Now showing items 662-681 of 1552

    • Incremental Light Bundle Adjustment for Robotics Navigation 

      Indelman, Vadim; Melim, Andrew; Dellaert, Frank (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2013-11)
      This paper presents a new computationally-efficient method for vision-aided navigation (VAN) in autonomous robotic applications. While many VAN approaches are capable of processing incoming visual observations, incorporating ...
    • Incremental Light Bundle Adjustment for Structure From Motion and Robotics 

      Indelman, Vadim; Roberts, Richard; Dellaert, Frank (Georgia Institute of TechnologyElsevier B.V., 2015)
      Bundle adjustment (BA) is essential in many robotics and structure-from-motion applications. In robotics, often a bundle adjustment solution is desired to be available incrementally as new poses and 3D points are observed. ...
    • Incremental Replanning for Mapping 

      Koenig, Sven; Likhachev, Maxim (Georgia Institute of Technology, 2002)
      Incremental heuristic search methods can often replan paths much faster than incremental or heuristic search methods individually, yet are simple to use. So far, they have only been used in mobile robotics to move a ...
    • Incremental smoothing and mapping 

      Kaess, Michael (Georgia Institute of Technology, 2008-11-17)
      Incremental smoothing and mapping (iSAM) is presented, a novel approach to the simultaneous localization and mapping (SLAM) problem. SLAM is the problem of estimating an observer's position from local measurements only, ...
    • Incremental Sparse GP Regression for Continuous-time Trajectory Estimation & Mapping 

      Yan, Xinyan; Indelman, Vadim; Boots, Byron (Georgia Institute of Technology, 2015-09)
      Recent work on simultaneous trajectory estimation and mapping (STEAM) for mobile robots has found success by representing the trajectory as a Gaussian process. Gaussian processes can represent a continuous-time trajectory, ...
    • Incremental Sparse GP Regression for Continuous-time Trajectory Estimation & Mapping 

      Yan, Xinyan; Indelman, Vadim; Boots, Byron (Georgia Institute of Technology, 2015-07)
      Recent work on simultaneous trajectory estimation and mapping (STEAM) for mobile robots has found success by representing the trajectory as a Gaussian process. Gaussian processes can represent a ...
    • Incremental Sparse GP Regression for Continuous-time Trajectory Estimation & Mapping 

      Yan, Xinyan; Indelman, Vadim; Boots, Byron (Georgia Institute of Technology, 2014-12)
      Recent work has investigated the problem of continuous-time trajectory estimation and mapping for mobile robots by formulating the problem as sparse Gaussian process regression. Gaussian processes provide a continuous-time ...
    • Index-Free Multiagent Systems: An Eulerian Approach 

      Kingston, Peter; Egerstedt, Magnus B. (Georgia Institute of Technology, 2010-09)
      Since the properties of systems comprising many homogeneous agents may be expected to be independent of how the agents happen to be indexed, it should be possible to formulate and solve multiagent control problems in an ...
    • Individual Muscle Control using an Exoskeleton Robot for Muscle Function Testing 

      Ueda, Jun; Ming, Ding; Krishnamoorthy, Vijaya; Shinohara, Minoru; Ogasawara, Tsukasa (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2010-08)
      Healthy individuals modulate muscle activation patterns according to their intended movement and external environment. Persons with neurological disorders (e.g., stroke and spinal cord injury), however, have problems in ...
    • Individual Muscle Control using an Exoskeleton Robot for Muscle Function Testing 

      Ueda, Jun; Hyderabadwala, Moiz; Ding, Ming; Ogasawara, Tsukasa; Krishnamoorthy, Vijaya; Shinohara, Minoru (Georgia Institute of TechnologyAmerican Society of Mechanical Engineers, 2009-10)
    • Indoor GPS-denied Context Based SLAM Aided Guidance for Autonomous Unmanned Aerial Systems 

      Bershadsky, Dmitry; Johnson, Eric N. (Georgia Institute of Technology, 2013-08)
      Autonomous exploration and mapping of environments is an important problem in robotics. Efficient exploration of structured environments requires that the robot utilize region-specific exploration strategies and coordinate ...
    • Indoor Navigation for Unmanned Aerial Vehicles 

      Sobers, D. Michael Jr.; Chowdhary, Girish; Johnson, Eric N. (Georgia Institute of TechnologyAmerican Institute of Aeronautics and Astronautics, 2009-08)
      The ability for vehicles to navigate unknown environments is critical for autonomous operation. Mapping of a vehicle's environment and self-localization within that environment are especially difficult for an Unmanned ...
    • Indoor/Outdoor Autonomous Navigation and 3D Exploration with a Quadrotor 

      Michael, Nathan (Georgia Institute of Technology, 2012-10-03)
      In this talk, I will discuss approaches to state estimation and exploration with an autonomous quadrotor in indoor and outdoor environments. Quadrotors, and more generally micro-aerial vehicles, offer 3D mobility and ...
    • Inertial Attitude and Position Reference System Development for a Small UAV 

      Jung, Dongwon; Tsiotras, Panagiotis (Georgia Institute of TechnologyAmerican Institute of Aeronautics and Astronautics, Inc., 2007-05)
      This article presents an inexpensive inertial attitude and position reference system for a small unmanned aerial vehicle (UAV) that utilizes low cost inertial sensors in conjunction with a global positioning system (GPS) ...
    • Inertial Vibration Damping Control of a Flexible Base Manipulator 

      George, Lynnane E.; Book, Wayne John (Georgia Institute of TechnologyAmerican Society of Mechanical Engineers, 2002-11)
      A rigid (micro) robot mounted serially to the tip of a long, flexible (macro) manipulator is often used to increase reach capability, but flexibility in the macromanipulator can interfere with positioning accuracy. A rigid ...
    • Inertial Vibration Damping of a Flexible Base Manipulator 

      George, Lynnane E.; Book, Wayne John (Georgia Institute of TechnologyJapan Society of Mechanical Engineers, 2003)
      A rigid (micro) robot mounted serially to the tip of a long, flexible (macro) manipulator is often used to increase reach capability, but flexibility in the macromanipulator can make it susceptible to vibration. A rigid ...
    • Inference In The Space Of Topological Maps: An MCMC-based Approach 

      Ranganathan, Ananth; Dellaert, Frank (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2004-09)
      While probabilistic techniques have been considered extensively in the context of metric maps, no general purpose probabilistic methods exist for topological maps. We present the concept of Probabilistic Topological ...
    • Inferring Meal Eating Activities in Real World Settings from Ambient Sounds: A Feasibility Study 

      Thomaz, Edison; Zhang, Cheng; Essa, Irfan; Abowd, Gregory D. (Georgia Institute of TechnologyAssociation for Computing Machinery, 2015)
      Dietary self-monitoring has been shown to be an effective method for weight-loss, but it remains an onerous task despite recent advances in food journaling systems. Semi-automated food journaling can reduce the effort of ...
    • Inferring Object Properties from Incidental Contact with a Tactile-Sensing Forearm 

      Bhattacharjee, Tapomayukh; Rehg, James M.; Kemp, Charles C. (Georgia Institute of Technology, 2014-09)
      Whole-arm tactile sensing enables a robot to sense properties of contact across its entire arm. By using this large sensing area, a robot has the potential to acquire useful information from incidental contact that ...
    • Inferring Temporal Order of Images From 3D Structure 

      Schindler, Grant; Dellaert, Frank; Kang, Sing Bing (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2007-06)
      In this paper, we describe a technique to temporally sort a collection of photos that span many years. By reasoning about persistence of visible structures, we show how this sorting task can be formulated as a constraint ...