Now showing items 1-20 of 81

    • 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 ...
    • 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 ...
    • 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 ...
    • Bayesian Inference in the Space of Topological Maps 

      Ranganathan, Ananth; Menegatti, Emanuele; Dellaert, Frank (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2006-02)
      While probabilistic techniques have previously been investigated extensively for performing inference over the space of metric maps, no corresponding general purpose methods exist for topological maps. We present the ...
    • 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. ...
    • 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 ...
    • Data-Driven MCMC for Learning and Inference in Switching Linear Dynamic Systems 

      Oh, Sang Min; Rehg, James M.; Balch, Tucker; Dellaert, Frank (Georgia Institute of TechnologyAAAI Press, 2005-07)
      Switching Linear Dynamic System (SLDS) models are a popular technique for modeling complex nonlinear dynamic systems. An SLDS has significantly more descriptive power than an HMM, but inference in SLDS models ...
    • DDF-SAM 2.0: Consistent Distributed Smoothing and Mapping 

      Cunningham, Alexander; Indelman, Vadim; Dellaert, Frank (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2013-05)
      This paper presents an consistent decentralized data fusion approach for robust multi-robot SLAM in dan- gerous, unknown environments. The DDF-SAM 2.0 approach extends our previous work by combining local and neigh- borhood ...
    • DDF-SAM: Fully Distributed SLAM using Constrained Factor Graphs 

      Cunningham, Alexander; Paluri, Manohar; Dellaert, Frank (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2010)
      We address the problem of multi-robot distributed SLAM with an extended Smoothing and Mapping (SAM) approach to implement Decentralized Data Fusion (DDF). We present DDF-SAM, a novel method for efficiently and robustly ...
    • Decoding Children’s Social Behavior 

      Rehg, James M.; Abowd, Gregory D.; Rozga, Agata; Romero, Mario; Clements, Mark A.; Sclaroff, Stan; Essa, Irfan; Ousley, Opal Y.; Li, Yin; Kim, Chanho; Rao, Hrishikesh; Kim, Jonathan C.; Presti, Liliana Lo; Zhang, Jianming; Lantsman, Denis; Bidwell, Jonathan; Ye, Zhefan (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2013-06)
      We introduce a new problem domain for activity recognition: the analysis of children’s social and communicative behaviors based on video and audio data. We specifically target interactions between children aged 1–2 ...
    • Decoupling Behavior, Perception, and Control for Autonomous Learning of Affordances 

      Hermans, Tucker; Rehg, James M.; Bobick, Aaron F. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2013-05)
      A novel behavior representation is introduced that permits a robot to systematically explore the best methods by which to successfully execute an affordance-based behavior for a particular object. The approach decomposes ...
    • Detecting and Matching Repeated Patterns for Automatic Geo-tagging in Urban Environments 

      Schindler, Grant; Krishnamurthy, Panchapagesan; Lublinerman, Roberto; Liu, Yanxi; Dellaert, Frank (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2008-06)
      We present a novel method for automatically geo-tagging photographs of man-made environments via detection and matching of repeated patterns. Highly repetitive environments introduce numerous correspondence ambiguities and ...
    • Discontinuous Seam-Carving for Video Retargeting 

      Grundmann, Matthias; Kwatra, Vivek; Han, Mei; Essa, Irfan (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2010-06)
      We introduce a new algorithm for video retargeting that uses discontinuous seam-carving in both space and time for resizing videos. Our algorithm relies on a novel appearance-based temporal coherence formulation that ...
    • Efficient Hierarchical Graph-Based Video Segmentation 

      Grundmann, Matthias; Kwatra, Vivek; Han, Mei; Essa, Irfan (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2010-06)
      We present an efficient and scalable technique for spatiotemporal segmentation of long video sequences using a hierarchical graph-based algorithm. We begin by oversegmenting a volumetric video graph into space-time ...
    • Efficient Particle Filter-Based Tracking of Multiple Interacting Targets Using an MRF-based Motion Model 

      Khan, Zia; Balch, Tucker; Dellaert, Frank (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2003-10)
      We describe a multiple hypothesis particle filter for tracking targets that will be influenced by the proximity and/or behavior of other targets. Our contribution is to show how a Markov random field motion prior, built ...
    • Egocentric Field-of-View Localization Using First-Person Point-of-View Devices 

      Bettadapura, Vinay; Essa, Irfan; Pantofaru, Caroline (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2015-01)
      We present a technique that uses images, videos and sensor data taken from first-person point-of-view devices to perform egocentric field-of-view (FOV) localization. We define egocentric FOV localization as capturing the ...
    • 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 ...