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    Integrated Guidance Navigation and Control for a Fully Autonomous Indoor UAS 

    Chowdhary, Girish; Sobers, D. Michael, Jr.; Pravitra, Chintasid; Christmann, Hans Claus; Wu, Allen; Hashimoto, Hiroyuki; Ong, Chester; Kalghatgi, Roshan; Johnson, Eric N. (Georgia Institute of Technology, 2011-08)
    This paper describes the details of a Quadrotor miniature unmanned aerial system capable of autonomously exploring cluttered indoor areas without relying on any external navigational aids such as GPS. A streamlined ...
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    Self-Contained Autonomous Indoor Flight with Ranging Sensor Navigation 

    Chowdhary, Girish; Sobers, D. Michael, Jr.; Pravitra, Chintasid; Christmann, Hans Claus; Wu, Allen; Hashimoto, Hiroyuki; Ong, Chester; Kalghatgi, Roshan; Johnson, Eric N. (Georgia Institute of Technology, 2012-11)
    This paper describes the design and flight test of a completely self-contained autonomous indoor Miniature Unmanned Aerial System (M-UAS). Guidance, navigation, and control algorithms are presented, enabling the M-UAS ...
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    Information-based Reduced Landmark SLAM 

    Choudhary, Siddharth; Indelman, Vadim; Christensen, Henrik I.; Dellaert, Frank (Georgia Institute of Technology, 2015-05)
    In this paper, we present an information-based approach to select a reduced number of landmarks and poses for a robot to localize itself and simultaneously build an accurate map. We develop an information theoretic ...
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    Initialization Techniques for 3D SLAM: A Survey on Rotation Estimation and its Use in Pose Graph Optimization 

    Carlone, Luca; Tron, Roberto; Daniilidis, Kostas; Dellaert, Frank (Georgia Institute of Technology, 2015-05)
    Pose graph optimization is the non-convex optimization problem underlying pose-based Simultaneous Localization and Mapping (SLAM). If robot orientations were known, pose graph optimization would be a linear least-squares ...
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    Eliminating Conditionally Independent Sets in Factor Graphs: A Unifying Perspective based on Smart Factors 

    Carlone, Luca; Kira, Zsolt; Beall, Chris; Indelman, Vadim; Dellaert, Frank (Georgia Institute of Technology, 2014)
    Factor graphs are a general estimation framework that has been widely used in computer vision and robotics. In several classes of problems a natural partition arises among variables involved in the estimation. ...
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    Slam with expectation maximization for moveable object tracking 

    Rogers, John G.; Trevor, Alexander J. B.; Nieto-Granda, Carlos; Christensen, Henrik I. (Georgia Institute of Technology, 2010-10)
    The goal of simultaneous localization and mapping (SLAM) is to compute the posterior distribution over landmark poses. Typically, this is made possible through the static world assumption - the landmarks remain in the same ...
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    Effects of sensory precision on mobile robot localization and mapping 

    Rogers, John G.; Trevor, Alexander J. B.; Nieto-Granda, Carlos; Cunningham, Alexander; Paluri, Manohar; Michael, Nathan; Dellaert, Frank; Christensen, Henrik I.; Kumar, Vijay (Georgia Institute of Technology, 2010-12)
    This paper will explore the relationship between sensory accuracy and Simultaneous Localization and Mapping (SLAM) performance. As inexpensive robots are developed with commodity components, the relationship between ...
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    Subgraph-preconditioned Conjugate Gradients for Large Scale SLAM 

    Dellaert, Frank; Carlson, Justin; Ila, Viorela; Ni, Kai; Thorpe, Charles E. (Georgia Institute of Technology, 2010)
    In this paper we propose an efficient preconditioned conjugate gradients (PCG) approach to solving large-scale SLAM problems. While direct methods, popular in the literature, exhibit quadratic convergence and can be ...
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    iSPCG: Incremental Subgraph-Preconditioned Conjugate Gradient Method for Online SLAM with Many Loop-Closures 

    Jian, Yong-Dian; Dellaert, Frank (Georgia Institute of Technology, 2014-09)
    We propose a novel method to solve online SLAM problems with many loop-closures on the basis of two state- of-the-art SLAM methods, iSAM and SPCG. We first use iSAM to solve a sparse sub-problem to ...
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    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 ...
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    AuthorDellaert, Frank (28)Christensen, Henrik (9)Kaess, Michael (9)Indelman, Vadim (7)Trevor, Alexander J. (6)Carlone, Luca (5)Nieto-Granda, Carlos (5)Rogers, John G. (5)Ranganathan, Ananth (4)Boots, Byron (3)... View MoreSubject
    Simultaneous localization and mapping (42)
    SLAM (10)Mobile robots (7)Data association (5)Incremental smoothing and mapping (4)Maximum a posteriori (4)Smoothing (4)Factor graph (3)Filtering (3)Gaussian process (3)... View MoreDate Issued2010 - 2015 (29)2003 - 2009 (13)Has File(s)Yes (42)
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