• 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 ...
    • Monocular Image Space Tracking on a Computationally Limited MAV 

      Ok, Kyel; Gamage, Dinesh; Drummond, Tom; Dellaert, Frank; Roy, Nicholas (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2015-05)
      We propose a method of monocular camera-inertial based navigation for computationally limited micro air vehicles (MAVs). Our approach is derived from the recent development of parallel tracking and mapping algorithms, but ...
    • Place Recognition-Based Fixed-Lag Smoothing for Environments with Unreliable GPS 

      Mottaghi, Roozbeh; Kaess, Michael; Ranganathan, Ananth; Roberts, Richard; Dellaert, Frank (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2008-05)
      Pose estimation of outdoor robots presents some distinct challenges due to the various uncertainties in the robot sensing and action. In particular, global positioning sensors of outdoor robots do not always work ...
    • Visual Odometry Priors for robust EKF-SLAM 

      Alcantarilla, Pablo F.; Bergasa, Luis Miguel; Dellaert, Frank (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2010)
      One of the main drawbacks of standard visual EKF-SLAM techniques is the assumption of a general camera motion model. Usually this motion model has been implemented in the literature as a constant linear and angular ...