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A Study of MAP Estimation Techniques for Nonlinear Filtering
"... This document has been downloaded from Chalmers Publication Library (CPL). It is the author´s version of a work that was accepted for publication in: ..."
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This document has been downloaded from Chalmers Publication Library (CPL). It is the author´s version of a work that was accepted for publication in:
The Use of MAP Estimation Techniques in the Tomographic Reconstruction of Poisson Noise Corrupted Images
, 1996
"... The problem of tomographic image reconstruction is important in many areas of applied science and technology. This work presents new methods for the tomographic reconstruction of images with Poisson noise corrupted projections. The Poisson noise comes from the discrete nature of radiation that chara ..."
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Cited by 1 (1 self)
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the filtering of simulated noisy projections and the reconstruction of simulated and real phantoms scanned with a minitomograph scanner for soil science. The obtained results indicate that, by using the MAP criterion, it is possible to obtain a lower mean square error in reconstruction, as compared
Similarity estimation techniques from rounding algorithms
 In Proc. of 34th STOC
, 2002
"... A locality sensitive hashing scheme is a distribution on a family F of hash functions operating on a collection of objects, such that for two objects x, y, Prh∈F[h(x) = h(y)] = sim(x,y), where sim(x,y) ∈ [0, 1] is some similarity function defined on the collection of objects. Such a scheme leads ..."
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Cited by 449 (6 self)
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to a compact representation of objects so that similarity of objects can be estimated from their compact sketches, and also leads to efficient algorithms for approximate nearest neighbor search and clustering. Minwise independent permutations provide an elegant construction of such a locality
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 LaplaceBeltrami 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 ..."
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Cited by 668 (7 self)
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comes from the role of the Laplacian op erator in providing an optimal emb edding. Th e Laplacian of the graph obtained from the data points may be viewed as an approximation to the LaplaceBeltrami operator defined on the manifold. The emb edding maps for the data come from approximations to a natural
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 ..."
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Cited by 505 (30 self)
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location. Starting from the estimationtheoretic foundations of this problem developed in [1]–[3], this paper proves that a solution to the SLAM problem is indeed possible. The underlying structure of the SLAM problem is first elucidated. A proof that the estimated map converges monotonically to a relative
Tracking People with Twists and Exponential Maps
, 1998
"... This paper demonstrates a new visual motion estimation technique that is able to recover high degreeoffreedom articulated human body configurations in complex video sequences. We introduce the use of a novel mathematical technique, the product of exponential maps and twist motions, and its integra ..."
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Cited by 450 (5 self)
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This paper demonstrates a new visual motion estimation technique that is able to recover high degreeoffreedom articulated human body configurations in complex video sequences. We introduce the use of a novel mathematical technique, the product of exponential maps and twist motions, and its
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 filterbase ..."
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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
Estimating the number of clusters in a dataset via the Gap statistic
, 2000
"... We propose a method (the \Gap statistic") for estimating the number of clusters (groups) in a set of data. The technique uses the output of any clustering algorithm (e.g. kmeans or hierarchical), comparing the change in within cluster dispersion to that expected under an appropriate reference ..."
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Cited by 502 (1 self)
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We propose a method (the \Gap statistic") for estimating the number of clusters (groups) in a set of data. The technique uses the output of any clustering algorithm (e.g. kmeans or hierarchical), comparing the change in within cluster dispersion to that expected under an appropriate reference
A Probabilistic Approach to Concurrent Mapping and Localization for Mobile Robots
 Machine Learning
, 1998
"... . This paper addresses the problem of building largescale geometric maps of indoor environments with mobile robots. It poses the map building problem as a constrained, probabilistic maximumlikelihood 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 largescale geometric maps of indoor environments with mobile robots. It poses the map building problem as a constrained, probabilistic maximumlikelihood estimation problem. It then devises a practical algorithm for generating the most likely map from
Iterative point matching for registration of freeform curves and surfaces
, 1994
"... A heuristic method has been developed for registering two sets of 3D curves obtained by using an edgebased stereo system, or two dense 3D maps obtained by using a correlationbased stereo system. Geometric matching in general is a difficult unsolved problem in computer vision. Fortunately, in ma ..."
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Cited by 660 (8 self)
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in one set to the closest points in the other. A statistical method based on the distance distribution is used to deal with outliers, occlusion, appearance and disappearance, which allows us to do subsetsubset matching. A leastsquares technique is used to estimate 3D motion from the point
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