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15,280
A Probabilistic Approach to Concurrent Mapping and Localization for Mobile Robots
- Machine Learning
, 1998
"... . This paper addresses the problem of building large-scale geometric maps of indoor environments with mobile robots. It poses the map building problem as a constrained, probabilistic maximum-likelihood estimation problem. It then devises a practical algorithm for generating the most likely map from ..."
Abstract
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Cited by 483 (43 self)
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. This paper addresses the problem of building large-scale geometric maps of indoor environments with mobile robots. It poses the map building problem as a constrained, probabilistic maximum-likelihood estimation problem. It then devises a practical algorithm for generating the most likely map from
FastSLAM: A Factored Solution to the Simultaneous Localization and Mapping Problem
- In Proceedings of the AAAI National Conference on Artificial Intelligence
, 2002
"... The ability to simultaneously localize a robot and accurately map its surroundings is considered by many to be a key prerequisite of truly autonomous robots. However, few approaches to this problem scale up to handle the very large number of landmarks present in real environments. Kalman filter-base ..."
Abstract
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Cited by 599 (10 self)
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The ability to simultaneously localize a robot and accurately map its surroundings is considered by many to be a key prerequisite of truly autonomous robots. However, few approaches to this problem scale up to handle the very large number of landmarks present in real environments. Kalman filter
Laplacian eigenmaps and spectral techniques for embedding and clustering.
- Proceeding of Neural Information Processing Systems,
, 2001
"... Abstract Drawing on the correspondence between the graph Laplacian, the Laplace-Beltrami op erator on a manifold , and the connections to the heat equation , we propose a geometrically motivated algorithm for constructing a representation for data sampled from a low dimensional manifold embedded in ..."
Abstract
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Cited by 668 (7 self)
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Abstract Drawing on the correspondence between the graph Laplacian, the Laplace-Beltrami op erator on a manifold , and the connections to the heat equation , we propose a geometrically motivated algorithm for constructing a representation for data sampled from a low dimensional manifold embedded
A Scalable Content-Addressable Network
- IN PROC. ACM SIGCOMM 2001
, 2001
"... Hash tables – which map “keys ” onto “values” – are an essential building block in modern software systems. We believe a similar functionality would be equally valuable to large distributed systems. In this paper, we introduce the concept of a Content-Addressable Network (CAN) as a distributed infra ..."
Abstract
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Cited by 3371 (32 self)
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Hash tables – which map “keys ” onto “values” – are an essential building block in modern software systems. We believe a similar functionality would be equally valuable to large distributed systems. In this paper, we introduce the concept of a Content-Addressable Network (CAN) as a distributed
The geometry of graphs and some of its algorithmic applications
- COMBINATORICA
, 1995
"... In this paper we explore some implications of viewing graphs as geometric objects. This approach offers a new perspective on a number of graph-theoretic and algorithmic problems. There are several ways to model graphs geometrically and our main concern here is with geometric representations that res ..."
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Cited by 524 (19 self)
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In this paper we explore some implications of viewing graphs as geometric objects. This approach offers a new perspective on a number of graph-theoretic and algorithmic problems. There are several ways to model graphs geometrically and our main concern here is with geometric representations
Implicit Fairing of Irregular Meshes using Diffusion and Curvature Flow
, 1999
"... In this paper, we develop methods to rapidly remove rough features from irregularly triangulated data intended to portray a smooth surface. The main task is to remove undesirable noise and uneven edges while retaining desirable geometric features. The problem arises mainly when creating high-fidelit ..."
Abstract
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Cited by 542 (23 self)
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-fidelity computer graphics objects using imperfectly-measured data from the real world. Our approach contains three novel features: an implicit integration method to achieve efficiency, stability, and large time-steps; a scale-dependent Laplacian operator to improve the diffusion process; and finally, a robust
Pig Latin: A Not-So-Foreign Language for Data Processing
"... There is a growing need for ad-hoc analysis of extremely large data sets, especially at internet companies where innovation critically depends on being able to analyze terabytes of data collected every day. Parallel database products, e.g., Teradata, offer a solution, but are usually prohibitively e ..."
Abstract
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Cited by 607 (13 self)
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expensive at this scale. Besides, many of the people who analyze this data are entrenched procedural programmers, who find the declarative, SQL style to be unnatural. The success of the more procedural map-reduce programming model, and its associated scalable implementations on commodity hardware
Image registration methods: a survey.
, 2003
"... Abstract This paper aims to present a review of recent as well as classic image registration methods. Image registration is the process of overlaying images (two or more) of the same scene taken at different times, from different viewpoints, and/or by different sensors. The registration geometrical ..."
Abstract
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Cited by 760 (10 self)
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geometrically align two images (the reference and sensed images). The reviewed approaches are classified according to their nature (areabased and feature-based) and according to four basic steps of image registration procedure: feature detection, feature matching, mapping function design, and image
Iterative point matching for registration of free-form curves and surfaces
, 1994
"... A heuristic method has been developed for registering two sets of 3-D curves obtained by using an edge-based stereo system, or two dense 3-D maps obtained by using a correlation-based stereo system. Geometric matching in general is a difficult unsolved problem in computer vision. Fortunately, in ma ..."
Abstract
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Cited by 660 (8 self)
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A heuristic method has been developed for registering two sets of 3-D curves obtained by using an edge-based stereo system, or two dense 3-D maps obtained by using a correlation-based stereo system. Geometric matching in general is a difficult unsolved problem in computer vision. Fortunately
A fast and flexible statistical model for large-scale population genotype data: Applications to inferring missing genotypes and haplotype phase
- American Journal of Human Genetics
, 2005
"... We present a statistical model for patterns of genetic variation in samples of unrelated individuals from natural populations. This model is based on the idea that, over short regions, haplotypes in a population tend to cluster into groups of similar haplotypes. To capture the fact that, because of ..."
Abstract
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Cited by 408 (10 self)
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with distance. The resulting model is also fast and, as a result, is practicable for large data sets (e.g., thousands of individuals typed at hundreds of thousands of markers). We illustrate the utility of the model by applying it to dense single-nucleotide–polymorphism genotype data for the tasks of imputing
Results 1 - 10
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15,280
