• Feature-based mapping with grounded landmark and place labels 

      Trevor, Alexander J. B.; Rogers, John G.; Nieto-Granda, Carlos; Christensen, Henrik I. (Georgia Institute of Technology, 2011-06)
      Service robots can benefit from maps that support their tasks and facilitate communication with humans. For efficient interaction, it is practical to be able to reference structures and objects in the environment, e.g. ...
    • Intrinsic Localization and Mapping with 2 Applications: Diffusion Mapping and Marco Polo Localization 

      Dellaert, Frank; Alegre, Fernando; Martinson, Eric Beowulf (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2003-09)
      We investigate Intrinsic Localization and Mapping (ILM) for teams of mobile robots, a multi-robot variant of SLAM where the robots themselves are used as landmarks. We develop what is essentially a straightforward ...
    • A Rao-Blackwellized Particle Filter for Topological Mapping 

      Ranganathan, Ananth; Dellaert, Frank (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2006-05)
      We present a particle filtering algorithm to construct topological maps of an uninstrument environment. The algorithm presented here constructs the posterior on the space of all possible topologies given measurements, ...