Search Results - "Dellaert, Frank"

On-Manifold Preintegration for Real-Time Visual--Inertial Odometry by Forster, Christian, Carlone, Luca, Dellaert, Frank, Scaramuzza, Davide

“…Current approaches for visual-inertial odometry (VIO) are able to attain highly accurate state estimation via nonlinear optimization. However, real-time…”
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Planning in the continuous domain: A generalized belief space approach for autonomous navigation in unknown environments by Indelman, Vadim, Carlone, Luca, Dellaert, Frank

“…We investigate the problem of planning under uncertainty, with application to mobile robotics. We propose a probabilistic framework in which the robot bases…”
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Continuous-time Gaussian process motion planning via probabilistic inference by Mukadam, Mustafa, Dong, Jing, Yan, Xinyan, Dellaert, Frank, Boots, Byron

“…We introduce a novel formulation of motion planning, for continuous-time trajectories, as probabilistic inference. We first show how smooth continuous-time…”
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iSAM2: Incremental smoothing and mapping using the Bayes tree by Kaess, Michael, Johannsson, Hordur, Roberts, Richard, Ila, Viorela, Leonard, John J, Dellaert, Frank

“…We present a novel data structure, the Bayes tree, that provides an algorithmic foundation enabling a better understanding of existing graphical model…”
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Robust Monte Carlo localization for mobile robots by Thrun, Sebastian, Fox, Dieter, Burgard, Wolfram, Dellaert, Frank

“…Mobile robot localization is the problem of determining a robot's pose from sensor data. This article presents a family of probabilistic localization…”
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Factor Graphs: Exploiting Structure in Robotics by Dellaert, Frank

“…Many estimation, planning, and optimal control problems in robotics have an optimization problem at their core. In most of these optimization problems, the…”
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Detecting and matching repeated patterns for automatic geo-tagging in urban environments by Schindler, G., Krishnamurthy, P., Lublinerman, R., Yanxi Liu, Dellaert, F.

“…We present a novel method for automatically geo-tagging photographs of man-made environments via detection and matching of repeated patterns. Highly repetitive…”
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Square Root SAM: Simultaneous Localization and Mapping via Square Root Information Smoothing by Dellaert, Frank, Kaess, Michael

“…Solving the SLAM (simultaneous localization and mapping) problem is one way to enable a robot to explore, map, and navigate in a previously unknown…”
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Covariance recovery from a square root information matrix for data association by Kaess, Michael, Dellaert, Frank

“…Data association is one of the core problems of simultaneous localization and mapping (SLAM), and it requires knowledge about the uncertainties of the…”
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Inferring Temporal Order of Images From 3D Structure by Schindler, G., Dellaert, F., Sing Bing Kang

“…In this paper, we describe a technique to temporally sort a collection of photos that span many years. By reasoning about persistence of visible structures, we…”
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Information fusion in navigation systems via factor graph based incremental smoothing by Indelman, Vadim, Williams, Stephen, Kaess, Michael, Dellaert, Frank

“…This paper presents a new approach for high-rate information fusion in modern inertial navigation systems, that have a variety of sensors operating at…”
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Tectonic SAM: Exact, Out-of-Core, Submap-Based SLAM by Kai Ni, Steedly, D., Dellaert, F.

“…Simultaneous localization and mapping (SLAM) is a method that robots use to explore, navigate, and map an unknown environment. However, this method poses…”
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Multi-robot pose graph localization and data association from unknown initial relative poses via expectation maximization by Indelman, Vadim, Nelson, Erik, Michael, Nathan, Dellaert, Frank

“…This paper presents a novel approach for multirobot pose graph localization and data association without requiring prior knowledge about the initial relative…”
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Online probabilistic topological mapping by Ranganathan, Ananth, Dellaert, Frank

“…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…”
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Panoptic Neural Fields: A Semantic Object-Aware Neural Scene Representation by Kundu, Abhijit, Genova, Kyle, Yin, Xiaoqi, Fathi, Alireza, Pantofaru, Caroline, Guibas, Leonidas, Tagliasacchi, Andrea, Dellaert, Frank, Funkhouser, Thomas

“…We present Panoptic Neural Fields (PNF), an object-aware neural scene representation that decomposes a scene into a set of objects (things) and background…”
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Distributed mapping with privacy and communication constraints: Lightweight algorithms and object-based models by Choudhary, Siddharth, Carlone, Luca, Nieto, Carlos, Rogers, John, Christensen, Henrik I, Dellaert, Frank

“…We consider the following problem: a team of robots is deployed in an unknown environment and it has to collaboratively build a map of the area without a…”
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Probabilistic structure matching for visual SLAM with a multi-camera rig by Kaess, Michael, Dellaert, Frank

“…We propose to use a multi-camera rig for simultaneous localization and mapping (SLAM), providing flexibility in sensor placement on mobile robot platforms…”
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STEAP: simultaneous trajectory estimation and planning by Mukadam, Mustafa, Dong, Jing, Dellaert, Frank, Boots, Byron

“…We present a unified probabilistic framework for simultaneous trajectory estimation and planning. Estimation and planning problems are usually considered…”
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Planar Pose Graph Optimization: Duality, Optimal Solutions, and Verification by Carlone, Luca, Calafiore, Giuseppe C., Tommolillo, Carlo, Dellaert, Frank

“…Pose graph optimization (PGO) is the problem of estimating a set of poses from pairwise relative measurements. PGO is a nonconvex problem and, currently, no…”
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iSAM: Incremental Smoothing and Mapping by Kaess, M., Ranganathan, A., Dellaert, F.

“…In this paper, we present incremental smoothing and mapping (iSAM), which is a novel approach to the simultaneous localization and mapping problem that is…”
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