Search
Now showing items 1-10 of 164
Planning Under Uncertainty in the Continuous Domain: A Generalized Belief Space Approach
(Georgia Institute of Technology, 2014)
This work investigates the problem of planning
under uncertainty, with application to mobile robotics. We
propose a probabilistic framework in which the robot bases
its decisions on the
generalized belief
, which is ...
Monocular Image Space Tracking on a Computationally Limited MAV
(Georgia Institute of Technology, 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 ...
Learning and Inferring Motion Patterns Using Parametric Segmental Switching Linear Dynamic Systems
(Georgia Institute of Technology, 2008)
Switching Linear Dynamic System (SLDS) models are a popular technique for modeling complex nonlinear dynamic
systems. An SLDS provides the possibility to describe complex temporal patterns more concisely and accurately ...
EM, MCMC, and Chain Flipping for Structure from Motion with Unknown Correspondence
(Georgia Institute of Technology, 2003)
Learning spatial models from sensor data raises the challenging data association
problem of relating model parameters to individual measurements. This paper proposes an
EM-based algorithm, which solves the model learning ...
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 ...
Data-Driven MCMC for Learning and Inference in Switching Linear Dynamic Systems
(Georgia Institute of Technology, 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 ...
The Georgia Tech Yellow Jackets: A Marsupial Team for Urban Search and Rescue
(Georgia Institute of Technology, 2002)
We describe our entry in the AAAI 2002 Urban Search and
Rescue (USAR) competition, a marsupial team consisting of
a larger wheeled robot and several small legged robots, carried
around by the larger robot. This setup ...
Binding Balls: Fast Detection of Binding Sites Using a Property of Spherical Fourier Transform
(Georgia Institute of Technology, 2009)
The functional prediction of proteins is one of the most challenging problems in modern
biology. An established computational technique involves the identification of threedimensional
local similarities in proteins. In ...
Probabilistic Analysis of Incremental Light Bundle Adjustment
(Georgia Institute of Technology, 2013-01)
This paper presents a probabilistic analysis of the recently introduced incremental light bundle adjustment
method (iLBA) [6]. In iLBA, the observed 3D points are algebraically eliminated, resulting in a cost ...
Incremental Distributed Robust Inference from Arbitrary Robot Poses via EM and Model Selection
(Georgia Institute of Technology, 2014-07)
We present a novel approach for multi-robot distributed
and incremental inference over variables of interest,
such as robot trajectories, considering the initial relative poses
between the robots and multi-robot data ...