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The Expectation Maximization Algorithm
(Georgia Institute of Technology, 2002)
This note represents my attempt at explaining the EM algorithm. This is just a slight variation on Tom Minka's tutorial, perhaps a little easier (or perhaps not). It includes a graphical example to provide some intuition.
The Bayes Tree: Enabling Incremental Reordering and Fluid Relinearization for Online Mapping
(Georgia Institute of Technology, 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 ...
Rapid Loop Updates
(Georgia Institute of Technology, 2012-09-11)
An MCMC-based Particle Filter for Tracking Multiple Interacting Targets
(Georgia Institute of Technology, 2003)
We describe a Markov chain Monte Carlo based particle filter that effectively deals with interacting targets, i.e., targets that are influenced by the proximity and/or behavior of other targets. Such interactions cause ...
A Partially Fixed Linearization Approach for Submap-Parametrized Smoothing and Mapping
(Georgia Institute of Technology, 2005)
We present an extension of a smoothing approach to Simultaneous Localization and Mapping (SLAM). We have previously introduced Square-Root SAM, a Smoothing and Mapping approach to SLAM based on Levenberg-Marquardt (LM) ...
MCMC-based Multiview Reconstruction of Piecewise Smooth Subdivision Curves with a Variable Number of Control Points
(Georgia Institute of Technology, 2004-05)
We investigate the automated reconstruction of piecewise
smooth 3D curves, using subdivision curves as a simple but flexible curve
representation. This representation allows tagging corners to model nonsmooth
features ...
The Bayes Tree: An Algorithmic Foundation for Probabilistic Robot Mapping
(Georgia Institute of Technology, 2010-12)
We present a novel data structure, the Bayes tree, that provides an algorithmic
foundation enabling a better understanding of existing graphical model
inference algorithms and their connection to sparse matrix factorization ...
Joint Semantic Segmentation and 3D Reconstruction from Monocular Video
(Georgia Institute of Technology, 2014-09)
We present an approach for joint inference of 3D scene structure and semantic labeling for monocular video. Starting with monocular
image stream, our framework produces a 3D volumetric semantic + occupancy map, which is ...
An MCMC-based Particle Filter for Tracking Multiple Interacting Targets
(Georgia Institute of Technology, 2004-05)
We describe a Markov chain Monte Carlo based particle filter
that effectively deals with interacting targets, i.e., targets that are
influenced by the proximity and/or behavior of other targets. Such interactions
cause ...
Information Fusion in Navigation Systems via Factor Graph Based Incremental Smoothing
(Georgia Institute of Technology, 2013-08)
This paper presents a new approach for high-rate information fusion in modern
inertial navigation systems, that have a variety of sensors operating at different
frequencies. Optimal information fusion corresponds to ...