@conference {Srinivasan15bmvc,
	title = {Structural Symmetries from Motion for Scene Reconstruction and Understanding},
	booktitle = {Proceedings of the British Machine Vision Conference (BMVC)},
	year = {2015},
	month = {September},
	pages = {136.1-136.13},
	publisher = {BMVA Press},
	organization = {BMVA Press},
	address = {Swansea, Wales},
	isbn = {1-901725-53-7},
	url = {sites/edu.borg/files/papers/Srinivasan15bmvc.pdf},
	author = {Srinivasan, Natesh and Luca Carlone and Frank Dellaert},
	editor = {Xianghua Xie, Mark W. Jones, and Gary K. L. Tam}
}
@conference {379,
	title = {Rigid Components Identification and Rigidity Enforcement in Bearing-Only Localization using the Graph Cycle Basis},
	booktitle = {American Control Conference},
	year = {2015},
	month = {2015},
	author = {R. Tron and Luca Carlone and Frank Dellaert and K. Daniilidis}
}
@conference {Dong15icra,
	title = {Distributed Real-time Cooperative Localization and Mapping using an Uncertainty-Aware Expectation Maximization Approach},
	booktitle = {Int. Conf. on Robotics and Automation (ICRA)},
	year = {2015},
	url = {https://www.cc.gatech.edu/~jdong37/publications/Dong15icra.pdf},
	author = {Jing Dong and Erik Nelson and Vadim Indelman and Nathan Michael and Frank Dellaert}
}
@conference {381,
	title = {Duality-based Verification Techniques for 2D SLAM},
	booktitle = {Intl. Conf. on Robotics and Automation},
	year = {2015},
	author = {Luca Carlone and Frank Dellaert}
}
@conference {Choudhary15icra,
	title = {Information based Reduced Landmark SLAM},
	booktitle = {ICRA},
	year = {2015},
	abstract = {In this paper, we present an information-based
approach to select a reduced number of landmarks and poses
for a robot to localize itself and simultaneously build an
accurate map. We develop an information theoretic algorithm
to efficiently reduce the number of landmarks and poses in
a SLAM estimate without compromising the accuracy of the
estimated trajectory. We also propose an incremental version of
the reduction algorithm which can be used in SLAM framework
resulting in information based reduced landmark SLAM. The
results of reduced landmark based SLAM algorithm are shown
on Victoria park dataset and a Synthetic dataset and are
compared with standard graph SLAM algorithm.
We demonstrate a reduction of 40-50\% in the number of
landmarks and around 55\% in the number of poses with
minimal estimation error as compared to standard SLAM
algorithm.},
	url = {https://www.cc.gatech.edu/~choudhar/publications/Choudhary15icra.pdf},
	author = {Siddharth Choudhary and Vadim Indelman and Henrik Iskov Christensen and Frank Dellaert}
}
@conference {380,
	title = {Initialization Techniques for 3D SLAM: a Survey on Rotation Estimation and its Use in Pose Graph Optimization},
	booktitle = {Intl. Conf. on Robotics and Automation},
	year = {2015},
	author = {Luca Carlone and R. Tron and K. Daniilidis and Frank Dellaert}
}
@article {384,
	title = {Planning in the Continuous Domain: a Generalized Belief Space Approach for Autonomous Navigation in Unknown Environments},
	journal = {Intl. Journal of Robotics Research},
	year = {2015},
	author = {V. Indelman and Luca Carlone and Frank Dellaert}
}
@conference {Srinivasan14icip,
	title = {A Rao-Blackwellized MCMC Algorithm for Recovering Piecewise Planar 3D Models from Multiple View RGBD Images},
	booktitle = {International Conference on Image Processing},
	year = {2014},
	month = {10/2014},
	publisher = {IEEE},
	organization = {IEEE},
	address = {Paris},
	url = {https://www.cc.gatech.edu/~dellaert/pub/Srinivasan14icip},
	author = {Srinivasan, Natesh and Frank Dellaert}
}
@conference {Beall14ppniv,
	title = {Appearance-based Localization across Seasons in a Metric Map},
	booktitle = {6th Workshop on Planning, Perception and Navigation for Intelligent Vehicles (PPNIV)},
	year = {2014},
	month = {09/2014},
	address = {Chicago, USA},
	url = {sites/edu.borg/files/papers/Beall14ppniv.pdf},
	author = {Chris Beall and Frank Dellaert}
}
@conference {372,
	title = {An Image Based Approach to Recovering the Gravitational Field of Asteroids},
	booktitle = {Proceedings of the British Machine Vision Conference},
	year = {2014},
	month = {09/2014},
	publisher = {BMVA Press},
	organization = {BMVA Press},
	address = {University of Nottingham, UK},
	url = {http://www.bmva.org/bmvc/2014/papers/paper117/},
	author = {Andrew Melim and Frank Dellaert}
}
@article {382,
	title = {A fast and accurate approximation for planar pose graph optimization},
	journal = {The International Journal of Robotics Research},
	volume = {33},
	year = {2014},
	month = {06/2014},
	pages = {965 - 987},
	issn = {1741-3176},
	doi = {10.1177/0278364914523689},
	author = {Luca Carlone and Aragues, R. and Castellanos, J. A. and Bona, B.}
}
@conference {386,
	title = {Towards Autonomous Lakeshore Monitoring},
	booktitle = {International Symposium on Experimental Robotics},
	year = {2014},
	month = {06/2014},
	address = {Marrakech, Morocco},
	keywords = {autonomous, lake, long term},
	url = {http://www.prism.gatech.edu/~sgriffith7/research/iser2014.pdf},
	author = {Griffith, Shane and Drews, Paul and Pradalier, Cedric}
}
@conference {Chiu14icra,
	title = {Constrained optimal selection for multi-sensor robot navigation using plug-and-play factor graphs},
	year = {2014},
	month = {05/2014},
	address = {Hong Kong},
	url = {https://www.cc.gatech.edu/~dellaert/pubs/Chiu14icra.pdf},
	author = {Han-Pang Chiu and X. Zhou and Luca Carlone and Frank Dellaert and Supun Samarasekera and Rakesh Kumar}
}
@article {383,
	title = {From Angular Manifolds to the Integer Lattice: Guaranteed Orientation Estimation With Application to Pose Graph Optimization},
	journal = {IEEE Transactions on Robotics},
	volume = {30},
	year = {2014},
	month = {04/2014},
	pages = {475 - 492},
	issn = {1941-0468},
	doi = {10.1109/TRO.2013.2291626},
	author = {Luca Carlone and Andrea Censi}
}
@article {Williams14ijrr,
	title = {Concurrent Filtering and Smoothing: A Parallel Architecture for Real-Time Navigation and Full Smoothing},
	year = {2014},
	url = {https://www.cc.gatech.edu/~dellaert/pub/Williams14ijrr.pdf},
	author = {Stephen Williams and Vadim Indelman and Michael Kaess and Richard Roberts and John Leonard and Frank Dellaert}
}
@conference {Roberts14iros,
	title = {Direct Superpixel Labeling for Mobile Robot Navigation Using Learned General Optical Flow Templates},
	year = {2014},
	url = {https://www.cc.gatech.edu/~dellaert/pub/Roberts14iros.pdf},
	author = {Richard Roberts and Frank Dellaert}
}
@conference {Carlone14icra,
	title = {Eliminating conditionally independent sets in factor graphs: a unifying perspective based on smart factors},
	booktitle = {Int. Conf. on Robotics and Automation (ICRA)},
	year = {2014},
	address = {Hong Kong},
	url = {https://dl.dropboxusercontent.com/u/4309261/site\%20links/pdf\%20papers/2014c-icra-smartFactors.pdf},
	author = {Luca Carlone and Zsolt Kira and Chris Beall and Vadim Indelman and Frank Dellaert}
}
@conference {Ta14icuas,
	title = {A factor graph approach to estimation and model predictive control on Unmanned Aerial Vehicles},
	year = {2014},
	url = {https://www.cc.gatech.edu/~dellaert/pub/Ta14icuas.pdf},
	author = {Duy-Nguyen Ta and Marin Kobilarov and Frank Dellaert}
}
@conference {Anderson14icra,
	title = {A Hierarchical Wavelet Decomposition for Continuous-Time SLAM},
	year = {2014},
	url = {https://www.cc.gatech.edu/~dellaert/pubs/Anderson14icra.pdf},
	author = {Sean Anderson and Frank Dellaert and Timothy Barfoot}
}
@conference {Jian14iros,
	title = {iSPCG: Incremental Subgraph-Preconditioned Conjugate Gradient Method for Online SLAM with Many Loop-Closures},
	year = {2014},
	url = {https://www.cc.gatech.edu/~dellaert/pubs/Jian14iros.pdf},
	author = {Yong-Dian Jian and Frank Dellaert}
}
