John J. Leonard

Toyota Motor Corporation (Switzerland) — Switzerland

Engineering · Physical Sciences

76h-index26.4kcitations366works1.92yr avg
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Research Topics

Robotics and Sensor-Based Localization(215), Underwater Vehicles and Communication Systems(110), Robotic Path Planning Algorithms(71), Indoor and Outdoor Localization Technologies(60), Target Tracking and Data Fusion in Sensor Networks(52)

Publications366 total

ShapeICP: Iterative Category-Level Object Pose and Shape Estimation From Depth
IEEE Robotics and Automation Letters·2025· 2 cited
NeuSE: Neural SE(3)-equivariant embedding for long-term object-based simultaneous localization and mapping
The International Journal of Robotics Research·2025Open Access
SeaSplat: Representing Underwater Scenes with 3D Gaussian Splatting and a Physically Grounded Image Formation Model
2025· 4 cited
Computational Teaching for Driving via Multi-Task Imitation Learning
2025· 1 cited
From geoacoustic inversion to seabed tomography using a distributed network of sources and receivers
The Journal of the Acoustical Society of America·2025
Estimation of the spatial variability of the New England Mud Patch geoacoustic properties using a distributed array of hydrophones and deep learning
The Journal of the Acoustical Society of America·2024· 3 cited
Opti-Acoustic Semantic SLAM with Unknown Objects in Underwater Environments
2024· 5 cited
Computational Teaching for Driving via Multi-Task Imitation Learning
arXiv (Cornell University)·2024Open Access
An Overview of the Burer-Monteiro Method for Certifiable Robot Perception
arXiv (Cornell University)·2024Open Access
SeaSplat: Representing Underwater Scenes with 3D Gaussian Splatting and a Physically Grounded Image Formation Model
arXiv (Cornell University)·2024· 1 citedOpen Access
The Spurdog AUV: A Field Configurable and Optionally A-Sized Low-Cost AUV
2024· 3 cited
Open-Set Semantic Uncertainty Aware Metric-Semantic Graph Matching
arXiv (Cornell University)·2024Open Access
ShapeICP: Iterative Category-level Object Pose and Shape Estimation from Depth
arXiv (Cornell University)·2024· 1 citedOpen Access
LOSS-SLAM: Lightweight Open-Set Semantic Simultaneous Localization and Mapping
arXiv (Cornell University)·2024Open Access
MAC: Graph Sparsification by Maximizing Algebraic Connectivity
arXiv (Cornell University)·2024Open Access
Opti-Acoustic Semantic SLAM with Unknown Objects in Underwater Environments
arXiv (Cornell University)·2024Open Access
Certifiably Correct Range-Aided SLAM
IEEE Transactions on Robotics·2024· 13 cited
NeRF-SLAM: Real-Time Dense Monocular SLAM with Neural Radiance Fields
2023· 239 cited
GAPSLAM: Blending Gaussian Approximation and Particle Filters for Real-Time Non-Gaussian SLAM
2023· 2 cited
NeuSE: Neural SE(3)-Equivariant Embedding for Consistent Spatial Understanding with Objects
2023· 8 citedOpen Access
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Frequent Co-authors

Michael Kaess(9), Paul Newman(9), Hordur Johannsson(8), Seth Teller(7), Maurice Fallon(6), Ryan M. Eustice(6), Alexander Bähr(5), Luca Carlone(4), Hugh Durrant‐Whyte(4), Matthew R. Walter(4), Hanumant Singh(4), Michael R. Benjamin(4), J. A. Curcio(4), José Neira(3), Thomas J. Whelan(3), John McDonald(3), Richard Roberts(2), Viorela Ila(2), Frank Dellaert(2), Juan D. Tardós(2)