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    The Expectation Maximization Algorithm 

    Dellaert, Frank (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.
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    The Bayes Tree: Enabling Incremental Reordering and Fluid Relinearization for Online Mapping 

    Kaess, Michael; Ila, Viorela; Roberts, Richard; Dellaert, Frank (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 ...
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    Rapid Loop Updates 

    Indelman, Vadim; Dellaert, Frank (Georgia Institute of Technology, 2012-09-11)
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    An MCMC-based Particle Filter for Tracking Multiple Interacting Targets 

    Khan, Zia; Balch, Tucker; Dellaert, Frank (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 ...
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    A Partially Fixed Linearization Approach for Submap-Parametrized Smoothing and Mapping 

    Kipp, Alexander; Krauthausen, Peter; Dellaert, Frank (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) ...
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    MCMC-based Multiview Reconstruction of Piecewise Smooth Subdivision Curves with a Variable Number of Control Points 

    Kaess, Michael; Zboinski, Rafal; Dellaert, Frank (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 ...
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    The Bayes Tree: An Algorithmic Foundation for Probabilistic Robot Mapping 

    Kaess, Michael; Ila, Viorela; Roberts, Richard; Dellaert, Frank (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 ...
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    Joint Semantic Segmentation and 3D Reconstruction from Monocular Video 

    Kundu, Abhijit; Li, Yin; Dellaert, Frank; Li, Fuxin; Rehg, James M. (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 ...
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    An MCMC-based Particle Filter for Tracking Multiple Interacting Targets 

    Khan, Zia; Balch, Tucker; Dellaert, Frank (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 ...
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    Information Fusion in Navigation Systems via Factor Graph Based Incremental Smoothing 

    Indelman, Vadim; Williams, Stephen; Kaess, Michael; Dellaert, Frank (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 ...
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    Author
    Dellaert, Frank (161)
    Kaess, Michael (26)Indelman, Vadim (21)Ranganathan, Ananth (18)Balch, Tucker (16)Roberts, Richard (14)Carlone, Luca (13)Oh, Sang Min (12)Khan, Zia (11)Ni, Kai (9)... View MoreSubjectSimultaneous localization and mapping (28)SLAM (16)Markov chain Monte Carlo (15)Computer vision (14)Factor graph (12)Mobile robots (11)Bundle adjustment (10)Structure from motion (10)Measurements (9)Robotics (8)... View MoreDate Issued2010 - 2015 (80)2000 - 2009 (82)1999 - 1999 (2)Has File(s)Yes (157)No (7)
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