Now showing items 65-84 of 215

    • A Factor Graph Approach to Estimation and Model Predictive Control on Unmanned Aerial Vehicles 

      Ta, Duy-Nguyen; Kobilarov, Marin; Dellaert, Frank (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2014-05)
      n this paper, we present a factor graph framework to solve both estimation and deterministic optimal control problems, and apply it to an obstacle avoidance task on Unmanned Aerial Vehicles (UAVs). We show that factor ...
    • 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 ...
    • Factor Graphs and GTSAM: A Hands-on Introduction 

      Dellaert, Frank (Georgia Institute of Technology, 2012-09)
      In this document I provide a hands-on introduction to both factor graphs and GTSAM. Factor graphs are graphical models (Koller and Friedman, 2009) that are well suited to modeling complex estimation problems, such as ...
    • Fast 3D Pose Estimation With Out-of-Sequence Measurements 

      Ranganathan, Ananth; Kaess, Michael; Dellaert, Frank (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2007-10)
      We present an algorithm for pose estimation using fixed-lag smoothing. We show that fixed-lag smoothing enables inclusion of measurements from multiple asynchronous measurement sources in an optimal manner. Since ...
    • Fast Incremental Square Root Information Smoothing 

      Kaess, Michael; Ranganathan, Ananth; Dellaert, Frank (Georgia Institute of TechnologyIJCAI, 2007-01)
      We propose a novel approach to the problem of simultaneous localization and mapping (SLAM) based on incremental smoothing, that is suitable for real-time applications in large-scale environments. The main advantages ...
    • Feasibility of Identifying Eating Moments from First-Person Images Leveraging Human Computation 

      Thomaz, Edison; Parnami, Aman; Essa, Irfan; Abowd, Gregory D. (Georgia Institute of TechnologyAssociation for Computing Machinery, 2013-11)
      There is widespread agreement in the medical research community that more effective mechanisms for dietary assessment and food journaling are needed to fight back against obesity and other nutrition-related diseases. ...
    • Flow Separation for Fast and Robust Stereo Odometry 

      Kaess, Michael; Ni, Kai; Dellaert, Frank (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2009-05)
      Separating sparse flow provides fast and robust stereo visual odometry that deals with nearly degenerate situations that often arise in practical applications.We make use of the fact that in outdoor situations different ...
    • Fully Distributed Scalable Smoothing and Mapping with Robust Multi-robot Data Association 

      Cunningham, Alexander; Wurm, Kai M.; Burgard, Wolfram; Dellaert, Frank (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2012-05)
      In this paper we focus on the multi-robot perception problem, and present an experimentally validated endto- end multi-robot mapping framework, enabling individual robots in a team to see beyond their individual sensor ...
    • Gaussian Process Regression Flow for Analysis of Motion Trajectories 

      Kim, Kihwan; Lee, Dongryeol; Essa, Irfan (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2011-11)
      Recognition of motions and activities of objects in videos requires effective representations for analysis and matching of motion trajectories. In this paper, we introduce a new representation specifically aimed at ...
    • Generalized Subgraph Preconditioners for Large-Scale Bundle Adjustment 

      Jian, Yong-Dian; Balcan, Doru C.; Dellaert, Frank (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2011-11)
      We present a generalized subgraph preconditioning (GSP) technique to solve large-scale bundle adjustment problems efficiently. In contrast with previous work which uses either direct or iterative methods as the linear ...
    • Geometric Context from Videos 

      Raza, S. Hussain; Grundmann, Matthias; Essa, Irfan A. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2013-06)
      We present a novel algorithm for estimating the broad 3D geometric structure of outdoor video scenes. Leveraging spatio-temporal video segmentation, we decompose a dynamic scene captured by a video into geometric ...
    • The Georgia Tech Yellow Jackets: A Marsupial Team for Urban Search and Rescue 

      Dellaert, Frank; Balch, Tucker; Kaess, Michael; Ravichandran, Ram; Alegre, Fernando; Berhault, Marc; McGuire, Robert; Merrill, Ernest; Moshkina, Lilia; Walker, Daniel (Georgia Institute of TechnologyAAAI Press, 2002)
      We describe our entry in the AAAI 2002 Urban Search and Rescue (USAR) competition, a marsupial team consisting of a larger wheeled robot and several small legged robots, carried around by the larger robot. This setup ...
    • Grammatical Methods in Computer Vision: An Overview 

      Chanda, Gaurav; Dellaert, Frank (Georgia Institute of Technology, 2004)
      We review various methods and applications that have used grammars for solving inference problems in computer vision and pattern recognition. Grammars have been useful because they are intuitively simple to understand, and ...
    • GroupSAC: Efficient Consensus in the Presence of Groupings 

      Ni, Kai; Jin, Hailin; Dellaert, Frank (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2009-09)
      We present a novel variant of the RANSAC algorithm that is much more efficient, in particular when dealing with problems with low inlier ratios. Our algorithm assumes that there exists some grouping in the data, based ...
    • Guided Pushing for Object Singulation 

      Hermans, Tucker; Rehg, James M.; Bobick, Aaron (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2012-10)
      We propose a novel method for a robot to separate and segment objects in a cluttered tabletop environment. The method leverages the fact that external object boundaries produce visible edges within an object cluster. ...
    • Haptic Classification and Recognition of Objects Using a Tactile Sensing Forearm 

      Bhattacharjee, Tapomayukh; Rehg, James M.; Kemp, Charles C. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2012-10)
      In this paper, we demonstrate data-driven inference of mechanical properties of objects using a tactile sensor array (skin) covering a robot’s forearm. We focus on the mobility (sliding vs. fixed), compliance (soft vs. ...
    • A Hierarchical Wavelet Decomposition for Continuous-Time SLAM 

      Anderson, Sean; Dellaert, Frank; Barfoot, Timothy D. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2014)
      This paper proposes using hierarchical wavelets as a basis in parametric continuous-time batch estimation. The need for a continuous-time robot pose in the simultaneous localization and mapping (SLAM) problem has arisen ...
    • How A.I. and multi-robot systems research will accelerate our understanding of social animal behavior 

      Balch, Tucker; Dellaert, Frank; Feldman, Adam; Guillory, Andrew; Isbell, Charles; Khan, Zia; Pratt, Stephen; Stein, Andrew; Wilde, Hank (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2006-07)
      Our understanding of social insect behavior has significantly influenced A.I. and multi-robot systems’ research (e.g. ant algorithms and swarm robotics). In this work, however, we focus on the opposite question, namely: ...
    • HyperSfM 

      Ni, Kai; Dellaert, Frank (Georgia Institute of Technology, 2012-10)
      We propose a novel algorithm that solves the Structure from Motion problem in a divide and conquer manner by exploiting its bipartite graph structure. Recursive partitioning has a rich history, stemming from sparse ...
    • An Image Based Approach to Recovering the Gravitational Field of Asteroids 

      Melim, Andrew; Dellaert, Frank (Georgia Institute of TechnologyBritish Machine Vision Association, 2014)
      NASA’s DAWN spacecraft is on a mission to recover the gravity and structure of the asteroids Vesta and Ceres. Current approaches for developing a gravitational map of a celestial body rely upon use of the Deep ...