Now showing items 1-9 of 9

    • 3D reconstruction of underwater structures 

      Beall, Chris; Lawrence, Brian J.; Ila, Viorela Simona; Dellaert, Frank (2010)
      Conference report
      Open Access
      Environmental change is a growing international concern, calling for the regular monitoring, studying and preserving of detailed information about the evolution of underwater ecosystems. For example, fragile coral reefs ...
    • Amortized constant time estimation in Pose SLAM and hierarchical SLAM using a mixed Kalman-information filter 

      Ila, Viorela Simona; Porta Pleite, Josep Maria; Andrade-Cetto, Juan (2011)
      Article
      Open Access
      The computational bottleneck in all information-based algorithms for simultaneous localization and mapping (SLAM) is the recovery of the state mean and covariance. The mean is needed to evaluate model Jacobians and the ...
    • Amortized constant time state estimation in SLAM using a mixed Kalman-information filter 

      Ila, Viorela Simona; Porta Pleite, Josep Maria; Andrade-Cetto, Juan (2009)
      Conference lecture
      Open Access
      The computational bottleneck in all informationbased algorithms for SLAM is the recovery of the state mean and covariance. The mean is needed to evaluate model Jacobians and the covariance is needed to generate data ...
    • Efficient vision-based loop closing techniques for delayed state robot mapping 

      Ila, Viorela Simona; Andrade-Cetto, Juan; Sanfeliu Cortés, Alberto (ESF-JSPS, 2008)
      Conference report
      Open Access
      This paper shows results on outdoor vision-based loop closing for Simultaneous Localization and Mapping. Our experiments show that for loops of over 50m, the pose estimates maintained with a Delayed-State Extended Information ...
    • Information-based compact Pose SLAM 

      Ila, Viorela Simona; Porta Pleite, Josep Maria; Andrade-Cetto, Juan (2010)
      Article
      Open Access
      Pose SLAMis the variant of simultaneous localization and map building (SLAM) is the variant of SLAM, in which only the robot trajectory is estimated and where landmarks are only used to produce relative constraints between ...
    • Outdoor delayed-state visually augmented odometry 

      Ila, Viorela Simona; Andrade-Cetto, Juan; Sanfeliu Cortés, Alberto (s. n., 2007)
      Conference report
      Open Access
      This paper presents an efficient approach to outdoor visually augmented odometry. The technique computes relative pose constraints via a robust least squares minimisation of 3D point correspondences, which are in turn ...
    • Reduced state representation in delayed-state SLAM 

      Ila, Viorela Simona; Porta Pleite, Josep Maria; Andrade-Cetto, Juan (IEEE Press. Institute of Electrical and Electronics Engineers, 2009-10-11)
      Conference lecture
      Open Access
      This paper introduces an approach that reduces the size of the state and maximizes the sparsity of the information matrix in exactly sparse delayed-state SLAM. We propose constant time procedures to measure the ...
    • Subgraph-preconditioned conjugate gradients for large scale SLAM 

      Dellaert, Frank; Carlson, Justin; Ila, Viorela Simona; Ni, Kai; Thorpe, Charles E. (2010)
      Conference report
      Open Access
      In this paper we propose an efficient preconditioned conjugate gradients (PCG) approach to solving largescale SLAM problems. While direct methods, popular in the literature, exhibit quadratic convergence and can be quite ...
    • Vision-based loop closing for delayed state robot mapping 

      Ila, Viorela Simona; Andrade-Cetto, Juan; Valencia Carreño, Rafael; Sanfeliu Cortés, Alberto (IEEE, 2007)
      Conference report
      Open Access
      This paper shows results on outdoor vision-based loop closing for Simultaneous Localization and Mapping. Our experiments show that for loops of over 50m, the pose estimates maintained with a Delayed-State Extended Information ...