• Intrinsic Localization and Mapping with 2 Applications: Diffusion Mapping and Marco Polo Localization 

      Dellaert, Frank; Alegre, Fernando; Martinson, Eric Beowulf (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2003-09)
      We investigate Intrinsic Localization and Mapping (ILM) for teams of mobile robots, a multi-robot variant of SLAM where the robots themselves are used as landmarks. We develop what is essentially a straightforward ...
    • A Rao-Blackwellized Particle Filter for Topological Mapping 

      Ranganathan, Ananth; Dellaert, Frank (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2006-05)
      We present a particle filtering algorithm to construct topological maps of an uninstrument environment. The algorithm presented here constructs the posterior on the space of all possible topologies given measurements, ...