• Concurrent Filtering and Smoothing: A Parallel Architecture for Real-Time Navigation and Full Smoothing 

      Williams, Stephen; Indelman, Vadim; Kaess, Michael; Roberts, Richard; Leonard, John J.; Dellaert, Frank (Georgia Institute of TechnologySAGE, 2014)
      We present a parallelized navigation architecture that is capable of running in real-time and incorporating long-term loop closure constraints while producing the optimal Bayesian solution. This architecture splits the ...
    • Factor Graph Based Incremental Smoothing in Inertial Navigation Systems 

      Indelman, Vadim; Williams, Stephen; Kaess, Michael; Dellaert, Frank (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2012-07)
      This paper describes a new approach for information fusion in inertial navigation systems. In contrast to the commonly used filtering techniques, the proposed approach is based on a non-linear optimization for processing ...