@conference {Kundu14eccv,
	title = {Joint Semantic Segmentation and 3D Reconstruction from Monocular Video},
	year = {2014},
	url = {https://www.cc.gatech.edu/~dellaert/pubs/Kundu14eccv.pdf},
	author = {Abhijit Kundu and Yin Li and Frank Dellaert and Fuxin Li and James M. Rehg}
}
@conference {369,
	title = {Joint Semantic Segmentation and 3D Reconstruction from Monocular Video},
	booktitle = { European Conference on Computer Vision (ECCV)},
	series = {Lecture Notes in Computer Science},
	volume = {8694},
	year = {2014},
	pages = {703-718},
	publisher = {Springer International Publishing},
	organization = {Springer International Publishing},
	address = {Zurich, Switzerland},
	isbn = {978-3-319-10598-7},
	doi = {10.1007/978-3-319-10599-4_45},
	url = {http://dx.doi.org/10.1007/978-3-319-10599-4_45},
	author = {Abhijit Kundu and Yin Li and Frank Dellaert and Fuxin Li and Rehg, JamesM.},
	editor = {Fleet, David and Pajdla, Tomas and Schiele, Bernt and Tuytelaars, Tinne}
}
@conference {Ta14iros,
	title = {Linear-Time Estimation with Tree Assumed Density Filtering and Low-Rank Approximation},
	year = {2014},
	url = {https://www.cc.gatech.edu/~dellaert/pub/Ta14iros.pdf},
	author = {Duy-Nguyen Ta and Frank Dellaert}
}
@conference {Carlone14bmvc,
	title = {Mining Structure Fragments for Smart Bundle Adjustment},
	year = {2014},
	url = {https://www.cc.gatech.edu/~dellaert/pub/Carlone14bmvc.pdf},
	author = {Luca Carlone and Pablo Fern{\'a}ndez Alcantarilla and Han-Pang Chiu and Zsolt Kira and Frank Dellaert}
}
@conference {Dhiman14icra,
	title = {Modern MAP inference methods for accurate and faster occupancy grid mapping on higher order factor graphs},
	year = {2014},
	url = {https://www.cc.gatech.edu/~dellaert/pubs/Dhiman14icra.pdf},
	author = {Vikas Dhiman and Abhijit Kundu and Frank Dellaert and Jason Corso}
}
@conference {Indelman14icra_b,
	title = {Multi-Robot Pose Graph Localization and Data Association from Unknown Initial Relative Poses via Expectation Maximization},
	year = {2014},
	url = {https://www.cc.gatech.edu/~dellaert/pub/Indelman14icra_b.pdf},
	author = {Vadim Indelman and Erik Nelson and Nathan Michael and Frank Dellaert}
}
@conference {Indelman14icra_a,
	title = {Planning Under Uncertainty in the Continuous Domain: a Generalized Belief Space Approach},
	year = {2014},
	url = {https://www.cc.gatech.edu/~dellaert/pub/Indelman14icra_a.pdf},
	author = {Vadim Indelman and Luca Carlone and Frank Dellaert}
}
@conference {Carlone14iros,
	title = {Selecting good measurements via L1 relaxation: a convex approach for robust estimation over graphs},
	year = {2014},
	url = {https://www.cc.gatech.edu/~dellaert/pub/Carlone14iros.pdf},
	author = {Luca Carlone and Andrea Censi and Frank Dellaert}
}
@conference {376,
	title = {Selecting good measurements via l<inf>1</inf> relaxation: A convex approach for robust estimation over graphs},
	booktitle = {2014 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2014)2014 IEEE/RSJ International Conference on Intelligent Robots and Systems},
	year = {2014},
	pages = {2667 - 2674},
	publisher = {IEEE},
	organization = {IEEE},
	address = {Chicago, IL, USA},
	doi = {10.1109/IROS.2014.6942927},
	author = {Luca Carlone and Andrea Censi and Frank Dellaert}
}
@conference {Choudhary14iros,
	title = {SLAM with Object Discovery; Modeling and Mapping},
	booktitle = {IROS},
	year = {2014},
	url = {https://www.cc.gatech.edu/~dellaert/pubs/Choudhary14iros.pdf},
	author = {Siddharth Choudhary and Alexander Trevor and Henrik Christensen and Frank Dellaert}
}
@conference {375,
	title = {Uncertainty-constrained robot exploration: A mixed-integer linear programming approach},
	booktitle = {2014 IEEE International Conference on Robotics and Automation (ICRA)2014 IEEE International Conference on Robotics and Automation (ICRA)},
	year = {2014},
	pages = {1140 - 1147},
	publisher = {IEEE},
	organization = {IEEE},
	address = {Hong Kong, China},
	doi = {10.1109/ICRA.2014.6906997},
	author = {Luca Carlone and Lyons, Daniel}
}
@article {Ta14ras,
	title = {Vistas and Parallel Tracking and Mapping with Wall-Floor Features:Enabling Autonomous Flight in Man-made Environments},
	year = {2014},
	url = {http://www.sciencedirect.com/science/article/pii/S0921889014000542},
	author = {Duy-Nguyen Ta and Kyel Ok and Frank Dellaert}
}
@conference {indelman13iros,
	title = {Incremental Light Bundle Adjustment for Robotics Navigation},
	booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems},
	year = {2013},
	month = {11/2013},
	url = {https://www.cc.gatech.edu/~vindelma/Publications/indelman13iros.pdf},
	author = {Vadim Indelman and Andrew Melim and Frank Dellaert}
}
@conference {Alcantarilla14ppniv,
	title = {Large-Scale Dense 3D Reconstruction from Stereo Imagery},
	booktitle = {In 5th Workshop on Planning, Perception and Navigation for Intelligent Vehicles (PPNIV)},
	year = {2013},
	month = {11/2013},
	address = {Tokyo, Japan},
	url = {http://www.robesafe.com/personal/pablo.alcantarilla/papers/Alcantarilla13ppniv.pdf},
	author = {Pablo Fern{\'a}ndez Alcantarilla and Chris Beall and Frank Dellaert}
}
@conference {335,
	title = {Monocular Parallel Tracking and Mapping with Odometry Fusion for MAV Navigation in Feature-lacking Environments},
	booktitle = {IEEE/RSJ IROS{\textquoteright}13 International Workshop on Vision-based Closed-Loop Control and Navigation of Micro Helicopters in GPS-denied Environments},
	year = {2013},
	month = {11/2013},
	address = {Tokyo, Japan},
	url = {http://rpg.ifi.uzh.ch/docs/IROS13workshop/Nguyen.pdf},
	author = {Duy-Nguyen Ta and Kyel Ok and Frank Dellaert}
}
@proceedings {333,
	title = {Optical Flow Templates for Superpixel Labeling in Autonomous Robot Navigation},
	journal = {5th Workshop on Planning, Perception and Navigation for Intelligent Vehicles (PPNIV13)},
	year = {2013},
	month = {11/2013},
	address = {Tokyo, Japan},
	url = {sites/edu.borg/files/papers/Roberts13ppniv.pdf},
	author = {Richard Roberts and Frank Dellaert}
}
@conference {334,
	title = {High Frame Rate Egomotion Estimation},
	booktitle = {International Conference on Computer Vision Systems},
	series = {Lecture Notes in Computer Science},
	volume = {7963},
	year = {2013},
	month = {07/2013},
	pages = {183-192},
	publisher = {Springer Berlin Heidelberg},
	organization = {Springer Berlin Heidelberg},
	isbn = {978-3-642-39401-0},
	doi = {10.1007/978-3-642-39402-7_19},
	url = {sites/edu.borg/files/papers/Srinivasan13icvs.pdf},
	author = {Srinivasan, Natesh and Richard Roberts and Frank Dellaert},
	editor = {Chen, Mei and Leibe, Bastian and Neumann, Bernd}
}
@conference {Cunningham13icra,
	title = {DDF-SAM 2.0: Consistent Distributed Smoothing and Mapping},
	booktitle = {2013 IEEE International Conference on Robotics and Automation  (ICRA)},
	year = {2013},
	month = {05/2013},
	address = {Karlsruhe, Germany},
	abstract = {This paper presents an consistent decentralized data fusion approach for robust multi-robot SLAM in dangerous, unknown environments. The DDF-SAM 2.0 approach extends our previous work by combining local and neighborhood information in a single, consistent augmented local map, without the overly conservative approach to avoiding information double-counting in the previous DDF-SAM algorithm. We introduce the anti-factor as a means to subtract information in graphical SLAM systems, and illustrate its use to both replace information in an incremental solver and to cancel out neighborhood information from shared summarized maps. This paper presents and compares three summarization techniques, with two exact approaches and an approximation. We evaluated the proposed system in a synthetic example and show the augmented local system and the associated summarization technique do not double-count information, while keeping performance tractable.
