Marion, Pat, Fallon, Maurice, Deits, Robin, Whelan, Thomas, Antone, Matthew, McDonald, John and Tedrake, Russ (2015) Continuous Humanoid Locomotion over Uneven Terrain using Stereo Fusion. In: IEEE-RAS, 15th International Conference on Humanoid Robots (Humanoids), 2015. IEEE. ISBN 9781479968848

Whelan, Thomas, Ma, L., Bondarev, Egor, de With, Peter H.N. and McDonald, John (2015) Incremental and batch planar simplification of dense point cloud maps. Robotics and Autonomous Systems, 69. pp. 3-14. ISSN 0921-8890

Whelan, Thomas, Kaess, Michael, Johannsson, Hordur, Fallon, Maurice, Leonard, John J. and McDonald, John (2015) Real-time large-scale dense RGB-D SLAM with volumetric fusion. International Journal of Robotics Research, 34 (4-5). pp. 598-626. ISSN 278-3649

Whelan, Thomas, Kaess, Michael, Finman, R., Fallon, M.F., Johannsson, Hordur, Leonard, John J. and McDonald, John (2014) 3D Mapping, Localisation and Object Retrieval using Low Cost Robotic Platforms: A Robotic Search Engine for the Real-World. In: RSS Workshop on RGB-D: Advanced Reasoning with Depth Cameras, July 12, 2014, Berkeley, CA.

Handa, Ankur, Whelan, Thomas, McDonald, John and Davison, Andrew J. (2014) A Benchmark for RGB-D Visual Odometry, 3D Reconstruction and SLAM. In: IEEE International Conference on Robotics and Automation (ICRA), 2014. IEEE, pp. 1524-1531. ISBN 9781479936854

Whelan, Thomas, Kaess, Michael, Leonard, John J. and McDonald, John (2013) Deformation-based Loop Closure for Large Scale Dense RGB-D SLAM. In: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2013. IEEE, pp. 548-555.

Ma, Lingni, Whelan, Thomas, Bondarev, Egor, de With, Peter H.N. and McDonald, John (2013) Planar Simplification and Texturing of Dense Point Cloud Maps. In: European Conference on Mobile Robots (ECMR), 2013. IEEE, pp. 164-171.

Whelan, Thomas, Studli, Sonja, McDonald, John and Middleton, Richard H. (2012) Efficient localization for robot soccer using pattern matching. In: Leveraging Applications of Formal Methods, Verification, and Validation. Communications in Computer and Information Science book series (CCIS) (336). Springer, pp. 16-30. ISBN 9783642347801

Whelan, Thomas, Kaess, Michael, Fallon, Maurice, Johannsson, Hordur, Leonard, John J. and McDonald, John (2012) Kintinuous: Spatially Extended KinectFusion. In: RSS Workshop on RGB-D: Advanced Reasoning with Depth Cameras, July 9-13, 2012, Sydney.

Whelan, Thomas, Studli, Sonja, McDonald, John and Middleton, Richard H. (2012) Line point registration: A technique for enhancing robot localization in a soccer environment. In: RoboCup 2011: Robot Soccer World Cup XV pp 258-269. Lecture Notes in Computer Science book series (LNCS) (7416). Springer, pp. 258-269. ISBN 9783642320590

Whelan, Thomas, Johannsson, Hordur, Kaess, Michael, Leonard, John J. and McDonald, John (2012) Robust Tracking for Real-Time Dense RGB-D Mapping with Kintinuous : Computer Science and Artificial Intelligence Laboratory Technical Report MIT-CSAIL-TR-2012-031. Technical Report. Massachusetts Institute of Technology.

Whelan, Thomas, Johannsson, Hordur, Kaess, Michael, Leonard, John J. and McDonald, John (2011) Robust Real-Time Visual Odometry for Dense {RGB-D} Mapping. In: IEEE International Conference on Robotics and Automation (ICRA), 2013. IEEE, pp. 5724-5731. ISBN 9781467356411

Whelan, Thomas, Bergin, Susan and Power, James F. (2010) Discrete Structures Teaching: A Systematic Literature Review. Technical Report: NUIM-CS-TR-2010-01. Technical Report. Department of Computer Science, National University of Ireland Maynooth.

Whelan, Thomas, Bergin, Susan and Power, James F. (2010) Teaching Discrete Structures: A systematic review of the literature. Proceedings of the ACM Technical Symposium on Computer Science Education.