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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
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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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
Where the REALLY Hard Problems Are
 IN J. MYLOPOULOS AND R. REITER (EDS.), PROCEEDINGS OF 12TH INTERNATIONAL JOINT CONFERENCE ON AI (IJCAI91),VOLUME 1
, 1991
"... It is well known that for many NPcomplete problems, such as KSat, etc., typical cases are easy to solve; so that computationally hard cases must be rare (assuming P != NP). This paper shows that NPcomplete problems can be summarized by at least one "order parameter", and that the hard p ..."
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Cited by 683 (1 self)
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It is well known that for many NPcomplete problems, such as KSat, etc., typical cases are easy to solve; so that computationally hard cases must be rare (assuming P != NP). This paper shows that NPcomplete problems can be summarized by at least one "order parameter", and that the hard
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 ..."
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Cited by 531 (8 self)
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is aligned to a cumulative global model, and then merged to the model. Because different parts of the model are updated independently while there are errors in the registration, such an approachmay result in an inconsistent model. In this paper, we study the problem of consistent registration of multiple
Nonlinear component analysis as a kernel eigenvalue problem

, 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 highdimensional feature spaces, related to input space by some nonlinear map; for instance the space of all ..."
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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 highdimensional feature spaces, related to input space by some nonlinear map; for instance the space of all
Thresholding of statistical maps in functional neuroimaging using the false discovery rate.
 NeuroImage
, 2002
"... Finding objective and effective thresholds for voxelwise statistics derived from neuroimaging data has been a longstanding problem. With at least one test performed for every voxel in an image, some correction of the thresholds is needed to control the error rates, but standard procedures for mult ..."
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Cited by 521 (9 self)
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Finding objective and effective thresholds for voxelwise statistics derived from neuroimaging data has been a longstanding problem. With at least one test performed for every voxel in an image, some correction of the thresholds is needed to control the error rates, but standard procedures
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
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 crystallographic refinement and result in an incorrect structure. The normally quoted crystallographic residual is often a poor description for the q ..."
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Cited by 1051 (9 self)
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Map interpretation remains a critical step in solving the structure of a macromolecule. Errors introduced at this early stage may persist throughout crystallographic refinement and result in an incorrect structure. The normally quoted crystallographic residual is often a poor description
Dynamic Bayesian Networks: Representation, Inference and Learning
, 2002
"... Modelling sequential data is important in many areas of science and engineering. Hidden Markov models (HMMs) and Kalman filter models (KFMs) are popular for this because they are simple and flexible. For example, HMMs have been used for speech recognition and biosequence analysis, and KFMs have bee ..."
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Cited by 770 (3 self)
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belief propagation; a way of
applying RaoBlackwellised particle filtering to DBNs in general, and the SLAM (simultaneous localization
and mapping) problem in particular; a way of extending the structural EM algorithm to DBNs; and a variety of different applications of DBNs. However, perhaps the main
IdentityBased Encryption from the Weil Pairing
, 2001
"... We propose a fully functional identitybased encryption scheme (IBE). The scheme has chosen ciphertext security in the random oracle model assuming an elliptic curve variant of the computational DiffieHellman problem. Our system is based on bilinear maps between groups. The Weil pairing on elliptic ..."
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Cited by 1748 (28 self)
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We propose a fully functional identitybased encryption scheme (IBE). The scheme has chosen ciphertext security in the random oracle model assuming an elliptic curve variant of the computational DiffieHellman problem. Our system is based on bilinear maps between groups. The Weil pairing
Results 1  10
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