},
	keywords = {Decentralized SLAM, Mapping, Multi-robot},
	url = {http://www.prism.gatech.edu/~acunningham7/papers/Cunningham13icra.pdf},
	author = {Alexander Cunningham and Vadim Indelman and Frank Dellaert}
}
@conference {Indelman13worv,
	title = {Probabilistic Analysis of Incremental Light Bundle Adjustment},
	booktitle = {IEEE Workshop on Robot Vision (WoRV)},
	year = {2013},
	month = {01/2013},
	url = {https://www.cc.gatech.edu/~vindelma/Publications/Indelman13worv.pdf},
	author = {Vadim Indelman and Richard Roberts and Frank Dellaert}
}
@conference {374,
	title = {A convergence analysis for pose graph optimization via Gauss-Newton methods},
	booktitle = {2013 IEEE International Conference on Robotics and Automation (ICRA)2013 IEEE International Conference on Robotics and Automation},
	year = {2013},
	pages = {965 - 972},
	publisher = {IEEE},
	organization = {IEEE},
	address = {Karlsruhe, Germany},
	isbn = {978-1-4673-5641-1},
	doi = {10.1109/ICRA.2013.6630690},
	author = {Luca Carlone}
}
@article {328,
	title = {Information Fusion in Navigation Systems via Factor Graph Based Incremental Smoothing},
	journal = {Robotics and Autonomous Systems},
	volume = {61},
	year = {2013},
	chapter = {721},
	doi = {10.1016/j.robot.2013.05.001},
	url = {https://www.cc.gatech.edu/~vindelma/Publications/Indelman13ras.pdf},
	author = {Vadim Indelman and Stephen Williams and Michael Kaess and Frank Dellaert}
}
@conference {Ok13icra,
	title = {Path Planning with Uncertainty: Voronoi Uncertainty Fields},
	booktitle = {2013 IEEE International Conference on Robotics and Automation (ICRA)},
	year = {2013},
	abstract = {In this paper, a two-level path planning algorithm that deals with map uncertainty is proposed. The higher level planner uses modified generalized Voronoi diagrams to guarantee finding a connected path from the start to the goal if a collision-free path exists. The lower level planner considers uncertainty of the observed obstacles in the environment and assigns repulsive forces based on their distance to the robot and their positional uncertainty. The attractive forces from the Voronoi nodes and the repulsive forces from the uncertaintybiased potential fields form a hybrid planner we call Voronoi Uncertainty Fields (VUF). The proposed planner has two strong properties: (1) bias against uncertain obstacles, and (2) completeness. We analytically prove the properties and run simulations to validate our method in a forest-like environment.},
	url = {sites/edu.borg/files/papers/Ok13icra.pdf},
	author = {Kyel Ok and Sameer Ansari and Billy Gallagher and William Sica and Frank Dellaert and Mike Stilman}
}
@conference {323,
	title = {Point-Plane SLAM for Hand-Held 3D Sensors},
	booktitle = {IEEE International Conference on Robotics and Automation},
	year = {2013},
	url = {https://www.cc.gatech.edu/~yjian6/publication/taguchi2013icra.pdf},
	author = {Yuichi Taguchi and Yong-Dian Jian and Srikumar Ramalingam and Chen Feng}
}
@conference {336,
	title = {Support-Theoretic Subgraph Preconditioners for Large-Scale SLAM},
	booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems},
	year = {2013},
	keywords = {SLAM, Subgraph Preconditioning},
	url = {https://www.cc.gatech.edu/~yjian6/publication/jian2013iros.pdf},
	author = {Yong-Dian Jian and Doru Balcan and Ioannis Panageas and Prasad Tetali and Frank Dellaert}
}
@techreport {gtsam,
	title = {Factor Graphs and GTSAM: A Hands-on Introduction},
	number = {GT-RIM-CP\&R-2012-002},
	year = {2012},
	month = {Sept},
	institution = {GT RIM},
	url = {sites/edu.borg/files/downloads/gtsam.pdf},
	author = {Frank Dellaert}
}
@conference {Ni12_3dimpvt,
	title = {HyperSfM},
	booktitle = {Second Joint 3DIM/3DPVT Conference},
	year = {2012},
	month = {October},
	address = {Zurich},
	url = {https://www.cc.gatech.edu/~dellaert/pubs/Ni12_3dimpvt.pdf},
	author = {Kai Ni and Frank Dellaert}
}
@conference {Cunningham12ssrr,
	title = {Consistent Decentralized Graphical SLAM with Anti-Factor Down-Dating},
	booktitle = {2012 IEEE International Symposium on Safety, Security, and Rescue Robotics},
	year = {2012},
	month = {11/2012},
	address = {College Station, TX.},
	url = {http://www.prism.gatech.edu/~acunningham7/papers/Cunningham12ssrr_late-breaking-report.pdf},
	author = {Alexander Cunningham and Vadim Indelman and Frank Dellaert}
}
@conference {Peasley12iros,
	title = {Accurate On-Line 3D Occupancy Grids Using Manhattan World Constraints},
	booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
	year = {2012},
	month = {10/2012},
	url = {sites/edu.borg/files/papers/Peasley12iros.pdf},
	author = {Brian Peasley and Stan Birchfield and Alexander Cunningham and Frank Dellaert}
}
@conference {Indelman12bmvc,
	title = {Incremental Light Bundle Adjustment},
	booktitle = {British Machine Vision Conference (BMVC)},
	year = {2012},
	month = {09/2012},
	author = {Vadim Indelman and Richard Roberts and Chris Beall and Frank Dellaert}
}
@techreport {311,
	title = {Rapid Loop Updates},
	number = {GT-RIM-CP\&R-2012-001},
	year = {2012},
	month = {09/2012},
	url = {https://www.cc.gatech.edu/~vindelma/Publications/TR/RLU_GT-RIM-CP\&R-2012-001.pdf},
	author = {Vadim Indelman and Frank Dellaert}
}
@mastersthesis {298,
	title = {Improving the Efficiency of SfM and its Applications},
	volume = {Master of Science (By Research)},
	year = {2012},
	month = {07/2012},
	school = {IIIT Hyderabad},
	type = {Master{\textquoteright}s Thesis},
	address = {Hyderabad},
	url = {http://web2py.iiit.ac.in/research_centres/publications/view_publication/mastersthesis/147},
	author = {Siddharth Choudhary}
}
@conference {Indelman12plans_a,
	title = {Bundle Adjustment Without Iterative Structure Estimation and its Application to Navigation},
	booktitle = {IEEE/ION Position Location and Navigation System (PLANS) },
	year = {2012},
	month = {05/2012},
	author = {Vadim Indelman}
}
@conference {Roberts12spie,
	title = {Saliency Detection and Model-based Tracking: a Two Part Vision System for Small Robot Navigation in Forested Environment},
	booktitle = {Unmanned Systems Technology XIV - SPIE Defense; Security; and Sensing},
	year = {2012},
	month = {04/2012},
	url = {https://www.cc.gatech.edu/~dellaert/pubs/Roberts12spie.pdf},
	author = {Richard Roberts and Duy-Nguyen Ta and Julian Straub and Frank Dellaert}
}
@article {Schindler12jmm,
	title = {4D Cities: Analyzing Visualizing and Interacting with Historical Urban Photo Collections},
	journal = {Journal of Multimedia},
	year = {2012},
	url = {https://www.cc.gatech.edu/~dellaert/pubs/Schindler12jmm.pdf},
	author = {Grant Schindler and Frank Dellaert}
}
@conference {Beall12fusion,
	title = {Attitude Heading Reference System with Rotation-Aiding Visual Landmarks},
	booktitle = {Fusion},
	year = {2012},
	url = {https://www.cc.gatech.edu/~dellaert/pubs/Beall12fusion.pdf},
	author = {Chris Beall and Duy-Nguyen Ta and Kyel Ok and Frank Dellaert}
}
@article {Wu12jacic,
	title = {Autonomous Flight in GPS-Denied Environments Using Monocular Vision and Inertial Sensors},
	journal = {Journal of Aerospace Computing, Information and Communication},
	year = {2012},
	note = {To Appear},
	url = {https://www.cc.gatech.edu/~dellaert/pub/Wu12jacic.pdf},
	author = {Allen Wu and Eric Johnson and Michael Kaess and Frank Dellaert and Girish Chowdhary}
}
@conference {Kaess12fusion,
	title = {Concurrent Filtering and Smoothing},
	booktitle = {FUSION},
	year = {2012},
	url = {https://www.cc.gatech.edu/~dellaert/pubs/Kaess12fusion.pdf},
	author = {Michael Kaess and Stephen Williams and Vadim Indelman and Richard Roberts and John Leonard and Frank Dellaert}
}
@article {Indelman12ras,
	title = {Distributed Vision-Aided Cooperative Localization and Navigation Based on Three-View Geometry},
	journal = {Robotics and Autonomous Systems (RAS)},
	year = {2012},
	author = {Vadim Indelman and Pini Gurfil and Ehud Rivlin and Hector Rotstein}
}
@conference {Indelman12fusion,
	title = {Factor Graph Based Incremental Smoothing in Inertial Navigation Systems},
	booktitle = {FUSION},
	year = {2012},
	url = {https://www.cc.gatech.edu/~dellaert/pubs/Indelman12fusion.pdf},
	author = {Vadim Indelman and Stephen Williams and Michael Kaess and Frank Dellaert}
}
@conference {Cunningham12icra,
	title = {Fully Distributed Scalable Smoothing and Mapping with Robust Multi-robot Data Association},
	booktitle = {2012 IEEE International Conference on Robotics and Automation (ICRA)},
	year = {2012},
	url = {https://www.cc.gatech.edu/~dellaert/pubs/Cunningham12icra.pdf},
	author = {Alexander Cunningham and Kai Wurm and Wolfram Burgard and Frank Dellaert}
}
@inbook {Jian12chapter,
	title = {Generalized Subgraph Preconditioners for Large-Scale Bundle Adjustment},
	booktitle = {Outdoor and Large-Scale Real-World Scene Analysis},
	year = {2012},
	url = {https://www.cc.gatech.edu/~yjian6/publication/jian2012dagstuhl.pdf},
	author = {Yong-Dian Jian and Doru Balcan and Frank Dellaert}
}
@article {272,
	title = {Graph-Based Distributed Cooperative Navigation for a General Multi-Robot Measurement Model},
