IRIM Seminar Series

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    Career Options in Robotics: Academia vs Industry
    (Georgia Institute of Technology, 2021-02-17) Collins, Thomas R. ; Coogan, Samuel ; Dellaert, Frank ; Mazumdar, Anirban ; Parikh, Anup ; Young, Aaron
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    Factor Graphs for Flexible Inference in Robotics and Vision
    (Georgia Institute of Technology, 2019-01-09) Dellaert, Frank
    In robotics and computer vision, Simultaneous Localization and Mapping (SLAM) and Structure from Motion (SFM) are important and closely related problems in robotics and vision. I will review how SLAM, SFM and other problems in robotics and vision can be posed in terms of factor graphs, which provide a graphical language in which to develop and collaborate on such problems. The theme of the talk will be to emphasize the advantages and intuition that come with that. I will show how using these insights we have developed both batch and incremental algorithms defined on graphs in the SLAM/SFM domain, as well as more sophisticated approaches to trajectory optimization. Many of these ideas are embodied in the Skydio R1, a commercially available, fully autonomous drone I helped develop at Skydio, a San Francisco Bay area startup.