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    Factor Graphs for Flexible Inference in Robotics and Vision

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    Date
    2019-01-09
    Author
    Dellaert, Frank
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    Abstract
    In robotics and computer vision, Simultaneous Localization and Mapping (SLAM) and Structure from Motion (SFM) are important and closely related problems in robotics and vision. I will review how SLAM, SFM and other problems in robotics and vision can be posed in terms of factor graphs, which provide a graphical language in which to develop and collaborate on such problems. The theme of the talk will be to emphasize the advantages and intuition that come with that. I will show how using these insights we have developed both batch and incremental algorithms defined on graphs in the SLAM/SFM domain, as well as more sophisticated approaches to trajectory optimization. Many of these ideas are embodied in the Skydio R1, a commercially available, fully autonomous drone I helped develop at Skydio, a San Francisco Bay area startup.
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    http://hdl.handle.net/1853/60646
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    • IRIM Seminar Series [126]

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