	journal = {International Journal of Robotics Research (IJRR)},
	year = {2012},
	doi = {10.1177/0278364912446325},
	author = {Vadim Indelman and Pini Gurfil and Ehud Rivlin and Hector Rotstein}
}
@article {Alcantarilla12ras,
	title = {How to Localize Humanoids with a Single Camera?},
	journal = {Journal of Autonomous Robots},
	year = {2012},
	note = {To Appear},
	author = {Pablo Fern{\'a}ndez Alcantarilla and Olivier Stasse and Sebastien Druon and Luis Miguel Bergasa and Frank Dellaert}
}
@conference {Rosen12icra,
	title = {An Incremental Trust-Region Method for Robust Online Sparse Least-Squares Estimation},
	booktitle = {ICRA},
	year = {2012},
	pages = {1262-1269},
	address = {St. Paul, MN},
	abstract = {Many online inference problems in computer vision and robotics are characterized by probability distributions whose factor graph representations are sparse and whose factors are all Gaussian functions of error residuals. Under these conditions, maximum likelihood estimation corresponds to solving a sequence of sparse least-squares minimization problems in which additional summands are added to the objective function over time. In this paper we present Robust Incremental least-Squares Estimation (RISE), an incrementalized version of the Powell{\textquoteright}s Dog-Leg trust-region method suitable for use in online sparse least-squares minimization. As a trust-region method, Powell{\textquoteright}s Dog-Leg enjoys excellent global convergence properties, and is known to be considerably faster than both Gauss-Newton and Levenberg-Marquardt when applied to sparse least-squares problems. Consequently, RISE maintains the speed of current state-of-the-art incremental sparse least-squares methods while providing superior robustness to objective function nonlinearities.},
	author = {D.M. Rosen and Michael Kaess and John Leonard}
}
@article {Kaess12ijrr,
	title = {iSAM2: Incremental Smoothing and Mapping Using the Bayes Tree},
	journal = {International Journal of Robotics Research (IJRR)},
	year = {2012},
	note = {To appear},
	url = {https://www.cc.gatech.edu/~dellaert/pub/Kaess12ijrr.pdf},
	author = {Michael Kaess and Hordur Johannsson and Richard Roberts and Viorela Ila and John Leonard and Frank Dellaert}
}
@conference {Cunningham12spie,
	title = {Large-scale Experimental Design for Decentralized SLAM},
	booktitle = {Unmanned Systems Technology XIV - SPIE Defense; Security; and Sensing},
	year = {2012},
	url = {https://www.cc.gatech.edu/~dellaert/pubs/Cunningham12spie.pdf},
	author = {Alexander Cunningham and Frank Dellaert}
}
@conference {Erdogan12crv,
	title = {Planar Segmentation of RGBD Images using Fast Linear Fitting and Markov Chain Monte Carlo},
	booktitle = {Computer and Robot Vision},
	year = {2012},
	url = {https://www.cc.gatech.edu/~dellaert/pubs/Erdogan12crv.pdf},
	author = {Can Erdogan and Manohar Paluri and Frank Dellaert}
}
@article {Indelman12taes,
	title = {Real-Time Vision-Aided Localization and Navigation Based on Three-View Geometry},
	journal = {IEEE Transactions on Aerospace and Electronic Systems},
	year = {2012},
	author = {Vadim Indelman and Pini Gurfil and Ehud Rivlin and Hector Rotstein}
}
@conference {324,
	title = {SLAM using both Points and Planes for Hand-held 3D Sensors},
	booktitle = {IEEE International Symposium on Mixed and Augmented Reality},
	year = {2012},
	url = {https://www.cc.gatech.edu/~yjian6/publication/taguchi2012ismar.pdf},
	author = {Yuichi Taguchi and Yong-Dian Jian and Srikumar Ramalingam and Chen Feng}
}
@conference {296,
	title = {Visibility Probability Structure from SfM Datasets and Applications},
	booktitle = {12th European Conference on Computer Vision - ECCV },
	year = {2012},
	publisher = {Springer},
	organization = {Springer},
	address = {Florence, Italy},
	isbn = {978-3-642-33714-7},
	url = {sites/edu.borg/files/users/schoudhary30/choudhary12eccv.pdf},
	author = {Siddharth Choudhary and P J Narayanan}
}
@conference {Ok12vicomor,
	title = {Vistas and Wall-Floor Intersection Features - Enabling Autonomous Flight in Man-made Environments},
	booktitle = {Workshop on Visual Control of Mobile Robots},
	year = {2012},
	url = {https://www.cc.gatech.edu/~dellaert/pubs/Ok12vicomor.pdf},
	author = {Kyel Ok and Duy-Nguyen Ta and Frank Dellaert}
}
@conference {ROBERTS-CVPR11,
	title = {Structure from motion for scenes with large duplicate structures},
	booktitle = {IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR 2011)},
	year = {2011},
	month = {June},
	address = {Fort Collins, CO},
	keywords = {duplicate structures, structure from motion},
	url = {http://research.microsoft.com/en-us/um/redmond/groups/ivm/dupsfm/},
	author = {Richard Roberts and Sudipta N. Sinha and Richard Szeliski and Drew Steedly}
}
@conference {Jian11iccv,
	title = {Generalized Subgraph Preconditioners for Large-Scale Bundle Adjustment},
	booktitle = {International Conference on Computer Vision (ICCV)},
	year = {2011},
	month = {11/2012},
	doi = {http://doi.ieeecomputersociety.org/10.1109/ICCV.2011.6126255},
	url = {https://www.cc.gatech.edu/~dellaert/pubs/Jian11iccv.pdf},
	author = {Yong-Dian Jian and Doru Balcan and Frank Dellaert}
}
@conference {Rogers11spie,
	title = {Results from MAST Joint Experiment 3.1},
	booktitle = {Defense, Security and Sensing, SPIE.},
	year = {2011},
	month = {04/2011},
	address = {Orlando, FL},
	author = {John Rogers and Alexander Cunningham and Manohar Paluri and Henrik Christensen and Frank Dellaert and Nathan Michael and Vijay Kumar and Larry Mathies}
}
@conference {Beall11oceans,
	title = {Bundle adjustment in large-scale 3D reconstructions based on underwater robotic surveys},
	booktitle = {Oceans},
	year = {2011},
	pages = {1{\textendash}6},
	publisher = {IEEE},
	organization = {IEEE},
	url = {https://www.cc.gatech.edu/~dellaert/pubs/Beall11oceans.pdf},
	author = {Chris Beall and Frank Dellaert and Ian Mahon and Stefan Williams}
}
@conference {Achtelik11iros,
	title = {Collaborative stereo},
	booktitle = {International Conference on Intelligent Robots and Systems (IROS)},
	year = {2011},
	publisher = {IEEE/RSJ},
	organization = {IEEE/RSJ},
	url = {https://www.cc.gatech.edu/~dellaert/pub/Achtelik11iros.pdf},
	author = {Markus Achtelik and Stephan Weiss and Margarita Chli and Frank Dellaert and Roland Siegwart}
}
@conference {Indelman11aerospace,
	title = {Distributed Vision-Aided Cooperative Localization and Navigation based on Three-View Geometry},
	booktitle = {IEEE Aerospace Conference},
	year = {2011},
	author = {Vadim Indelman and Pini Gurfil and Ehud Rivlin and Hector Rotstein}
}
@conference {Indelman11icra,
	title = {Graph-based Distributed Cooperative Navigation},
	booktitle = {ICRA},
	year = {2011},
	author = {Vadim Indelman and Pini Gurfil and Ehud Rivlin and Hector Rotstein}
}
@conference {Kaess11icra,
	title = {iSAM2: Incremental Smoothing and Mapping with Fluid Relinearization and Incremental Variable Reordering},
	booktitle = {ICRA},
	year = {2011},
	publisher = {IEEE},
	organization = {IEEE},
	url = {https://www.cc.gatech.edu/~dellaert/pub/Kaess11icra.pdf},
	author = {Michael Kaess and Hordur Johannsson and Richard Roberts and Viorela Ila and John Leonard and Frank Dellaert}
}
@conference {Alcantarilla11icra,
	title = {Visibility Learning for Large-Scale Urban Environment},
	booktitle = {ICRA},
	year = {2011},
	publisher = {IEEE},
	organization = {IEEE},
	url = {https://www.cc.gatech.edu/~dellaert/pub/Alcantarilla11icra.pdf},
	author = {Pablo Fern{\'a}ndez Alcantarilla and Kai Ni and Luis Miguel Bergasa and Frank Dellaert}
}
@conference {6107019,
	title = {Towards autonomous navigation with the Yellowfin AUV},
	booktitle = {OCEANS 2011},
	year = {2011},
	pages = {1-5},
	keywords = {autonomous navigation, autonomous underwater vehicle, autonomous underwater vehicles, design-to-simulation approach, extended Kalman filters, Feature extraction, high frequency imaging sonar, Kalman filters, mapping algorithm, mobile robots, path planning, robot vision, robotic navigation, simultaneous localization and mapping, SLAM (robots), smoothing algorithm, sonar, Sonar navigation, Vehicles, Yellowfin AUV},
	author = {Andrew Melim and West, M.}
}
@conference {Alcantarilla10icra2,
	title = {Learning Visibility of Landmarks for Vision-Based Localization},
	booktitle = {ICRA},
	year = {2010},
	month = {May},
	publisher = {IEEE},
	organization = {IEEE},
	url = {https://www.cc.gatech.edu/~dellaert/pub/Alcantarilla10icra2.pdf},
	author = {Pablo Fern{\'a}ndez Alcantarilla and Sang Min Oh and Gian Luca Mariottini and Luis Miguel Bergasa and Frank Dellaert}
}
@techreport {Kaess10tr,
	title = {The Bayes Tree: Enabling Incremental Reordering and Fluid Relinearization for Online Mapping},
	number = {MIT-CSAIL-TR-2010-021},
	year = {2010},
	month = {Jan},
	institution = {MIT CSAIL},
	url = {https://www.cc.gatech.edu/~kaess/pub/Kaess10tr.html},
	author = {Michael Kaess and Viorela Ila and Richard Roberts and Frank Dellaert}
}
@conference {Kaess10wafr,
	title = {The Bayes Tree: An Algorithmic Foundation for Probabilistic Robot Mapping},
