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Dellaert, Frank

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Author: Dellaert, Frank × Author: Ila, Viorela × End date: 2020 × Start date: 2010 × search.filters.applied.f.resourcesubtype: Post-print ×

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    iSAM2: Incremental Smoothing and Mapping with Fluid Relinearization and Incremental Variable Reordering
    (Georgia Institute of Technology, 2011) Kaess, Michael ; Johannsson, Hordur ; Roberts, Richard ; Ila, Viorela ; Leonard, John ; Dellaert, Frank
    We present iSAM2, a fully incremental, graphbased version of incremental smoothing and mapping (iSAM). iSAM2 is based on a novel graphical model-based interpretation of incremental sparse matrix factorization methods, afforded by the recently introduced Bayes tree data structure. The original iSAM algorithm incrementally maintains the square root information matrix by applying matrix factorization updates. We analyze the matrix updates as simple editing operations on the Bayes tree and the conditional densities represented by its cliques. Based on that insight, we present a new method to incrementally change the variable ordering which has a large effect on efficiency. The efficiency and accuracy of the new method is based on fluid relinearization, the concept of selectively relinearizing variables as needed. This allows us to obtain a fully incremental algorithm without any need for periodic batch steps. We analyze the properties of the resulting algorithm in detail, and show on various real and simulated datasets that the iSAM2 algorithm compares favorably with other recent mapping algorithms in both quality and efficiency.
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    3D Reconstruction of Underwater Structures
    (Georgia Institute of Technology, 2010) Beall, Chris ; Lawrence, Brian J. ; Ila, Viorela ; Dellaert, Frank
    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 are exposed to various sources of hazards and potential destruction, and need close observation. Computer vision offers promising technologies to build 3D models of an environment from two dimensional images. The state of the art techniques have enabled high-quality digital reconstruction of large-scale structures, e.g., buildings and urban environments, but only sparse representations or dense reconstruction of small objects have been obtained from underwater video and still imagery. The application of standard 3D reconstruction methods to challenging underwater environments typically produces unsatisfactory results. Accurate, full camera trajectories are needed to serve as the basis for dense 3D reconstruction. A highly accurate sparse 3D reconstruction is the ideal foundation on which to base subsequent dense reconstruction algorithms. In our application the models are constructed from synchronized high definition videos collected using a wide baseline stereo rig. The rig can be hand-held, attached to a boat, or even to an autonomous underwater vehicle. We solve this problem by employing a smoothing and mapping toolkit developed in our lab specifically for this type of application. The result of our technique is a highly accurate sparse 3D reconstruction of underwater structures such as corals.
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    Subgraph-preconditioned Conjugate Gradients for Large Scale SLAM
    (Georgia Institute of Technology, 2010) Dellaert, Frank ; Carlson, Justin ; Ila, Viorela ; Ni, Kai ; Thorpe, Charles E.
    In this paper we propose an efficient preconditioned conjugate gradients (PCG) approach to solving large-scale SLAM problems. While direct methods, popular in the literature, exhibit quadratic convergence and can be quite efficient for sparse problems, they typically require a lot of storage as well as efficient elimination orderings to be found. In contrast, iterative optimization methods only require access to the gradient and have a small memory footprint, but can suffer from poor convergence. Our new method, subgraph preconditioning, is obtained by re-interpreting the method of conjugate gradients in terms of the graphical model representation of the SLAM problem. The main idea is to combine the advantages of direct and iterative methods, by identifying a sub-problem that can be easily solved using direct methods, and solving for the remaining part using PCG. The easy sub-problems correspond to a spanning tree, a planar subgraph, or any other substructure that can be efficiently solved. As such, our approach provides new insights into the performance of state of the art iterative SLAM methods based on re-parameterized stochastic gradient descent. The efficiency of our new algorithm is illustrated on large datasets, both simulated and real.