• Closing the Loop with Graphical SLAM 

      Folkesson, John; Christensen, Henrik I. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 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 ...
    • Information-based Reduced Landmark SLAM 

      Choudhary, Siddharth; Indelman, Vadim; Christensen, Henrik I.; Dellaert, Frank (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 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 ...
    • The M-Space Feature Representation for SLAM 

      Folkesson, John; Jensfelt, Patric; Christensen, Henrik I. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 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 ...
    • Mobile manipulation in everyday environments 

      Christensen, Henrik I.; Case, Philip (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2008-10)
      Robots are gradually being deployed for everyday environments, that is environments with no or very limited engineering taking place before deployment of the system. As manipulators and mobile platforms come together ...