	booktitle = {WAFR},
	year = {2010},
	month = {Dec},
	url = {https://www.cc.gatech.edu/~dellaert/pub/Kaess10wafr.pdf},
	author = {Michael Kaess and Viorela Ila and Richard Roberts and Frank Dellaert}
}
@conference {Rogers10iser,
	title = {Effects of sensory precision on mobile robot localization and mapping},
	booktitle = {International Symposium on Experimental Robotics },
	year = {2010},
	month = {12/2010},
	publisher = {IFRR.},
	organization = {IFRR.},
	address = {Delhi, India},
	author = {John Rogers and Alexander Trevor and Carlos Nieto-Granda and Alexander Cunningham and Manohar Paluri and Nathan Michael and Henrik Christensen}
}
@conference {Cunningham10iros,
	title = {DDF-SAM: Fully Distributed SLAM using Constrained Factor Graphs},
	booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
	year = {2010},
	month = {10/2010},
	address = {Taipei, Taiwan},
	url = {https://www.cc.gatech.edu/~dellaert/pubs/Cunningham10iros.pdf},
	author = {Alexander Cunningham and Manohar Paluri and Frank Dellaert}
}
@conference {297,
	title = {Practical Time Bundle Adjustment for 3D Reconstruction on the GPU},
	booktitle = {ECCV 2010 Workshop on Computer Vision on GPU},
	year = {2010},
	month = {09/2010},
	address = {Crete, Greece},
	url = {http://cvit.iiit.ac.in/papers/Siddharth10Practical.pdf},
	author = {Siddharth Choudhary and Shubham Gupta and P J Narayanan},
	editor = {Shubham Gupta and P J Narayanan}
}
@conference {Alcantarilla10icra1,
	title = {Visual Odometry Priors for robust EKF-SLAM},
	booktitle = {International Conference on Robotics and Automation (ICRA)},
	year = {2010},
	month = {05/2010},
	publisher = {IEEE},
	organization = {IEEE},
	url = {https://www.cc.gatech.edu/~dellaert/pub/Alcantarilla10icra1.pdf},
	author = {Pablo Fern{\'a}ndez Alcantarilla and Luis Miguel Bergasa and Frank Dellaert}
}
@conference {Beall10iros,
	title = {3D Reconstruction of Underwater Structures},
	booktitle = {IROS},
	year = {2010},
	url = {https://www.cc.gatech.edu/~dellaert/pubs/Beall10iros.pdf},
	author = {Chris Beall and Brian J. Lawrence and Viorela Ila and Frank Dellaert}
}
@techreport {Fathi10tr,
	title = {EasySLAM},
	number = {GIT-GVU-10-03},
	year = {2010},
	institution = {GVU},
	url = {http://smartech.gatech.edu/handle/1853/35126},
	author = {Alireza Fathi and Alexander Cunningham and Manohar Paluri and Kai Ni and Frank Dellaert}
}
@techreport {Dellaert10tr,
	title = {Local Exponential Maps: Towards Massively Distributed Multi-robot Mapping},
	number = {GIT-GVU-10-04},
	year = {2010},
	institution = {GVU},
	url = {http://smartech.gatech.edu/handle/1853/35127},
	author = {Frank Dellaert and Alireza Fathi and Alexander Cunningham and Manohar Paluri and Kai Ni}
}
@conference {Indelman10plans,
	title = {Mosaic Aided Navigation: Tools, Methods and Results},
	booktitle = {IEEE/ION Position Location and Navigation System (PLANS) },
	year = {2010},
	author = {Vadim Indelman and Pini Gurfil and Ehud Rivlin and Hector Rotstein}
}
@conference {Ni10iros,
	title = {Multi-Level Submap Based SLAM Using Nested Dissection},
	booktitle = {IROS},
	year = {2010},
	url = {https://www.cc.gatech.edu/~dellaert/pubs/Ni10iros.pdf},
	author = {Kai Ni and Frank Dellaert}
}
@article {Indelman12jgcd,
	title = {Navigation Aiding Based on Coupled Online Mosaicking and Camera Scanning},
	journal = {AIAA Journal of Guidance, Control and Dynamics},
	year = {2010},
	author = {Vadim Indelman and Pini Gurfil and Ehud Rivlin and Hector Rotstein}
}
@article {Ranganathan10ijrr,
	title = {Online Probabilistic Topological Mapping},
	journal = {IJRR},
	year = {2010},
	url = {https://www.cc.gatech.edu/~dellaert/pub/Ranganathan10ijrr.pdf},
	author = {Ananth Ranganathan and Frank Dellaert}
}
@conference {Schindler10cvpr,
	title = {Probabilistic Temporal Inference on Reconstructed 3D Scenes},
	booktitle = {CVPR},
	year = {2010},
	url = {https://www.cc.gatech.edu/~phlosoft/files/schindler10cvpr.pdf},
	author = {Grant Schindler and Frank Dellaert}
}
@conference {Dellaert10iros,
	title = {Subgraph-preconditioned Conjugate Gradients for Large Scale SLAM},
	booktitle = {IROS},
	year = {2010},
	url = {https://www.cc.gatech.edu/~dellaert/pubs/Dellaert10iros.pdf},
	author = {Frank Dellaert and Justin Carlson and Viorela Ila and Kai Ni and Charles E. Thorpe}
}
@article { jian2010ijcv,
	title = {Two-View Motion Segmentation with Model Selection and Outlier Removal by RANSAC-Enhanced Dirichlet Process Mixture Models},
	journal = {International Journal on Computer Vision},
	volume = {88},
	number = {3},
	year = {2010},
	author = {Yong-Dian Jian and Chu-Song Chen}
}
@conference {Ni09iccv,
	title = {GroupSAC: Efficient Consensus in the Presence of Groupings},
	year = {2009},
	month = {October},
	address = {Kyoto;Japan},
	url = {https://www.cc.gatech.edu/~dellaert/pubs/Ni09iccv.pdf},
	author = {Kai Ni and Hailin Jin and Frank Dellaert}
}
@article {Comin09jcb,
	title = {Binding Balls: Fast Detection of Binding Sites Using a Property of Spherical Fourier Transform},
	journal = {Journal of Computational Biology},
	volume = {16},
	number = {11},
	year = {2009},
	month = {November},
	pages = {1577-1591},
	url = {https://www.cc.gatech.edu/~dellaert/pubs/Comin09jcb.pdf},
	author = {Matteo Comin and Concettina Guerra and Frank Dellaert}
}
@conference {Makarenko12fusion,
	title = {Decentralised data fusion: a Graphical Model approach},
	booktitle = {Intl. Conf. on Information Fusion (FUSION)},
	year = {2009},
	month = {July},
	url = {https://www.cc.gatech.edu/~dellaert/pubs/Makarenko09fusion.pdf},
	author = {Alex Makarenko and Alex Brooks and Tobias Kaupp and Hugh Durrant-Whyte and Frank Dellaert}
}
@conference {Ranganathan09icra,
	title = {Bayesian Surprise and Landmark Detection},
	booktitle = {ICRA},
	year = {2009},
	address = {Kobe;Japan},
	url = {https://www.cc.gatech.edu/~dellaert/pub/Ranganathan09icra.pdf},
	author = {Ananth Ranganathan and Frank Dellaert}
}
@article {Kaess09ras,
	title = {Covariance Recovery from a Square Root Information Matrix for Data Association},
	journal = {Journal of Robotics and Autonomous Systems (RAS)},
	year = {2009},
	url = {https://www.cc.gatech.edu/~dellaert/pub/Kaess09ras.pdf},
	author = {Michael Kaess and Frank Dellaert}
}
@conference {Kaess09icra,
	title = {Flow Separation for Fast and Robust Stereo Odometry},
	booktitle = {ICRA},
	year = {2009},
	url = {https://www.cc.gatech.edu/~dellaert/pub/Kaess09icra.pdf},
	author = {Michael Kaess and Kai Ni and Frank Dellaert}
}
@conference {Roberts09cvpr,
	title = {Learning General Optical Flow Subspaces for Egomotion Estimation and Detection of Motion Anomalies},
	booktitle = {CVPR},
	year = {2009},
	url = {https://www.cc.gatech.edu/~dellaert/pub/Roberts09cvpr.pdf},
	author = {Richard Roberts and Christian Potthast and Frank Dellaert}
}
@article {317,
	title = {Learning Outdoor Mobile Robot Behaviors by Example},
	journal = {Journal of Field Robotics},
	volume = {26},
	year = {2009},
	chapter = {176},
	url = {http://onlinelibrary.wiley.com/doi/10.1002/rob.20278/abstract},
	author = {Richard Roberts and Charles Pippin and Tucker Balch}
}
@article {Kaess09cviu,
	title = {Probabilistic Structure Matching for Visual SLAM with a Multi-Camera Rig},
	journal = {Computer Vision and Image Understanding (CVIU)},
	year = {2009},
	url = {https://www.cc.gatech.edu/~dellaert/pub/Kaess09cviu.pdf},
	author = {Michael Kaess and Frank Dellaert}
}
@conference {Indelman09gnc_a,
	title = {Real-Time Mosaic-Aided Aerial Navigation: I. Motion Estimation},
	booktitle = {AIAA Guidance, Navigation and Control Conference},
	year = {2009},
	author = {Vadim Indelman and Pini Gurfil and Ehud Rivlin and Hector Rotstein}
}
@conference {Indelman09gnc_b,
	title = {Real-Time Mosaic-Aided Aerial Navigation: II. Sensor Fusion},
	booktitle = {AIAA Guidance, Navigation and Control Conference},
	year = {2009},
	author = {Vadim Indelman and Pini Gurfil and Ehud Rivlin and Hector Rotstein}
}
@article {Oh08ijcv,
	title = {Learning and Inferring Motion Patterns using Parametric Segmental Switching Linear Dynamic Systems},
	journal = {International Journal of Computer Vision},
	volume = {77},
	year = {2008},
	note = {Special Issue on Learning for Vision},
	month = {05/2008},
	chapter = {103},
	doi = {10.1007/s11263-007-0062-z},
	url = {https://www.cc.gatech.edu/~dellaert/pubs/Oh08ijcv.pdf},
	author = {Sang Min Oh and James M. Rehg and Tucker Balch and Frank Dellaert}
}
@conference {Schindler08cvpr,
	title = {Detecting and Matching Repeated Patterns for Automatic Geo-tagging in Urban Environments},
	booktitle = {CVPR},
	year = {2008},
	url = {https://www.cc.gatech.edu/~dellaert/pubs/Schindler08cvpr.pdf},
	author = {Grant Schindler and Panchapagesan Krishnamurthy Roberto Lublinerman and Yanxi Liu and Frank Dellaert}
}
@article {Kaess08tro,
	title = {iSAM: Incremental Smoothing and Mapping},
	journal = {Transactions on Robotics (TRO)},
	year = {2008},
	url = {https://www.cc.gatech.edu/~dellaert/pub/Kaess08tro.pdf},
	author = {Michael Kaess and Ananth Ranganathan and Frank Dellaert}
}
@conference {316,
