Now showing items 148-167 of 211

    • Object-based Visual SLAM: How Object Identity Informs Geometry 

      Selvatici, Antonio H. P.; Costa, Anna H. R. (Georgia Institute of Technology, 2008-11)
      Objects are rich information sources about the environment. A 3D model of the objects, together with their semantic labels, can be used for camera localization as well as for cognitive reasoning about the environment. ...
    • On-line Learning of the Traversability of Unstructured Terrain for Outdoor Robot Navigation 

      Oh, Sang Min; Rehg, James M.; Dellaert, Frank (Georgia Institute of Technology, 2006)
    • Online Probabilistic Topological Mapping 

      Ranganathan, Ananth; Dellaert, Frank (Georgia Institute of TechnologySAGE Publications, 2011-01-24)
      We present a novel algorithm for topological mapping, which is the problem of finding the graph structure of an environment from a sequence of measurements. Our algorithm, called Online Probabilistic Topological ...
    • Optical Flow Templates for Superpixel Labeling in Autonomous Robot Navigation 

      Roberts, Richard; Dellaert, Frank (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2013-11)
      Instantaneous image motion in a camera on-board a mobile robot contains rich information about the structure of the environment. We present a new framework, optical flow templates, for capturing this information and an ...
    • Orientation-Aware Scene Understanding for Mobile Cameras 

      Wang, Jing; Schindler, Grant; Essa, Irfan (Georgia Institute of TechnologyAssociation for Computing Machinery, 2012-09)
      We present a novel approach that allows anyone to quickly teach their smartphone how to understand the visual world around them. We achieve this visual scene understanding by leveraging a camera-phone’s inertial sensors ...
    • Out-of-Core Bundle Adjustment for Large-Scale 3D Reconstruction 

      Ni, Kai; Steedly, Drew; Dellaert, Frank (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2007-10)
      Large-scale 3D reconstruction has recently received much attention from the computer vision community. Bundle adjustment is a key component of 3D reconstruction problems. However, traditional bundle adjustment ...
    • Parameterized Duration Modeling for Switching Linear Dynamic Systems 

      Oh, Sang Min; Rehg, James M.; Dellaert, Frank (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2006-06)
      We introduce an extension of switching linear dynamic systems (SLDS) with parameterized duration modeling capabilities. The proposed model allows arbitrary duration models and overcomes the limitation of a geometric ...
    • 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) ...
    • Path Planning with Uncertainty: Voronoi Uncertainty Fields 

      Ok, Kyel; Ansari, Sameer; Gallagher, Billy; Sica, William; Dellaert, Frank; Stilman, Mike (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2013-05)
      In this paper, a two-level path planning algorithm that deals with map uncertainty is proposed. The higher level planner uses modified generalized Voronoi diagrams to guarantee finding a connected path from the start ...
    • Place Recognition-Based Fixed-Lag Smoothing for Environments with Unreliable GPS 

      Mottaghi, Roozbeh; Kaess, Michael; Ranganathan, Ananth; Roberts, Richard; Dellaert, Frank (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2008-05)
      Pose estimation of outdoor robots presents some distinct challenges due to the various uncertainties in the robot sensing and action. In particular, global positioning sensors of outdoor robots do not always work ...
    • Planar Segmentation of RGBD Images Using Fast Linear Fitting and Markov Chain Monte Carlo 

      Erdogan, Can; Paluri, Manohar; Dellaert, Frank (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2012-05)
      With the advent of affordable RGBD sensors such as the Kinect, the collection of depth and appearance information from a scene has become effortless. However, neither the correct noise model for these sensors, nor ...
    • Planning in the Continuous Domain: a Generalized Belief Space Approach for Autonomous Navigation in Unknown Environments 

      Indelman, Vadim; Carlone, Luca; Dellaert, Frank (Georgia Institute of Technology, 2015)
      We investigate 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 a probabilistic ...
    • Planning Under Uncertainty in the Continuous Domain: A Generalized Belief Space Approach 

      Indelman, Vadim; Carlone, Luca; Dellaert, Frank (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 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 ...
    • Player Localization Using Multiple Static Cameras for Sports Visualization 

      Hamid, Raffay; Kumar, Ram Krishan; Grundmann, Matthias; Kim, Kihwan; Essa, Irfan; Hodgins, Jessica (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2010-06)
      We present a novel approach for robust localization of multiple people observed using multiple cameras. We use this location information to generate sports visualizations, which include displaying a virtual offside line ...
    • Post-processing Approach for Radiometric Self-Calibration of Video 

      Grundmann, Matthias; McClanahan, Chris; Kang, Sing Bing; Essa, Irfan A. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2013-04)
      We present a novel data-driven technique for radiometric self-calibration of video from an unknown camera. Our approach self-calibrates radiometric variations in video, and is applied as a post-process; there is no need ...
    • A Practical Approach for Recognizing Eating Moments With Wrist-Mounted Inertial Sensing 

      Thomaz, Edison; Essa, Irfan; Abowd, Gregory D. (Georgia Institute of TechnologyAssociation for Computing Machinery, 2015)
      Recognizing when eating activities take place is one of the key challenges in automated food intake monitoring. Despite progress over the years, most proposed approaches have been largely impractical for everyday usage, ...
    • Predicting Daily Activities From Egocentric Images Using Deep Learning 

      Castro, Daniel; Hickson, Steven; Bettadapura, Vinay; Thomaz, Edison; Abowd, Gregory; Christensen, Henrik; Essa, Irfan (Georgia Institute of TechnologyAssociation for Computing Machinery, 2015)
      We present a method to analyze images taken from a passive egocentric wearable camera along with the contextual information, such as time and day of week, to learn and predict everyday activities of an individual. We ...
    • Probabilistic Analysis of Incremental Light Bundle Adjustment 

      Indelman, Vadim; Roberts, Richard; Dellaert, Frank (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 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 ...
    • A Probabilistic Approach to the Semantic Interpretation of Building Facades 

      Alegre, Fernando; Dellaert, Frank (Georgia Institute of TechnologyCIPA, 2004)
      Semantically-enhanced 3D model reconstruction in urban environments is useful in a variety of applications, such as extracting metric and semantic information about buildings, visualizing the data in a way that outlines ...
    • Probabilistic Structure Matching for Visual SLAM with a Multi-Camera Rig 

      Kaess, Michael; Dellaert, Frank (Georgia Institute of TechnologyElsevier, 2010-02)
      We propose to use a multi-camera rig for simultaneous localization and mapping (SLAM), providing flexibility in sensor placement on mobile robot platforms while exploiting the stronger localization constraints provided ...