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Distributed Real-time Cooperative Localization and Mapping Using an Uncertainty-Aware Expectation Maximization Approach
(Georgia Institute of Technology, 2015-05)
We demonstrate distributed, online, and real-time cooperative localization and mapping between multiple robots operating throughout an unknown environment sing indirect measurements. We present a novel Expectation Maximization ...
Video Segmentation by Tracking Many Figure-Ground Segments
(Georgia Institute of Technology, 2013-12)
We propose an unsupervised video segmentation approach by simultaneously tracking multiple holistic figure-ground segments. Segment tracks are initialized from a pool
of segment proposals generated from a figure-ground ...
Adaptive Estimation and Control with Application to Vision-based Autonomous Formation Flight
(Georgia Institute of Technology, 2007-05-17)
The role of vision as an additional sensing mechanism has received a lot of attention in recent years in the context of autonomous flight applications. Modern Unmanned Aerial Vehicles (UAVs) are equipped with vision sensors ...
Integrated Guidance Navigation and Control for a Fully Autonomous Indoor UAS
(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 ...
Movement Pattern Histogram for Action Recognition and Retrieval
(Georgia Institute of Technology, 2014)
We present a novel action representation based on encoding the global
temporal movement of an action. We represent an action as a set of movement
pattern histograms that encode the global temporal dynamics of an action. ...
Self-Contained Autonomous Indoor Flight with Ranging Sensor Navigation
(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 ...
Joint Semantic Segmentation and 3D Reconstruction from Monocular Video
(Georgia Institute of Technology, 2014-09)
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 ...
Goal Reasoning: Papers from the ACS Workshop
(Georgia Institute of Technology, 2015-05-28)
This technical report contains the 14 accepted papers presented at the Workshop on Goal Reasoning,
which was held as part of the 2015 Conference on Advances in Cognitive Systems (ACS-15) in Atlanta,
Georgia on 28 May ...
Information-based Reduced Landmark SLAM
(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 ...
Depth Extraction from Videos Using Geometric Context and Occlusion Boundaries
(Georgia Institute of Technology, 2014)
We present an algorithm to estimate depth in dynamic video scenes. We propose to learn and infer depth in videos from appearance, motion, occlusion boundaries, and geometric context of the scene. Using our method, depth ...