Now showing items 1-18 of 18

    • 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 ...
    • 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 ...
    • Characterizing and improving last mile performance using home networking infrastructure 

      Sundaresan, Srikanth (Georgia Institute of Technology, 2014-07-15)
      More than a billion people access the Internet through residential broadband connections worldwide, and this number is projected to grow further. Surprisingly, little is known about some important properties of these ...
    • Exploiting Locality in SLAM by Nested Dissection 

      Krauthausen, Peter; Kipp, Alexander; Dellaert, Frank (Georgia Institute of TechnologyMIT Press, 2006-08)
      The computational complexity of SLAM is dominated by the cost of factorizing a matrix derived from the measurements into a square root form, which has cubic complexity in the worst case. However, the matrices associated ...
    • Fast 3D Pose Estimation With Out-of-Sequence Measurements 

      Ranganathan, Ananth; Kaess, Michael; Dellaert, Frank (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2007-10)
      We present an algorithm for pose estimation using fixed-lag smoothing. We show that fixed-lag smoothing enables inclusion of measurements from multiple asynchronous measurement sources in an optimal manner. Since ...
    • Generation and detection of lamb waves for the characterization of plastic deformation 

      Pruell, Christoph (Georgia Institute of Technology, 2007-08-24)
      In this thesis ultrasonic Lamb wave measurements are performed to detect material nonlinearity in aluminum sheets. When a Lamb wave propagates, higher harmonic wave fields are generated and under certain conditions the ...
    • Gravity and Drift in Force/Torque Measurements 

      Erdogan, Can; Zafar, Munzir; Stilman, Mike (2014)
    • Intrinsic Localization and Mapping With 2 Applications: Diffusion Mapping and Marco Polo Localization 

      Alegre, Fernando; Dellaert, Frank; Martinson, Eric Beowulf (Georgia Institute of Technology, 2003)
      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 ...
    • An investigation of interfacial instability during air entrainment 

      Veverka, Peter John (Georgia Institute of Technology, 1995-01-01)
    • Marco Polo Localization 

      Dellaert, Frank; Martinson, Eric Beowulf (Georgia Institute of Technology, 2003)
      We introduce the Marco Polo Localization approach, where we apply sound as a tool for gathering range measurements between robots, and use those to solve a range-only Simultaneous Localization and Mapping problem. Range ...
    • Multiple-Model Adaptive Estimation for Measurements with Unknown Time Delay 

      Lee, Kyuman; Johnson, Eric N. (Georgia Institute of Technology, 2016)
      If a sensor requires finite processing and communication time, then the current sensor reading actually corresponds to the states of a vehicle at some point in the past. At the sensor fusion algorithm, it is expected ...
    • Multitarget Tracking with Split and Merged Measurements 

      Khan, Zia; Balch, Tucker; Dellaert, Frank (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2005-06)
      In many multitarget tracking applications in computer vision, a detection algorithm provides locations of potential targets. Subsequently, the measurements are associated with previously estimated target trajectories in ...
    • Nanomeasurements of individual carbon nanotubes by in situ TEM 

      Wang, Z. L. (Zhong Lin); Poncharal, P.; De Heer, W. A. (Georgia Institute of TechnologyInternational Union of Pure and Applied Chemistry, 2000)
      Property characterization of nanomaterials is challenged by the small size of the structure because of the difficulties in manipulation. Here we demonstrate a novel approach that allows a direct measurement of the mechanical ...
    • Object-based Visual SLAM: How Object Identity Informs Geometry 

      Selvatici, Antonio H. P.; Costa, Anna H. R. (Georgia Institute of Technology, 2008-11)
      Objects are rich information sources about the environment. A 3D model of the objects, together with their semantic labels, can be used for camera localization as well as for cognitive reasoning about the environment. ...
    • Online Probabilistic Topological Mapping 

      Ranganathan, Ananth; Dellaert, Frank (Georgia Institute of TechnologySAGE Publications, 2011-01-24)
      We present a novel algorithm for topological mapping, which is the problem of finding the graph structure of an environment from a sequence of measurements. Our algorithm, called Online Probabilistic Topological ...
    • Security Analytics: Bridging large-scale data collection and analysis with human factors to design better defenses 

      Christin, Nicolas (Georgia Institute of Technology, 2016-08-26)
      In this talk, I will argue that understanding incentives of both attackers and targets has become critical to strengthening online security. I will advocate the need for an interdisciplinary research agenda, ranging from ...
    • Selecting Good Measurements via ℓ₁ Relaxation: A Convex Approach for Robust Estimation Over Graphs 

      Carlone, Luca; Censi, Andrea; Dellaert, Frank (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2014-09)
      Pose graph optimization is an elegant and efficient formulation for robot localization and mapping. Experimental evidence suggests that, in real problems, the set of measurements used to estimate robot ...
    • Units, Units Everywhere 

      Ludovice, Peter J.; Hunt, William D. (Georgia Institute of Technology, 2008-11-05)