• The Bayes Tree: Enabling Incremental Reordering and Fluid Relinearization for Online Mapping 

      Kaess, Michael; Ila, Viorela; Roberts, Richard; Dellaert, Frank (Georgia Institute of TechnologyMassachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory, 2010-01-29)
      In this paper we present a novel data structure, the Bayes tree, which exploits the connections between graphical model inference and sparse linear algebra. The proposed data structure provides a new perspective on an ...
    • Concurrent Filtering and Smoothing 

      Kaess, Michael; Williams, Stephen; Indelman, Vadim; Roberts, Richard; Leonard, John J.; Dellaert, Frank (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2012-07)
      This paper presents a novel algorithm for integrating real-time filtering of navigation data with full map/trajectory smoothing. Unlike conventional mapping strategies, the result of loop closures within the smoother ...
    • Incremental Light Bundle Adjustment 

      Indelman, Vadim; Roberts, Richard; Beall, Chris; Dellaert, Frank (Georgia Institute of Technology, 2012-09)
      Fast and reliable bundle adjustment is essential in many applications such as mobile vision, augmented reality, and robotics. Two recent ideas to reduce the associated computational cost are structure-less SFM (structure ...