Timothy D. Barfoot
Professor
Leads the Autonomous Space Robotics Laboratory, working on state estimation and visual navigation for mobile robots.
Timothy D. Barfoot's lab at Toronto works on autonomous vehicles & drones, robot perception & SLAM and embodied & active vision. 63 papers since 2023, 10 at top venues, mostly ICRA and IJRR. Applications close .
At a glance
- papers, 2023–2026
- 16/ year
- at T1 venues
- 16%
- PhD students
- —
- MS students
- —
- alumni listed
- —
Papers by yearfrom the lab homepage, 2023–2026
- 14 papers2026 · T1 3 · collecting
- 23 papers2025 · T1 6
- 13 papers2024 · T1 1
- 13 papers2023 · T1 0
T1 venuesOtherVenues: ICRA, IJRR, IROS, CVPR, T-RO
Research focuspaper titles that use each topic's words
- Robot perception & SLAM14 papers
- Autonomous vehicles & drones5 papers
- Embodied & active vision0 papers
- space robotics0 papers
- toronto institute0 papers
Paper list
From the lab homepage.
202614 papers
- IJRR (T1)2Fast-2Lamaa: Large-Scale Lidar-Inertial Localization and Mapping with Continuous Distance Fields (opens in a new tab)
- In Proceedings of the IEEE-RAS International Conference on Soft Robotics (RoboSoft ). Kanazawa, Japan, 7-11 AprilA Sliding-Window Filter for Online Continuous-Time Continuum Robot State Estimation
- IEEE Transactions on Robotics (T-RO), to appearA Stochastic Framework for Continuous-Time State Estimation of Continuum Robots
- T-RO (T1)A Third-Order Gaussian Process Trajectory Representation Framework with Closed-Form Kinematics for Continuous-Time Motion Estimation (opens in a new tab)
- International Journal of Robotics Research (IJRR), to appearBoreas Road Trip: A Multi-Sensor Autonomous Driving Dataset on Challenging Roads
- In Proceedings of Robotics: Science and Systems (RSS). Sydney, Australia, 13-17 JulyContinuum Robot Localization using Distributed Time-of-Flight Sensors
- In Proceedings of Robotics: Science and Systems (RSS). Sydney, Australia, 13-17 JulyDr-BA: Separable Optimization for Direct Radar Bundle Adjustment and Localization
- In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA). Vienna, Austria, 1-5 JuneDr-PoGO: Direct Radar Pose-Graph Optimization
- IJRR (T1)FoMo: A Multi-Season Dataset for Robot Navigation in Foret Montmorency (opens in a new tab)
- T-FRGuest Editorial Special Issue from the ICRA 2024 Workshop on Field Robotics (opens in a new tab)
- In Proceedings of the IEEE /RSJ International Conference on Intelligent and Robot Systems (IROS), to appaer. Pittsburgh, 27 Sept - 1 OctKILO-EKF: Koopman-Inspired Learned Observations Extended Kalman Filter
- IEEE Transactions on Field Robotics (T-FR)Lunar Rover Cargo Transport: Mission Concept and Field Test (opens in a new tab)
202523 papers
- IEEE Robotics and Automation Letters (RAL), 10(1):224-231Are Doppler Velocity Measurements Useful for Spinning Radar Odometry? (opens in a new tab)
- In Proceedings of the Conference on Computer and Robot Vision (CRV). Calgary, Alberta, 26-29 MayaUToPath: Unified Planning and Control for Autonomous Vehicles in Urban Environments Using Hybrid Lattice and Free-Space Search
- International Journal of Robotics Research (IJRR), 44(3):366-387Certifiably Optimal Rotation and Pose Estimation Based on the Cayley Map (opens in a new tab)
- IEEE Transactions on Robotics (T-RO), 41:1059-1076Continuous-Time Radar-Inertial and Lidar-Inertial Odometry using a Gaussian Process Motion Prior (opens in a new tab)
- IEEE Transactions on Robotics (T-RO), 41:4975-4999Continuous-Time State Estimation Methods in Robotics: A Survey (opens in a new tab)
- IEEE Robotics and Automation Letters (RAL), 10(4):4029-4036DR-MPC: Deep Residual Model Predictive Control for Real-World Social Navigation (opens in a new tab)
- In Proceedings of Robotics: Science and Systems (RSS). Los Angeles, CA, 21-25 JuneDRO: Doppler-Aware Direct Radar Odometry with Gyroscope
- IEEE Robotics and Automation Letters (RAL), 10(9):9088-9095Fast Correspondence-Free Odometry using Multiple FMCW Lidar Sensors (opens in a new tab)
- Robotica, 43:680-700IMU as an Input vs. a Measurement of the State in Inertial-Aided State Estimation (opens in a new tab)
- Robotica, 43:1067-1086Incorporating Control Inputs in Continuous-Time Gaussian Process State Estimation for Robotics
- Annual Review of Control, Robotics, and Autonomous SystemsLocal Maps Are All You Need: A Review of Topometric Teach and Repeat Navigation (opens in a new tab)
