Now showing items 1-20 of 158

    • 3D Reconstruction of Underwater Structures 

      Beall, Chris; Lawrence, Brian J.; Ila, Viorela; Dellaert, Frank (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2010)
      Environmental change is a growing international concern, calling for the regular monitoring, studying and preserving of detailed information about the evolution of underwater ecosystems. For example, fragile coral reefs ...
    • Accurate On-Line 3D Occupancy Grids Using Manhattan World Constraints 

      Peasley, Brian; Birchfield, Stan; Cunningham, Alexander; Dellaert, Frank (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2012-10)
      In this paper we present an algorithm for constructing nearly drift-free 3D occupancy grids of large indoor environments in an online manner. Our approach combines data from an odometry sensor with output from a visual ...
    • Anticipating Human Actions for Collaboration in the Presence of Task and Sensor Uncertainty 

      Hawkins, Kelsey P.; Bansal, Shray; Vo, Nam N.; Bobick, Aaron F. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2014-06)
      A representation for structured activities is developed that allows a robot to probabilistically infer which task actions a human is currently performing and to predict which future actions will be executed and when they ...
    • Atlanta World: An Expectation Maximization Framework for Simultaneous Low-level Edge Grouping and Camera Calibration in Complex Man-made Environments 

      Schindler, Grant; Dellaert, Frank (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2004-06)
      Edges in man-made environments, grouped according to vanishing point directions, provide single-view constraints that have been exploited before as a precursor to both scene understanding and camera calibration. A ...
    • Attitude Heading Reference System with Rotation-Aiding Visual Landmarks 

      Beall, Chris; Ta, Duy-Nguyen; Ok, Kyel; Dellaert, Frank (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2012-07)
      In this paper we present a novel vision-aided attitude heading reference system for micro aerial vehicles (MAVs) and other mobile platforms, which does not rely on known landmark locations or full 3D map estimation as ...
    • Augmenting Bag-of-Words: Data-Driven Discovery of Temporal and Structural Information for Activity Recognition 

      Bettadapura, Vinay; Schindler, Grant; Plötz, Thomas; Essa, Irfan A. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2013-06)
      We present data-driven techniques to augment Bag of Words (BoW) models, which allow for more robust modeling and recognition of complex long-term activities, especially when the structure and topology of the activities ...
    • Auto-Directed Video Stabilization with Robust L1 Optimal Camera Paths 

      Grundmann, Matthias; Kwatra, Vivek; Essa, Irfan (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2011-06)
      We present a novel algorithm for automatically applying constrainable, L1-optimal camera paths to generate stabilized videos by removing undesired motions. Our goal is to compute camera paths that are composed of constant, ...
    • Automated Assessment of Surgical Skills Using Frequency Analysis 

      Zia, Aneeq; Sharma, Yachna; Bettadapura, Vinay; Sarin, Eric L.; Clements, Mark A.; Essa, Irfan (Georgia Institute of Technology, 2015)
      We present an automated framework for visual assessment of the expertise level of surgeons using the OSATS (Objective Structured Assessment of Technical Skills) criteria. Video analysis techniques for extracting motion ...
    • Automated surgical OSATS prediction from videos 

      Sharma, Yachna; Plötz, Thomas; Hammerla, Nils; Mello, Sebastian; McNaney, Roisin; Olivier, Patrick; Deshmukh, Sandeep; McCaskie, Andrew; Essa, Irfan (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2014-04)
      The assessment of surgical skills is an essential part of medical training. The prevalent manual evaluations by expert surgeons are time consuming and often their outcomes vary substantially from one observer to another. ...
    • Bayesian Surprise and Landmark Detection 

      Ranganathan, Ananth; Dellaert, Frank (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2009-05)
      Automatic detection of landmarks, usually special places in the environment such as gateways, for topological mapping has proven to be a difficult task. We present the use of Bayesian surprise, introduced in computer ...
    • Beyond Sentiment: The Manifold of Human Emotions 

      Kim, Seungyeon; Li, Fuxin; Lebanon, Guy; Essa, Irfan A. (Georgia Institute of TechnologyarXiv, 2012-02)
      Sentiment analysis predicts the presence of positive or negative emotions in a text document. In this paper we consider higher dimensional extensions of the sentiment concept, which represent a richer set of human emotions. ...
    • BioGlass: Physiological Parameter Estimation Using a Head - mounted Wearable Device 

      Hernandez, Javier; Li, Yin; Rehg, James M.; Picard, Rosalind W. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2014-11)
      This work explores the feasibility of using sensors embedded in Google Glass, a head-mounted wearable device, to measure physiological signals of the wearer. In particular, we develop new methods to use Glass’s accelerometer, ...
    • Bundle Adjustment in Large-Scale 3D Reconstructions based on Underwater Robotic Surveys 

      Beall, Chris; Dellaert, Frank; Mahon, Ian; Williams, Stefan B. (Georgia Institute of Technology, 2011-06)
      In this paper we present a technique to generate highly accurate reconstructions of underwater structures by employing bundle adjustment on visual features, rather than relying on a filtering approach using navigational ...
    • Calibration-Free Rolling Shutter Removal 

      Grundmann, Matthias; Kwatra, Vivek; Castro, Daniel; Essa, Irfan A. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2012-04)
      We present a novel algorithm for efficient removal of rolling shutter distortions in uncalibrated streaming videos. Our proposed method is calibration free as it does not need any knowledge of the camera used, nor does ...
    • Categorizing Turn-Taking Interactions 

      Prabhakar, Karthir; Rehg, James M. (Georgia Institute of TechnologySpringer-Verlag Berlin / Heidelberg, 2012-10)
      We address the problem of categorizing turn-taking interactions between individuals. Social interactions are characterized by turn-taking and arise frequently in real-world videos. Our approach is based on the use of ...
    • Clustering Social Event Images using Kernel Canonical Correlation Analysis 

      Ahsan, Unaiza; Essa, Irfan (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2014-06)
      Sharing user experiences in form of photographs, tweets, text, audio and/or video has become commonplace in social networking websites. Browsing through large collections of social multimedia remains a cumbersome task. ...
    • Collaborative Stereo 

      Achtelik, Markus W.; Weiss, Stephan; Chli, Margarita; Dellaert, Frank; Siegwart, Roland (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2011-09)
      In this paper, we propose a method to recover the relative pose of two robots in absolute scale and in realtime using one monocular camera on each robot. We achieve this by fusing measurements from the onboard inertial ...
    • Combining Self Training and Active Learning for Video Segmentation 

      Fathi, Alireza; Balcan, Maria Florina; Ren, Xiaofeng; Rehg, James M. (Georgia Institute of Technology, 2011-09)
      This work addresses the problem of segmenting an object of interest out of a video. We show that video object segmentation can be naturally cast as a semi-supervised learning problem and be efficiently solved using ...
    • 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 ...
    • Consistent Decentralized Graphical SLAM with Anti-Factor Down-Dating 

      Cunningham, Alexander; Indelman, Vadim; Dellaert, Frank (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2012-11)
      This report presents our recent and ongoing work developing a consistent decentralized data fusion approach for robust multi-robot SLAM in dangerous, unknown environments. The DDF-SAM 2.0 approach extends our previous ...