", AAAI Conference on Artificial Intelligence, Austin, USA, January 25, 2015, 2015.
[64]
E. Ward and J. Folkesson, "Multi-classification of Driver Intentions in Yielding Scenarios," in Intelligent Transportation Systems (ITSC), 2015 IEEE 18th International Conference on, 2015, pp. 678-685.
[65]
Z. Wang, P. Jensfelt and J. Folkesson, "Multi-scale conditional transition map : Modeling spatial-temporal dynamics of human movements with local and long-term correlations," in Intelligent Robots and Systems (IROS), 2015 IEEE/RSJ International Conference on, 2015, pp. 6244-6251.
[66]
J. Ekekrantz et al., "Probabilistic Primitive Refinement algorithm for colored point cloud data," in 2015 European Conference on Mobile Robots (ECMR), 2015.
[67]
N. Bore, P. Jensfelt and J. Folkesson, "Retrieval of Arbitrary 3D Objects From Robot Observations," in Retrieval of Arbitrary 3D Objects From Robot Observations, 2015, pp. 1-8.
[68]
R. Ambrus et al., "Unsupervised learning of spatial-temporal models of objects in a long-term autonomy scenario," in 2015 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS), 2015, pp. 5678-5685.
[69]
S. Xiao, Z. Wang and J. Folkesson, "Unsupervised robot learning to predict person motion," in Proceedings - IEEE International Conference on Robotics and Automation, 2015, pp. 691-696.
[70]
L. Kunze et al., "Combining Top-down Spatial Reasoning and Bottom-up Object Class Recognition for Scene Understanding," in Proc. of 2014 IEEE/RSJ International Conference on IntelligentRobots and Systems 2014, 2014, pp. 2910-2915.
[71]
A. Thippur et al., "KTH-3D-TOTAL : A 3D dataset for discovering spatial structures for long-term autonomous learning," in 2014 13th International Conference on Control Automation Robotics and Vision, ICARCV 2014, 2014, pp. 1528-1535.
[72]
R. Ambrus et al., "Meta-rooms : Building and Maintaining Long Term Spatial Models in a Dynamic World," in 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, (IROS 2014), 2014, pp. 1854-1861.
[73]
Z. Wang et al., "Modeling motion patterns of dynamic objectsby IOHMM," in Intelligent Robots and Systems (IROS 2014), 2014 IEEE/RSJ International Conference on, 2014, pp. 1832-1838.
[74]
M. Alberti, P. Jensfelt and J. Folkesson, "Relational approaches for joint object classification andscene similarity measurement in indoor environments," in Proc. of 2014 AAAI Spring Symposium QualitativeRepresentations for Robots 2014, 2014.
[75]
J. Ekekrantz et al., "Adaptive Iterative Closest Keypoint," in 2013 European Conference on Mobile Robots, ECMR 2013 - Conference Proceedings, 2013, pp. 80-87.
[76]
A. Aydemir, P. Jensfelt and J. Folkesson, "What can we learn from 38,000 rooms? : Reasoning about unexplored space in indoor environments," in Intelligent Robots and Systems (IROS), 2012 IEEE/RSJ International Conference on, 2012, pp. 4675-4682.
[77]
J. Folkesson and J. Leonard, "Autonomy through SLAM for an Underwater Robot," in Robotics Research The 14th International Symposium ISRR, 2011, pp. 55-70.
[78]
J. Folkesson, "Robustness of the Quadratic Antiparticle Filter forRobot Localization," in European Conference on Mobile Robots, 2011, pp. 297-302.
[79]
A. Aydemir et al., "Search in the real world : Active visual object search based on spatial relations," in IEEE International Conference on Robotics and Automation (ICRA), 2011, 2011, pp. 2818-2824.
[80]
J. Folkesson, "The Antiparticle Filter : an Adaptive Nonlinear Estimator," in International Symposium of Robotics Research, 2011.
[81]
J. Folkesson et al., "A Feature Based Navigation System for an Autonomous Underwater Robot," in Field And Service Robotics : Results Of The 6th International Conference, 2008, pp. 105-114.
[82]
J. Folkesson et al., "Feature tracking for underwater navigation using sonar," in Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems San Diego, CA, USA, Oct 29 - Nov 2, 2007 : Vols 1-9, 2007, pp. 3678-3684.
[83]
P. Jensfelt et al., "A framework for vision based bearing only 3D SLAM," in Proceedings of the 2006 IEEE International Conference on Robotics and Automation, Orlando, Florida - May 2006 : Vols 1-10, 2006, pp. 1944-1950.
[84]
P. Jensfelt et al., "Exploiting distinguishable image features in robotic mapping and localization," in European Robotics Symposium 2006, 2006, pp. 143-157.
[85]
J. Folkesson, P. Jensfelt and H. Christensen, "Graphical SLAM using vision and the measurement subspace," in 2005 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-4, 2005, pp. 325-330.
[86]
J. Folkesson, P. Jensfelt and H. Christensen, "Vision SLAM in the Measurement Subspace," in 2005 IEEE International Conference on Robotics and Automation (ICRA), Vols 1-4 Book Series, 2005, pp. 30-35.
[87]
J. Folkesson and H. Christensen, "Graphical SLAM : a self-correcting map," in 2004 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, PROCEEDINGS, 2004, pp. 383-390.
[88]
[89]
H. Christensen, J. Folkesson and A. Hedström, "UGV technology for urban navigation," in UNMANNED GROUND VEHICLE TECHNOLOGY VI, 2004, pp. 191-197.
[90]
H. Christensen et al., "Ugv technology for urban intervention," in SPIE - Home Security (Orlando, Fl, May 2004)., 2004.
[91]
J. Folkesson and H. Christensen, "Outdoor exploration and SLAM using a compressed filter," in Proceedings - IEEE International Conference on Robotics and Automation, 2003, pp. 419-427.
[92]
C. Lundberg et al., "PDA interface for a field robot," in Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS03), 2003, pp. 2882-2888.
Chapters in books
[93]
N. Bore, P. Jensfelt and J. Folkesson, "Querying 3D Data by Adjacency Graphs," in Computer Vision Systems, Nalpantidis, Lazaros and Krüger, Volker and Eklundh, Jan-Olof and Gasteratos, Antonios Ed., : Springer Publishing Company, 2015, pp. 243-252.
[94]
M. F. Fallon et al., "Simultaneous Localization and Mapping in Marine Environments," in Marine Robot Autonomy, New York : Springer, 2013, pp. 329-372.
[95]
P. Jensfelt, D. Kragic and J. Folkesson, "Bearing-Only Vision SLAM with Distinguishable Image Feature," in Vision Systems Applications, Goro Obinata and Ashish Dutta Ed., : InTech, 2007.
Non-peer reviewed
Theses
[96]
J. Folkesson, "Simultaneous localization and mapping with robots," Doctoral thesis Stockholm : KTH, Trita-NA, 0528, 2005.
Reports
[97]
U. Axelsson and J. Folkesson, "Underwater feature extraction and pillar mapping," Stockholm : KTH Royal Institute of Technology, 2015.
Other
[98]
Y. Xie et al., "Bathymetric Surveying with Imaging Sonar Using Neural Volume Rendering," (Manuscript).
[99]
I. Torroba Balmori et al., "Online Stochastic Variational Gaussian Process Mapping for Large-Scale SLAM in Real Time," (Manuscript).
[100]
E. Ward and J. Folkesson, "Towards Risk Minimizing Trajectory Planning in On-Road Scenarios," (Manuscript).
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2024-11-20 00:28:52