The following is a complete list of my scholarly publications, which touch on mobile robotics, state estimation, computer vision and machine learning, among other things.

For more information, visit my Google Scholar page .



Visual Appearance Estimation


How to Train a CAT: Learning Canonical Appearance Transformations for Direct Visual Localization Under Illumination Change
Lee Clement and Jonathan Kelly
IEEE Robotics and Automation Letters (RA-L), 2018
To appear at the IEEE International Conference on Robotics and Automation (ICRA), Brisbane, Australia, 21 - 25 May 2018
 Preprint   Code   Video 



Visual Sun Detection for Accurate Visual Odometry


Inferring Sun Direction to Improve Visual Odometry: A Deep Learning Approach
Valentin Peretroukhin*, Lee Clement* and Jonathan Kelly
International Journal of Robotics Research (IJRR), Special Issue on Experimental Robotics, 2018
*Equal contribution
 Code 

Reducing Drift in Visual Odometry by Inferring Sun Direction using a Bayesian Convolutional Neural Network
Valentin Peretroukhin*, Lee Clement* and Jonathan Kelly
In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Singapore, 29 May - 3 June 2017
*Equal contribution
 Preprint   Code   Slides   Poster   Video 

Improving the Accuracy of Stereo Visual Odometry Using Visual Illumination Estimation
Lee Clement, Valentin Peretroukhin, and Jonathan Kelly
In Proceedings of the 2016 International Symposium on Experimental Robotics (ISER), Tokyo, Japan, 3 - 6 October 2016
Toyota Student Participation Award; Invited to IJRR Special Issue
 Preprint   Slides 



Monocular Visual Teach & Repeat


Robust Monocular Visual Teach and Repeat Aided by Local Ground Planarity and Colour-Constant Imagery
Lee Clement, Jonathan Kelly and Timothy D Barfoot
Journal of Field Robotics, 34(1): 74–97, 2017
 Preprint 

Monocular Visual Teach and Repeat Aided by Local Ground Planarity
Lee Clement, Jonathan Kelly and Timothy D Barfoot
In Proceedings of the 10th Conference on Field and Service Robotics (FSR), Toronto, Ontario, 24 - 26 June 2015
 Preprint   Slides   Video 

Monocular Vision for Long-range Visual Teach and Repeat in Unstructured Environments
Lee Clement, Jonathan Kelly and Timothy D Barfoot
Presented at the NSERC Canadian Field Robotics Network (NCFRN) and Conference on Computer and Robot Vision (CRV) Joint Poster Session Montreal, Quebec, 10 May 2014.
 Poster 



Miscellaneous


Entropy-based Sim(3) Calibration of 2D Lidars to Egomotion Sensors
Jacob Lambert, Lee Clement, Matthew Giamou and Jonathan Kelly
In Proceedings of the 2016 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI), Baden Baden, Germany, 19 - 21 September 2016
Best Student Paper Award
 Preprint   Slides 

PROBE: Predictive Robust Estimation for Visual-Inertial Navigation
Valentin Peretroukhin, Lee Clement, Matthew Giamou and Jonathan Kelly
In Proceedings of the 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Hamburg, Germany, 28 September - 2 October 2015
 Preprint   Slides   Video 

The Battle for Filter Supremacy: A Comparative Study of the Multi-State Constraint Kalman Filter and the Sliding Window Filter
Lee Clement*, Valentin Peretroukhin*, Jacob Lambert and Jonathan Kelly
In Proceedings of the 12th Conference on Computer and Robot Vision (CRV), Halifax, Nova Scotia, 3 - 5 June 2015
*Equal contribution
 Preprint   Code   Slides 

Get to the Point: Active Covariance Scaling for Feature Tracking Through Motion Blur
Valentin Peretroukhin, Lee Clement and Jonathan Kelly
Presented at the Workshop on Scaling Up Active Perception, IEEE International Conference on Robotics and Automation (ICRA), Seattle, Washington, 26 - 30 May 2015
 Preprint   Slides   Poster 

Implementation of a Nanosatellite Attitude Determination and Control System for the T-Sat1 Mission
Brady Russell, Lee Clement, Joshua Hernandez, Ahmad Byagowi, Dario Schor and Witold Kinsner
In Proceedings of the Canadian Conference on Electrical and Computer Engineering (CCECE). Regina, Saskatchewan, 5 - 8 May 2013