	title = {Memory-Based Learning for Visual Odometry},
	booktitle = { IEEE International Conference on Robotics and Automation, ICRA},
	year = {2008},
	url = {https://www.cc.gatech.edu/~richard/media/RobertsIcra2008.pdf},
	author = {Richard Roberts and Hai Nguyen and Niyant Krishnamurthi and Tucker Balch}
}
@conference {Selvatici08wvc,
	title = {Object-based Visual SLAM: How Object Identity Informs Geometry},
	booktitle = {IV Workshop de Visao Computacional Bauru Brazil},
	year = {2008},
	url = {https://www.cc.gatech.edu/~dellaert/pub/Selvatici08wvc.pdf},
	author = {Antonio Selvatici and Anna Reali Costa and Frank Dellaert}
}
@conference {Mottaghi08icra,
	title = {Place Recognition-based Fixed-lag Smoothing for Environments with Unreliable GPS},
	booktitle = {ICRA},
	year = {2008},
	url = {https://www.cc.gatech.edu/~dellaert/pubs/Mottaghi08icra.pdf},
	author = {Roozbeh Mottaghi and Michael Kaess and Ananth Ranganathan and Richard Roberts and Frank Dellaert}
}
@article {Chang08tip,
	title = {Visual Tracking in High-Dimensional State Space by Appearance-Guided Particle Filtering},
	journal = {IEEE Transactions on Image Processing},
	volume = {17},
	year = {2008},
	author = {Wen-Yan Chang and Chu-Song Chen and Yong-Dian Jian}
}
@article {289,
	title = {Visual Tracking in High-Dimensional State Space by Appearance-Guided Particle Filtering" journal = "IEEE Transactions on Image Processing},
	volume = {17},
	number = {7},
	year = {2008},
	pages = {1154{\textendash}1167}
}
@conference {Ni07iccv,
	title = {Out-of-Core Bundle Adjustment for Large-Scale {3D} Reconstruction},
	booktitle = {International Conference on Computer Vision (ICCV)},
	year = {2007},
	month = {October},
	address = {Rio de Janeiro},
	url = {https://www.cc.gatech.edu/~dellaert/pubs/Ni07iccv.pdf},
	author = {Kai Ni and Drew Steedly and Frank Dellaert}
}
@conference {Kaess07icra,
	title = {iSAM: Fast Incremental Smoothing and Mapping with Efficient Data Association},
	booktitle = {ICRA},
	year = {2007},
	note = {To appear},
	month = {April},
	address = {Rome; Italy},
	url = {https://www.cc.gatech.edu/~dellaert/pub/Kaess07icra.pdf},
	author = {Michael Kaess and Ananth Ranganathan and Frank Dellaert}
}
@conference {Ni07icra,
	title = {Tectonic {SAM}: Exact; Out-of-Core; Submap-Based SLAM},
	booktitle = {ICRA},
	year = {2007},
	month = {April},
	address = {Rome; Italy},
	url = {https://www.cc.gatech.edu/~dellaert/pubs/Ni07icra.pdf},
	author = {Kai Ni and Drew Steedly and Frank Dellaert}
}
@conference {Ranganathan07iros,
	title = {Fast 3D Pose Estimation With Out-of-Sequence Measurements},
	booktitle = {IROS},
	year = {2007},
	address = {San Diego; USA},
	url = {https://www.cc.gatech.edu/~dellaert/pub/Ranganathan07iros.pdf},
	author = {Ananth Ranganathan and Michael Kaess and Frank Dellaert}
}
@conference {Kaess07ijcai,
	title = {Fast Incremental Square Root Information Smoothing},
	booktitle = {IJCAI},
	year = {2007},
	pages = {2129-2134},
	address = {Hyderabad; India},
	url = {https://www.cc.gatech.edu/~dellaert/pub/Kaess07ijcai.pdf},
	author = {Michael Kaess and Ananth Ranganathan and Frank Dellaert}
}
@conference {Schindler07cvpr,
	title = {Inferring Temporal Order of Images From 3D Structure},
	booktitle = {CVPR},
	year = {2007},
	url = {https://www.cc.gatech.edu/~dellaert/pubs/Schindler07cvpr.pdf},
	author = {Grant Schindler and Frank Dellaert and Sing Bing Kang}
}
@conference {Ranganathan07ijcai,
	title = {Loopy SAM},
	booktitle = {IJCAI},
	year = {2007},
	pages = {2191-2196},
	address = {Hyderabad; India},
	url = {https://www.cc.gatech.edu/~dellaert/pub/Ranganathan07ijcai.pdf},
	author = {Ananth Ranganathan and Michael Kaess and Frank Dellaert}
}
@techreport {Ranganathan07tr,
	title = {Probabilistic Topological Mapping for Mobile Robots using Urn Models},
	number = {GIT-GVU-07-03},
	year = {2007},
	institution = {GVU},
	url = {ftp://ftp.cc.gatech.edu/pub/gvu/tr/2007/07-03.pdf},
	author = {Ananth Ranganathan and Frank Dellaert}
}
@conference {Ranganathan07rss,
	title = {Semantic Modeling of Places using Objects},
	booktitle = {Robotics: Science and Systems (RSS) },
	year = {2007},
	address = {Atlanta; USA},
	url = {https://www.cc.gatech.edu/~dellaert/pub/Ranganathan07rss.pdf},
	author = {Ananth Ranganathan and Frank Dellaert}
}
@conference {Sun07siggraph,
	title = {4D view synthesis: navigating through time and space},
	booktitle = {SIGGRAPH {\textquoteright}07: ACM SIGGRAPH 2007 posters},
	year = {2007},
	pages = {194},
	publisher = {ACM Press},
	organization = {ACM Press},
	doi = {http://doi.acm.org/10.1145/1280720.1280929},
	author = {Mingxuan Sun and Grant Schindler and Sing Bing Kang and Frank Dellaert}
}
@conference { jian2007iccv,
	title = {Two-View Motion Segmentation by Mixtures of Dirichlet Process with Model Selection and Outlier Removal},
	booktitle = {Proc. International Conference on Computer Vision},
	year = {2007},
	author = {Yong-Dian Jian and Chu-Song Chen}
}
@article {Khan06pami,
	title = {MCMC Data Association and Sparse Factorization Updating for Real Time Multitarget Tracking with Merged and Multiple Measurements},
	journal = {PAMI},
	volume = {28},
	number = {12},
	year = {2006},
	month = {December},
	pages = {1960{\textendash}1972},
	url = {https://www.cc.gatech.edu/~dellaert/pubs/Khan06pami.pdf},
	author = {Zia Khan and Tucker Balch and Frank Dellaert}
}
@article {Balch05ieee,
	title = {How {A}.{I}. and multi-robot systems research will accelerate our understanding of social animal behavior},
	journal = {Proceedings of IEEE},
	volume = {94},
	year = {2006},
	note = {Accepted for publication},
	month = {07/2006},
	chapter = {1445},
	url = {https://www.cc.gatech.edu/~dellaert/pubs/Balch06ieee.pdf},
	author = {Tucker Balch and Frank Dellaert and A. Feldman and A. Guillory and Charles L. Isbell and Zia Khan and A. Stein and H. Wilde}
}
@article {Ranganathan06tro,
	title = {Bayesian Inference in the Space of Topological Maps},
	journal = {TRO},
	volume = {22},
	number = {1},
	year = {2006},
	pages = {92{\textendash}107},
	abstract = {While probabilistic techniques have previously been investigated extensively for performing inference over the space of metric maps, no corresponding general-purpose methods exist for topological maps. We present the concept of probabilistic topological maps (PTMs), a sample-based representation that approximates the posterior distribution over topologies, given available sensor measurements. We show that the space of topologies is equivalent to the intractably large space of set partitions on the set of available measurements. The combinatorial nature of the problem is overcome by computing an approximate, sample-based representation of the posterior. The PTM is obtained by performing Bayesian inference over the space of all possible topologies, and provides a systematic solution to the problem of perceptual aliasing in the domain of topological mapping. In this paper, we describe a general framework for modeling measurements, and the use of a Markov-chain Monte Carlo algorithm that uses specific instances of these models for odometry and appearance measurements to estimate the posterior distribution. We present experimental results that validate our technique and generate good maps when using odometry and appearance, derived from panoramic images, as sensor measurements.},
	url = {https://www.cc.gatech.edu/~dellaert/pub/Ranganathan05tro.pdf},
	author = {Ananth Ranganathan and E. Menegatti and Frank Dellaert}
}
@conference {Krauthausen06rss,
	title = {Exploiting Locality by Nested Dissection For Square Root Smoothing and Mapping},
	booktitle = {Robotics: Science and Systems (RSS) },
	year = {2006},
	url = {https://www.cc.gatech.edu/~dellaert/pubs/Krauthausen06rss.pdf},
	author = {Peter Krauthausen and Frank Dellaert and Alexander Kipp}
}
@techreport {Oh06tr,
	title = {Learning and Inferring Motion Patterns using Parametric Segmental Switching Linear Dynamic Systems},
	number = {GIT-GVU-06-02},
	year = {2006},
	institution = {GVU},
	url = {https://www.cc.gatech.edu/gvu/research/techreports.html},
	author = {Sang Min Oh and James M. Rehg and Tucker Balch and Frank Dellaert}
}
@conference {Schindler063dpvt,
	title = {Line-Based Structure From Motion for Urban Environments},
	booktitle = {3DPVT},
	year = {2006},
	url = {https://www.cc.gatech.edu/~dellaert/pubs/Schindler06-3dpvt.pdf},
	author = {Grant Schindler and Panchapagesan Krishnamurthy and Frank Dellaert}
}
@conference {Oh06snowbird,
	title = {On-line Learning of the Traversability of Unstructured Terrain for Outdoor Robot Navigation},
	booktitle = {Snowird Learning Workshop},
	year = {2006},
	author = {Sang Min Oh and James M. Rehg and Frank Dellaert}
}
@conference {Oh06cvpr,
	title = {Parameterized duration modeling for Switching linear dynamic systems},
	booktitle = {CVPR},
	year = {2006},
	url = {https://www.cc.gatech.edu/~dellaert/pubs/Oh06cvpr.pdf},
	author = {Sang Min Oh and James M. Rehg and Frank Dellaert}
}
@conference {Quennesson063dpvt,
