Now showing items 1-5 of 5
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 ...
A Discriminative Approach to Robust Visual Place Recognition
(Georgia Institute of Technology, 2006-10)
An important competence for a mobile robot system is the ability to localize and perform context interpretation. This is required to perform basic navigation and to facilitate local specific services. Usually localization ...
Exploiting Distinguishable Image Features in Robotic Mapping and Localization
(Georgia Institute of Technology, 2006-03)
Simultaneous localization and mapping (SLAM) is an important research area in robotics. Lately, systems that use a single bearing-only sensors have received significant attention and the use of visual sensors have been ...
The M-Space Feature Representation for SLAM
(Georgia Institute of Technology, 2007-10)
In this paper, a new feature representation for simultaneous localization and mapping (SLAM) is discussed. The representation addresses feature symmetries and constraints explicitly to make the basic model numerically ...
Closing the Loop with Graphical SLAM
(Georgia Institute of Technology, 2007-08)
The problem of simultaneous localization and mapping (SLAM) is addressed using a graphical method. The main contributions are a computational complexity that scales well with the size of the environment, the elimination ...