• 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 ...
    • 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 ...
    • Linear 2D Localization and Mapping for Single and Multiple Robot Scenarios 

      Dellaert, Frank; Stroupe, Ashley W. (Georgia Institute of Technology, 2002)
      We show how to recover 2D structure and motion linearly in order to initialize Simultaneous Mapping and Localization (SLAM) for bearings-only measurements and planar motion. The method supplies a good initial estimate ...
    • 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 ...
    • 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. ...