In robotics and computer vision, Simultaneous Localization and Mapping (SLAM) and Structure from Motion (SFM) are important and closely related problems in robotics and vision. I will review how SLAM, SFM and other problems ...

This note represents my attempt at explaining the EM algorithm. This is just a slight variation on Tom Minka's tutorial, perhaps a little easier (or perhaps not). It includes a graphical example to provide some intuition.

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 ...

We describe a Markov chain Monte Carlo based particle filter that effectively deals with interacting targets, i.e., targets that are influenced by the proximity and/or behavior of other targets. Such interactions cause ...

We present an extension of a smoothing approach to Simultaneous Localization and Mapping (SLAM). We have previously introduced Square-Root SAM, a Smoothing and Mapping approach to SLAM based on Levenberg-Marquardt (LM) ...

We investigate the automated reconstruction of piecewise smooth 3D curves, using subdivision curves as a simple but flexible curve representation. This representation allows tagging corners to model nonsmooth features ...

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 ...

We present an approach for joint inference of 3D scene structure and semantic labeling for monocular video. Starting with monocular image stream, our framework produces a 3D volumetric semantic + occupancy map, which is ...