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72,097
A solution to the simultaneous localization and map building (SLAM) problem
- IEEE Transactions on Robotics and Automation
, 2001
"... Abstract—The simultaneous localization and map building (SLAM) problem asks if it is possible for an autonomous vehicle to start in an unknown location in an unknown environment and then to incrementally build a map of this environment while simultaneously using this map to compute absolute vehicle ..."
Abstract
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Cited by 505 (30 self)
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Abstract—The simultaneous localization and map building (SLAM) problem asks if it is possible for an autonomous vehicle to start in an unknown location in an unknown environment and then to incrementally build a map of this environment while simultaneously using this map to compute absolute vehicle
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 ..."
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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
A Set Theoretic Approach to the Simultaneous Localization and Map Building Problem
- In Proceedings of the 39th IEEE Conference on Decision and Control
, 2000
"... Self localization of mobile robots is one of the most important problems in long range autonomous navigation. When moving in an unknown environment, the navigator must exploit measurements from exteroceptive sensors to build a map, identify landmarks and, at the same time, localize itself with respe ..."
Abstract
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Cited by 5 (2 self)
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Self localization of mobile robots is one of the most important problems in long range autonomous navigation. When moving in an unknown environment, the navigator must exploit measurements from exteroceptive sensors to build a map, identify landmarks and, at the same time, localize itself
Improved methods for building protein models in electron density maps and the location of errors in these models. Acta Crystallogr. sect
- A
, 1991
"... Map interpretation remains a critical step in solving the structure of a macromolecule. Errors introduced at this early stage may persist throughout crystallo-graphic refinement and result in an incorrect struc-ture. The normally quoted crystallographic residual is often a poor description for the q ..."
Abstract
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Cited by 1051 (9 self)
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for the quality of the model. Strategies and tools are described that help to alleviate this problem. These simplify the model-building process, quantify the goodness of fit of the model on a per-residue basis and locate possible errors in pep-tide and side-chain conformations.
Globally Consistent Range Scan Alignment for Environment Mapping
- AUTONOMOUS ROBOTS
, 1997
"... A robot exploring an unknown environmentmay need to build a world model from sensor measurements. In order to integrate all the frames of sensor data, it is essential to align the data properly. An incremental approach has been typically used in the past, in which each local frame of data is alig ..."
Abstract
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Cited by 531 (8 self)
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A robot exploring an unknown environmentmay need to build a world model from sensor measurements. In order to integrate all the frames of sensor data, it is essential to align the data properly. An incremental approach has been typically used in the past, in which each local frame of data
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
Where the REALLY Hard Problems Are
- IN J. MYLOPOULOS AND R. REITER (EDS.), PROCEEDINGS OF 12TH INTERNATIONAL JOINT CONFERENCE ON AI (IJCAI-91),VOLUME 1
, 1991
"... It is well known that for many NP-complete problems, such as K-Sat, etc., typical cases are easy to solve; so that computationally hard cases must be rare (assuming P != NP). This paper shows that NP-complete problems can be summarized by at least one "order parameter", and that the hard p ..."
Abstract
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Cited by 683 (1 self)
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It is well known that for many NP-complete problems, such as K-Sat, etc., typical cases are easy to solve; so that computationally hard cases must be rare (assuming P != NP). This paper shows that NP-complete problems can be summarized by at least one "order parameter", and that the hard
Proof verification and hardness of approximation problems
- IN PROC. 33RD ANN. IEEE SYMP. ON FOUND. OF COMP. SCI
, 1992
"... We show that every language in NP has a probablistic verifier that checks membership proofs for it using logarithmic number of random bits and by examining a constant number of bits in the proof. If a string is in the language, then there exists a proof such that the verifier accepts with probabilit ..."
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Cited by 797 (39 self)
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with probability 1 (i.e., for every choice of its random string). For strings not in the language, the verifier rejects every provided “proof " with probability at least 1/2. Our result builds upon and improves a recent result of Arora and Safra [6] whose verifiers examine a nonconstant number of bits
Dryad: Distributed Data-Parallel Programs from Sequential Building Blocks
- In EuroSys
, 2007
"... Dryad is a general-purpose distributed execution engine for coarse-grain data-parallel applications. A Dryad applica-tion combines computational “vertices ” with communica-tion “channels ” to form a dataflow graph. Dryad runs the application by executing the vertices of this graph on a set of availa ..."
Abstract
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Cited by 762 (27 self)
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-gle computers, through small clusters of computers, to data centers with thousands of computers. The Dryad execution engine handles all the difficult problems of creating a large distributed, concurrent application: scheduling the use of computers and their CPUs, recovering from communication or computer
Nonlinear component analysis as a kernel eigenvalue problem
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, 1996
"... We describe a new method for performing a nonlinear form of Principal Component Analysis. By the use of integral operator kernel functions, we can efficiently compute principal components in high-dimensional feature spaces, related to input space by some nonlinear map; for instance the space of all ..."
Abstract
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Cited by 1573 (83 self)
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We describe a new method for performing a nonlinear form of Principal Component Analysis. By the use of integral operator kernel functions, we can efficiently compute principal components in high-dimensional feature spaces, related to input space by some nonlinear map; for instance the space of all
Results 1 - 10
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72,097
