• Map-based Priors for Localization 

      Oh, Sang Min; Tariq, Sarah; Walker, Bruce N.; Dellaert, Frank (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2004-09)
      Localization from sensor measurements is a fundamental task for navigation. Particle filters are among the most promising candidates to provide a robust and realtime solution to the localization problem. They instantiate the ...
    • Probabilistic Topological Mapping for Mobile Robots using Urn Models 

      Ranganathan, Ananth; Dellaert, Frank (Georgia Institute of Technology, 2007)
      We present an application of Bayesian modeling and inference to topological mapping in robotics. This is a potentially difficult problem due to (a) the combinatorial nature of the state space, and (b) perceptual aliasing ...