Now showing items 1-20 of 182

    • 3D Reconstruction of Underwater Structures 

      Beall, Chris; Lawrence, Brian J.; Ila, Viorela; Dellaert, Frank (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2010)
      Environmental change is a growing international concern, calling for the regular monitoring, studying and preserving of detailed information about the evolution of underwater ecosystems. For example, fragile coral reefs ...
    • 4D Cities: Analyzing, Visualizing, and Interacting with Historical Urban Photo Collections 

      Schindler, Grant; Dellaert, Frank (Georgia Institute of TechnologyAcademy Publisher, 2012)
      Vast collections of historical photographs are being digitally archived and placed online, providing an objective record of the last two centuries that remains largely untapped. In this work, we propose that time-varying ...
    • 4D View Synthesis: Navigating Through Time and Space 

      Sun, Mingxuan; Schindler, Grant; Kang, Sing Bing; Dellaert, Frank (Georgia Institute of TechnologyACM, 2007)
    • Accurate On-Line 3D Occupancy Grids Using Manhattan World Constraints 

      Peasley, Brian; Birchfield, Stan; Cunningham, Alexander; Dellaert, Frank (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2012-10)
      In this paper we present an algorithm for constructing nearly drift-free 3D occupancy grids of large indoor environments in an online manner. Our approach combines data from an odometry sensor with output from a visual ...
    • Appearance-based Vehicle Localization across Seasons in a Metric Map 

      Beall, Christopher Allan (Georgia Institute of Technology, 2016-08-09)
      Great strides have been made in recent years in developing the necessary technologies to make autonomous cars a reality. However, a number of challenges remain, a major one being that of accurate vehicle localization. This ...
    • Atlanta World: An Expectation Maximization Framework for Simultaneous Low-level Edge Grouping and Camera Calibration in Complex Man-made Environments 

      Schindler, Grant; Dellaert, Frank (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2004-06)
      Edges in man-made environments, grouped according to vanishing point directions, provide single-view constraints that have been exploited before as a precursor to both scene understanding and camera calibration. A ...
    • Attitude Heading Reference System with Rotation-Aiding Visual Landmarks 

      Beall, Chris; Ta, Duy-Nguyen; Ok, Kyel; Dellaert, Frank (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2012-07)
      In this paper we present a novel vision-aided attitude heading reference system for micro aerial vehicles (MAVs) and other mobile platforms, which does not rely on known landmark locations or full 3D map estimation as ...
    • Automatic Acquisition of 4D urban Models and Proactive Auditory Service for Enhanced User Experience 

      Oh, Sang Min; Schildler, Grant; Dellaert, Frank (Georgia Institute of Technology, 2006)
    • Automatic Landmark Detection for Topological Mapping Using Bayesian Surprise 

      Ranganathan, Ananth; Dellaert, Frank (Georgia Institute of Technology, 2008)
      Topological maps are graphical representations of the environment consisting of nodes that denote landmarks, and edges that represent the connectivity between the landmarks. Automatic detection of landmarks, usually ...
    • Autonomous environment manipulation to facilitate task completion 

      Levihn, Martin (Georgia Institute of Technology, 2015-03-31)
      A robot should be able to autonomously modify and utilize its environment to assist its task completion. While mobile manipulators and humanoid robots have both locomotion and manipulation capabilities, planning systems ...
    • Autonomous Flight in GPS-Denied Environments Using Monocular Vision and Inertial Sensors 

      Wu, Allen D.; Johnson, Eric N.; Kaess, Michael; Dellaert, Frank; Chowdhary, Girish (Georgia Institute of TechnologyAmerican Institute of Aeronautics and Astronautics, 2013-04)
      A vision-aided inertial navigation system that enables autonomous flight of an aerial vehicle in GPS-denied environments is presented. Particularly, feature point information from a monocular vision sensor are used to ...
    • The Bayes Tree: An Algorithmic Foundation for Probabilistic Robot Mapping 

      Kaess, Michael; Ila, Viorela; Roberts, Richard; Dellaert, Frank (Georgia Institute of TechnologySpringer Berlin / Heidelberg, 2010-12)
      We present a novel data structure, the Bayes tree, that provides an algorithmic foundation enabling a better understanding of existing graphical model inference algorithms and their connection to sparse matrix factorization ...
    • The Bayes Tree: Enabling Incremental Reordering and Fluid Relinearization for Online Mapping 

      Kaess, Michael; Ila, Viorela; Roberts, Richard; Dellaert, Frank (Georgia Institute of TechnologyMassachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory, 2010-01-29)
      In this paper we present a novel data structure, the Bayes tree, which exploits the connections between graphical model inference and sparse linear algebra. The proposed data structure provides a new perspective on an ...
    • Bayesian Inference in the Space of Topological Maps 

      Ranganathan, Ananth; Menegatti, Emanuele; Dellaert, Frank (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2006-02)
      While probabilistic techniques have previously been investigated extensively for performing inference over the space of metric maps, no corresponding general purpose methods exist for topological maps. We present the ...
    • Bayesian Surprise and Landmark Detection 

      Ranganathan, Ananth; Dellaert, Frank (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2009-05)
      Automatic detection of landmarks, usually special places in the environment such as gateways, for topological mapping has proven to be a difficult task. We present the use of Bayesian surprise, introduced in computer ...
    • Binding Balls: Fast Detection of Binding Sites Using a Property of Spherical Fourier Transform 

      Comin, Matteo; Guerra, Concettina; Dellaert, Frank (Georgia Institute of TechnologyMary Ann Liebert, Inc, 2009)
      The functional prediction of proteins is one of the most challenging problems in modern biology. An established computational technique involves the identification of threedimensional local similarities in proteins. In ...
    • Bundle Adjustment in Large-Scale 3D Reconstructions based on Underwater Robotic Surveys 

      Beall, Chris; Dellaert, Frank; Mahon, Ian; Williams, Stefan B. (Georgia Institute of Technology, 2011-06)
      In this paper we present a technique to generate highly accurate reconstructions of underwater structures by employing bundle adjustment on visual features, rather than relying on a filtering approach using navigational ...
    • CAREER: Markov Chain Monte Carlo methods for large scale correspondence problems in computer vision and robotics 

      Dellaert, Frank; Khan, Zia; Potthast, Christian (Georgia Institute of Technology, 2011-05-17)
    • Collaborative Stereo 

      Achtelik, Markus W.; Weiss, Stephan; Chli, Margarita; Dellaert, Frank; Siegwart, Roland (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2011-09)
      In this paper, we propose a method to recover the relative pose of two robots in absolute scale and in realtime using one monocular camera on each robot. We achieve this by fusing measurements from the onboard inertial ...
    • Concurrent Filtering and Smoothing 

      Kaess, Michael; Williams, Stephen; Indelman, Vadim; Roberts, Richard; Leonard, John J.; Dellaert, Frank (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2012-07)
      This paper presents a novel algorithm for integrating real-time filtering of navigation data with full map/trajectory smoothing. Unlike conventional mapping strategies, the result of loop closures within the smoother ...