	title = {Rao-Blackwellized Importance Sampling of Camera Parameters from Simple User Input with Visibility Preprocessing in Line Space},
	booktitle = {3DPVT},
	year = {2006},
	url = {http://lcc.gatech.edu/~dellaert/pubs/Quennesson06-3dpvt.pdf},
	author = {Kevin Quennesson and Frank Dellaert}
}
@conference {Ranganathan06icra,
	title = {A Rao-Blackwellized Particle Filter for Topological Mapping},
	booktitle = {ICRA},
	year = {2006},
	url = {https://www.cc.gatech.edu/~dellaert/pub/Ranganathan06icra.pdf},
	author = {Ananth Ranganathan and Frank Dellaert}
}
@article {Dellaert06ijrr,
	title = {Square Root SAM: Simultaneous Location and Mapping via Square Root Information Smoothing},
	journal = {International lJournal of Robotics Research (IJRR)},
	volume = {25},
	number = {12},
	year = {2006},
	note = {Special issue on RSS 2006},
	pages = {1181},
	url = {https://www.cc.gatech.edu/~dellaert/pubs/Dellaert06ijrr.pdf},
	author = {Frank Dellaert and Michael Kaess}
}
@conference {Ni06icip,
	title = {Stereo Tracking and Three-Point/One-Point Algorithms - A Robust Approach in Visual Odometry},
	booktitle = {International Conference on Image Processing (ICIP)},
	year = {2006},
	url = {https://www.cc.gatech.edu/~dellaert/pubs/Ni06icip.pdf},
	author = {Kai Ni and Frank Dellaert}
}
@techreport {Kaess06tr,
	title = {Visual SLAM with a Multi-Camera Rig},
	number = {GIT-GVU-06-06},
	year = {2006},
	institution = {GVU},
	url = {http://www.gvu.gatech.edu/research/tr/2006/tr06_06.html},
	author = {Michael Kaess and Frank Dellaert}
}
@conference { jian2006accv,
	title = {Attractor-Guided Particle Filtering for Lip Contour Tracking},
	booktitle = {Proc. Asian Conference on Computer Vision},
	year = {2006},
	pages = {653{\textendash}663},
	author = {Yong-Dian Jian and Wen-Yan Chang and Chu-Song Chen}
}
@conference {Oh06yif,
	title = {Automatic Acquisition of 4D urban Models and Proactive Auditory Service for Enhanced User Experience},
	booktitle = {Young Investigators Forum in culture and Technology},
	year = {2006},
	author = {Sang Min Oh and Grant Schindler and Frank Dellaert and Bruce Walker and Jeffrey Lindsay}
}
@conference { jian2006smc,
	title = {Second-Order Belief Propagation and Its Application to Object Localization},
	booktitle = {Proc. IEEE Conference on Systems, Man and Cybernetics},
	year = {2006},
	author = {Yong-Dian Jian and Chu-Song Chen}
}
@techreport {Krauthausen05tr,
	title = {Exploiting Locality by Nested Dissection For Square Root Smoothing and Mapping},
	number = {GIT-GVU-05-26},
	year = {2005},
	month = {September},
	institution = {GVU},
	url = {https://www.cc.gatech.edu/~dellaert/pubs/Krauthausen05tr.pdf},
	author = {Peter Krauthausen and Frank Dellaert and Alexander Kipp}
}
@techreport {Kipp05tr,
	title = {A Partially Fixed Linearization Approach for Submap-Parametrized Smoothing and Mapping},
	number = {GIT-GVU-05-25},
	year = {2005},
	month = {September},
	institution = {GVU},
	url = {https://www.cc.gatech.edu/~dellaert/pubs/Kipp05tr.pdf},
	author = {Alexander Kipp and Peter Krauthausen and Frank Dellaert}
}
@article {Khan05pami,
	title = {{MCMC}-Based Particle Filtering for Tracking a Variable Number of Interacting Targets},
	volume = {27},
	number = {11},
	year = {2005},
	month = {November},
	pages = {1805{\textendash}1918},
	url = {https://www.cc.gatech.edu/~dellaert/pubs/Khan05pami.pdf},
	author = {Zia Khan and Tucker Balch and Frank Dellaert}
}
@conference {Kaess05icra,
	title = {A Markov Chain Monte Carlo Approach to Closing the Loop in SLAM},
	booktitle = {ICRA},
	year = {2005},
	month = {April},
	pages = {645-650},
	address = {Barcelona; Spain},
	url = {https://www.cc.gatech.edu/~dellaert/pub/Kaess05icra.pdf},
	author = {Michael Kaess and Frank Dellaert}
}
@conference {Egerstedt05icra,
	title = {What Are the Ants Doing? Vision-Based Tracking and Reconstruction of Control Programs},
	booktitle = {ICRA},
	year = {2005},
	month = {April},
	url = {https://www.cc.gatech.edu/~dellaert/pubs/Egerstedt05icra.pdf},
	author = {Magnus Egerstedt and Tucker Balch and Frank Dellaert and Frank Delmotte and Zia Khan}
}
@conference {Ranganathan05rss,
	title = {Data driven {MCMC} for Appearance-based Topological mapping},
	booktitle = {Robotics: Science and Systems (RSS) },
	year = {2005},
	url = {https://www.cc.gatech.edu/~dellaert/pub/Ranganathan05rss.pdf},
	author = {Ananth Ranganathan and Frank Dellaert}
}
@techreport {Ranganathan05tr,
	title = {Data driven {MCMC} for Appearance-based Topological mapping},
	number = {GIT-GVU-05-12},
	year = {2005},
	institution = {GVU},
	url = {https://www.cc.gatech.edu/gvu/research/tr/tr05_12.html},
	author = {Ananth Ranganathan and Frank Dellaert}
}
@conference {Oh05aaai,
	title = {Data-Driven {MCMC} for Learning and Inference in Switching Linear Dynamic Systems},
	booktitle = {AAAI},
	year = {2005},
	url = {https://www.cc.gatech.edu/~dellaert/pubs/Oh05aaai.pdf},
	author = {Sang Min Oh and James M. Rehg and Tucker Balch and Frank Dellaert}
}
@conference {Oh05iccv,
	title = {Learning and {I}nference in {P}arametric {S}witching {L}inear {D}ynamic {S}ystems},
	booktitle = {ICCV},
	year = {2005},
	url = {https://www.cc.gatech.edu/~dellaert/pub/Oh05iccv.pdf},
	author = {Sang Min Oh and James M. Rehg and Tucker Balch and Frank Dellaert}
}
@conference {Dellaert05cvpr,
	title = {Mixture Trees for Modeling and Fast Conditional Sampling with Applications in Vision and Graphics},
	booktitle = {CVPR},
	year = {2005},
	url = {https://www.cc.gatech.edu/~dellaert/pubs/Dellaert05cvpr.pdf},
	author = {Frank Dellaert and Vivek Kwatra and Sang Min Oh}
}
@conference {Dellaert05cvavi,
	title = {A Multi-Camera Pose Tracker for Assisting the Visually Impaired},
	booktitle = {1st IEEE Workshop on Computer Vision Applications for the Visually Impaired},
	year = {2005},
	url = {https://www.cc.gatech.edu/~dellaert/pubs/Dellaert05cvavi.pdf},
	author = {Frank Dellaert and Sarah Tariq}
}
@conference {Dellaert05aaai,
	title = {A Multifrontal {QR} Factorization Approach to Distributed Inference applied to Multi-robot Localization and Mapping},
	booktitle = {AAAI},
	year = {2005},
	url = {https://www.cc.gatech.edu/~dellaert/pubs/Dellaert05aaai.pdf},
	author = {Frank Dellaert and Alexander Kipp and Peter Krauthausen}
}
@conference {Khan05cvpr,
	title = {Multitarget Tracking with Split and Merged Measurements},
	booktitle = {CVPR},
	year = {2005},
	url = {https://www.cc.gatech.edu/~dellaert/pubs/Khan05cvpr.pdf},
	author = {Zia Khan and Tucker Balch and Frank Dellaert}
}
@techreport {Oh05tr2,
	title = {Segmental Switching Linear Dynamic Systems},
	number = {GIT-CC-05-13},
	year = {2005},
	institution = {Georgia Tech College of Computing},
	url = {https://www.cc.gatech.edu/tech_reports/index.05.html},
	author = {Sang Min Oh and James M. Rehg and Frank Dellaert}
}
@conference {Dellaert05rss,
	title = {Square Root SAM: Simultaneous Location and Mapping via Square Root Information Smoothing},
	booktitle = {Robotics: Science and Systems (RSS) },
	year = {2005},
	address = {MIT, Boston},
	url = {https://www.cc.gatech.edu/~dellaert/pubs/Dellaert05rss.pdf},
	author = {Frank Dellaert}
}
@techreport {Dellaert05tr,
	title = {Square Root {SAM}: Simultaneous Localization and Mapping via Square Root Information Smoothing},
	number = {GIT-GVU-05-11},
	year = {2005},
	institution = {GVU},
	url = {https://www.cc.gatech.edu/gvu/research/tr/tr05_11.html},
	author = {Frank Dellaert}
}
@conference {Triebel05icra,
	title = {Using Hierarchical EM to Extract Planes from {3D} Range Scans},
	booktitle = {ICRA},
	year = {2005},
	url = {https://www.cc.gatech.edu/~dellaert/pub/Triebel05icra.pdf},
	author = {Rudi Triebel and Wolfram Burgard and Frank Dellaert}
}
@techreport {Oh05tr,
	title = {A Variational inference method for Switching Linear Dynamic Systems},
	number = {GIT-GVU-05-16},
	year = {2005},
	institution = {GVU},
	url = {https://www.cc.gatech.edu/gvu/research/tr/tr05_16.html},
	author = {Sang Min Oh and Ananth Ranganathan and James M. Rehg and Frank Dellaert}
}
@conference {Schindler05iccv_dv,
	title = {A {Rao-Blackwellized} Parts-Constellation Tracker},
	booktitle = {ICCV Workshop on Dynamical Vision; International Conference on Computer Vision},
	year = {2005},
	url = {https://www.cc.gatech.edu/~dellaert/pub/Schindler05iccv_dv.pdf},
	author = {Grant Schindler and Frank Dellaert}
}
@conference {Alegre04cipa,
	title = {A Probabilistic Approach to the Semantic Interpretation of Building Facades},
	booktitle = {International Workshop on Vision Techniques Applied to the Rehabilitation of City Centres},
	year = {2004},
	month = {October},
	publisher = {International Committee for Architectural Photogrammetry; (CIPA); Lisbon},
	organization = {International Committee for Architectural Photogrammetry; (CIPA); Lisbon},
	url = {https://www.cc.gatech.edu/~dellaert/pubs/Alegre04cipa.pdf},
	author = {Fernando Alegre and Frank Dellaert}
}
@inbook {Liu04chapter,
	title = {Semantic based Biomedical Image Indexing and Retrieval},
	booktitle = {Trends and Advances in Content-Based Image and Video Retrieval},
	year = {2004},
	month = {February},