- In Proceedings of the Conference on Computer and Robot Vision (CRV). Calgary, Alberta, 26-29 MayMakeWay: Object-Aware Costmaps for Proactive Indoor Navigation Using LiDAR
202413 papers
- IEEE Transactions on Robotics (T-RO), 40:4544-4560A New Wave in Robotics: Survey on Recent mmWave Radar Applications in Robotics (opens in a new tab)
- In Proceedings of the Conference on Computer and Robot Vision (CRV). Guelph, 27-31 MayChange of Scenery: Unsupervised Lidar Change Detection for Mobile Robots
- IEEE Transactions on Robotics (T-RO), 40:3964-3983Data-Driven Batch Localization and SLAM Based on Koopman Linearization (opens in a new tab)
- In Proceedings of the Workshop on Algorithmic of Foundations (WAFR). Chicago, Illinois, 7-9 OctoberExploiting Chordal Sparsity for Fast Global Optimality with Application to Localization
- IEEE Transactions on Field Robotics (T-FR), 1:131-160Field Testing of a Stochastic Planner for ASV Navigation Using Satellite Images (opens in a new tab)
- IEEE Transactions on Robotics (T-RO), 40:4003-4023GNSS/Multi-Sensor Fusion Using Continuous-Time Factor Graph Optimization for Robust Localization (opens in a new tab)
- CVPR (T1)KPConvX: Modernizing Kernel Point Convolution with Kernel Attention (opens in a new tab)
- In Proceedings of the Conference on Computer and Robot Vision (CRV). Guelph, 27-31 MayLaserSAM: Zero-Shot Change Detection Using Visual Segmentation of Spinning LiDAR
- IEEE Transactions on Field Robotics (T-FR), 1:249-275Off the Beaten Track: Laterally Weighted Motion Planning for Local Obstacle Avoidance (opens in a new tab)
- IEEE Transactions on Robotics (T-RO), 40:4805-4824On Semidefinite Relaxations for Matrix-Weighted State-Estimation Problems in Robotics (opens in a new tab)
- IEEE Robotics and Automation Letters (RAL), 9(3):2160-2167Optimal Initialization Strategies for Range-Only Trajectory Estimation (opens in a new tab)
- IEEE Robotics and Automation Letters (RAL), 9(2):1572-1579Toward Certifying Maps for Safe Localization Under Adversarial Corruption (opens in a new tab)
202313 papers
- In Proceedings of the Conference on Computer and Robot Vision (CRV). Montreal, Quebec, 6-8 JuneAlong Similar Lines: Local Obstacle Avoidance for Long-term Autonomous Path Following (opens in a new tab)
- IEEE Robotics and Automation Letters (RAL), 8(3):1539-1546An Efficient Global Optimality Certificate for Landmark-Based SLAM (opens in a new tab)
- International Journal of Robotics Research (IJRR), 42(1-2):33-42Boreas: A Multi-Season Autonomous Driving Dataset (opens in a new tab)
- In Proceedings of the Conference on Computer and Robot Vision (CRV). Montreal, Quebec, 6-8 JuneContinuous-Time Range-Only Pose Estimation (opens in a new tab)
- In Proceedings of the IEEE/RSJ International Conference on Intelligent Robot Systems (IROS). Detroit, MI, 1-5 OctoberNeed for Speed: Fast Correspondence-Free Lidar-Inertial Odometry Using Doppler Velocity (opens in a new tab)
- IEEE Robotics and Automation Letters (RAL), 8(1):264-271Picking Up Speed: Continuous-Time Lidar-Only Odometry using Doppler Velocity Measurements (opens in a new tab)
- IEEE Robotics and Automation Letters (RAL), 8(2):1117-1124Safe and Smooth: Certified Continuous-Time Range-Only Localization (opens in a new tab)
- IEEE Robotics and Automation Letters (RAL), 8(2):472-479Self-Supervised Feature Learning for Long-Term Metric Visual Localization (opens in a new tab)
- In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA). London, England, 29 May - 2 JuneStochastic Planning for ASV Navigation Using Satellite Images (opens in a new tab)
- IEEE Transactions on Robotics (T-RO), 39(6):4581-4599The Foreseeable Future: Self-Supervised Learning to Predict Dynamic Scenes for Indoor Navigation (opens in a new tab)
- In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA). London, England, 29 May - 2 JuneTowards Consistent Batch State Estimation Using a Time-Correlated Measurement Noise Model (opens in a new tab)
- Robotica, 41(2):632-667Variational Inference as Iterative Projection in a Bayesian Hilbert Space with Application to Robotic State Estimation (opens in a new tab)
Where alumni went
Alumni are not listed on the lab homepage.
Apply to TorontoFall 2027
Computer Science MSc/PhD
- Round
- Single round (Dec 1)
- Opens
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- GRE
- optional
- English
- TOEFL/IELTS if applicable
- Fee
- CAD 135
Confirmed on the program page.
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