	url = {http://www.ri.cmu.edu/pubs/pub_4612.html},
	author = {Yanxi Liu and N. Lazar and W.E. Rothfus and Frank Dellaert and A. Moore and J. Schneider and Takeo Kanade},
	editor = {Shapiro and Kriegel and Veltkamp}
}
@techreport {Ranganathan04tr,
	title = {Dirichlet Process based Bayesian Partition Models for Robot Topological Mapping},
	number = {GIT-GVU-04-21},
	year = {2004},
	institution = {GVU},
	url = {https://www.cc.gatech.edu/gvu/reports/2004/abstracts/04-21.html},
	author = {Ananth Ranganathan and Frank Dellaert}
}
@techreport {Chanda04tr,
	title = {Grammatical Methods in Computer Vision: An Overview},
	number = {GIT-GVU-04-29},
	year = {2004},
	url = {https://www.cc.gatech.edu/gvu/reports/2004/abstracts/04-29.html},
	author = {Gaurav Chanda and Frank Dellaert}
}
@conference {Kaess04eccv,
	title = {MCMC-based Multiview Reconstruction of Piecewise Smooth Subdivision Curves with a Variable Number of Control Points},
	booktitle = {ECCV},
	series = {Lecture Notes in Computer Science},
	volume = {3023},
	year = {2004},
	pages = {329-341},
	publisher = {Springer},
	organization = {Springer},
	address = {Prague; Czech Republic},
	isbn = {3-540-21982-X},
	url = {https://www.cc.gatech.edu/~dellaert/ftp/Kaess04eccv.pdf},
	author = {Michael Kaess and Rafal Zboinski and Frank Dellaert}
}
@conference {Khan04eccv,
	title = {An MCMC-based Particle Filter for Tracking Multiple Interacting Targets},
	booktitle = {ECCV},
	year = {2004},
	url = {https://www.cc.gatech.edu/~dellaert/pubs/Khan04eccv.pdf},
	author = {Zia Khan and Tucker Balch and Frank Dellaert}
}
@conference {Tariq04ismar,
	title = {A Multi-Camera 6-{DOF} Pose Tracker},
	booktitle = {ISMAR},
	year = {2004},
	pages = {296-297},
	url = {https://www.cc.gatech.edu/~dellaert/pub/Tariq04ismar.pdf},
	author = {Sarah Tariq and Frank Dellaert}
}
@techreport {Khan04tr,
	title = {Robust Generative Subspace Modeling: The Subspace t Distribution},
	number = {GIT-GVU-04-11},
	year = {2004},
	institution = {GVU},
	url = {https://www.cc.gatech.edu/gvu/reports/2004/abstracts/04-11.html},
	author = {Zia Khan and Frank Dellaert}
}
@conference {Ranganathan04iros,
	title = {Inference in the Space of Topological Maps: An {MCMC}-Based Approach},
	booktitle = {IROS},
	year = {2004},
	url = {https://www.cc.gatech.edu/~dellaert/pub/Ranganathan04iros.pdf},
	author = {Ananth Ranganathan and Frank Dellaert}
}
@conference {Oh04iros,
	title = {Map-Based Priors for Localization},
	booktitle = {IROS},
	year = {2004},
	url = {https://www.cc.gatech.edu/~dellaert/pub/Oh04iros.pdf},
	author = {Sang Min Oh and Sarah Tariq and Bruce Walker and Frank Dellaert}
}
@conference {Dellaert04ss,
	title = {Semantic SLAM for Collaborative Cognitive Workspaces},
	booktitle = {AAAI Fall Symposium Series 2004: Workshop on The Interaction of Cognitive Science and Robotics: From Interfaces to Intelligence},
	year = {2004},
	url = {https://www.cc.gatech.edu/~dellaert/pub/Dellaert04ss.pdf},
	author = {Frank Dellaert and David Bruemmer}
}
@conference {Schindler04cvpr,
	title = {{Atlanta World}: An Expectation-Maximization Framework for Simultaneous Low-level Edge Grouping and Camera Calibration in Complex Man-Made Environments},
	booktitle = {CVPR},
	year = {2004},
	url = {https://www.cc.gatech.edu/~dellaert/pub/Schindler04cvpr.pdf},
	author = {Grant Schindler and Frank Dellaert}
}
@conference {Khan04cvpr,
	title = {A {Rao-Blackwellized} Particle Filter for {EigenTracking}},
	booktitle = {CVPR},
	year = {2004},
	url = {https://www.cc.gatech.edu/~dellaert/pubs/Khan04cvpr.pdf},
	author = {Zia Khan and Tucker Balch and Frank Dellaert}
}
@conference {Dellaert03icra,
	title = {Intrinsic Localization and Mapping with 2 Applications: Diffusion Mapping and {Marco} {Polo} Localization},
	booktitle = {ICRA},
	year = {2003},
	month = {May},
	url = {https://www.cc.gatech.edu/~dellaert/pubs/Dellaert03icra.pdf},
	author = {Frank Dellaert and Fernando Alegre and Eric B. Martinson}
}
@conference {Martinson03icra,
	title = {Marco {P}olo {L}ocalization},
	booktitle = {ICRA},
	year = {2003},
	month = {May},
	url = {https://www.cc.gatech.edu/~dellaert/pubs/Martinson03icra.pdf},
	author = {Eric B. Martinson and Frank Dellaert}
}
@article {Dellaert03ml,
	title = {{EM}; {MCMC}; and Chain Flipping for Structure from Motion with Unknown Correspondence},
	volume = {50},
	number = {1-2},
	year = {2003},
	note = {Special issue on Markov chain Monte Carlo methods},
	month = {January - Februa},
	pages = {45-71},
	url = {https://www.cc.gatech.edu/~dellaert/pubs/Dellaert03ml.pdf},
	author = {Frank Dellaert and Steven M. Seitz and Charles E. Thorpe and Sebastian Thrun}
}
@inbook {Dellaert03chapter,
	title = {A Developmental Model for the Evolution of Complete Autonomous Agents},
	booktitle = {On Growth; Form; and Computers},
	year = {2003},
	month = {December},
	publisher = {Elsevier Science},
	organization = {Elsevier Science},
	author = {Frank Dellaert and Randall D. Beer},
	editor = {Sanjeev Kumar and Peter J. Bentley}
}
@conference {Khan03,
	title = {Efficient Particle Filter-Based Tracking of Multiple Interacting Targets Using an MRF-based Motion Model},
	booktitle = {IROS},
	year = {2003},
	address = {Las Vegas},
	url = {https://www.cc.gatech.edu/~dellaert/pub/Khan03iros.pdf},
	author = {Zia Khan and Tucker Balch and Frank Dellaert}
}
@techreport {Khan03tr,
	title = {An MCMC-based Particle Filter for Tracking Multiple Interacting Targets},
	number = {GIT-GVU-03-25},
	year = {2003},
	institution = {GVU},
	url = {https://www.cc.gatech.edu/gvu/reports/2003/abstracts/03-35.html},
	author = {Zia Khan and Tucker Balch and Frank Dellaert}
}
@conference {Kaess03hlk,
	title = {Reconstruction of Objects with Jagged Edges through Rao-Blackwellized Fitting of Piecewise Smooth Subdivision Curves},
	booktitle = {Proceedings of the IEEE 1st International Workshop on Higher-Level Knowledge in 3D Modeling and Motion Analysis},
	year = {2003},
	pages = {39-47},
	publisher = {IEEE Computer Society},
	organization = {IEEE Computer Society},
	address = {Nice; France},
	isbn = {0-7695-2049-9},
	url = {https://www.cc.gatech.edu/~dellaert/pubs/Kaess03hlk.pdf},
	author = {Michael Kaess and Frank Dellaert}
}
@conference {Dellaert03ism,
	title = {A sample of {M}onte {C}arlo methods in robotics and vision},
	booktitle = {Proceedings of the ISM International Symposium on the Science of Modeling - The 30th Anniversary of the Information Criterion (AIC)},
	year = {2003},
	pages = {211-222},
	address = {Yokohama; Japan},
	url = {https://www.cc.gatech.edu/~dellaert/pubs/Dellaert03ism.pdf},
	author = {Frank Dellaert}
}
@conference {Steedly03iccv,
	title = {Spectral Partitioning for Structure From Motion},
	booktitle = {ICCV},
	year = {2003},
	url = {https://www.cc.gatech.edu/cpl/projects/reconstructions/ICCV03/abstract.html},
	author = {Drew Steedly and I. Essa and Frank Dellaert}
}
@conference {Dellaert02icra,
	title = {Linear {2D} Localization and Mapping for Single and Multiple Robots},
	booktitle = {ICRA},
	year = {2002},
	month = {May},
	publisher = {IEEE},
	organization = {IEEE},
	url = {http://www.ri.cmu.edu/pubs/pub_3968.html},
	author = {Frank Dellaert and Ashley Stroupe}
}
@techreport {Dellaert02em,
	title = {The Expectation Maximization Algorithm},
	number = {GIT-GVU-02-20},
	year = {2002},
	month = {February},
	institution = {GVU},
	url = {https://www.cc.gatech.edu/gvu/reports/2002/abstracts/02-20.html},
	author = {Frank Dellaert}
}
@conference {Dellaert02usar,
	title = {The Georgia Tech Yellow Jackets: A Marsupial Team for Urban Search and Rescue},
	booktitle = {AAAI Mobile Robot Competition Workshop},
	year = {2002},
	pages = {44-49},
	publisher = {AAAI Press},
	organization = {AAAI Press},
	address = {Edmonton; Alberta; Canada},
	isbn = {1-57735-176-2},
	url = {https://www.cc.gatech.edu/~dellaert/pubs/Dellaert02usar.pdf},
	author = {Frank Dellaert and Tucker Balch and Michael Kaess and Ram Ravichandran and Fernando Alegre and Marc Berhault and Robert McGuire and Ernest Merrill and Lilia Moshkina and Daniel Walker}
}
@techreport {Yata02tr,
	title = {Static Environment Recognition Using Omni-camera from a Moving Vehicle},
	number = {CMU-RI-TR-02-12},
	year = {2002},
	institution = {RI},
	address = {Pittsburgh; PA},
	url = {http://www.ri.cmu.edu/pubs/pub_3960.html},
	author = {Teruko Yata and Charles E. Thorpe and Frank Dellaert}
}
@mastersthesis {Dellaert01tr,
	title = {Monte {C}arlo {EM} for Data Association and its Applications in Computer Vision},
	number = {CMU-CS-01-153},
	year = {2001},
	month = {September},
	school = {School of Computer Science; Carnegie Mellon},
	url = {http://www.ri.cmu.edu/pubs/pub_3851.html},
	author = {Frank Dellaert}
}
@conference {Liu01miccai,
	title = {Classification-Driven Pathological Neuroimage Retrieval Using Statistical Asymmetry Measures},
	booktitle = {Proceedings of the 2001 Medical Imaging Computing and Computer Assisted Intervention Conference (MICCAI {\textquoteright}01)},
	year = {2001},
	month = {October},
	address = {Utrecht; The Netherlands},
	url = {http://www.ri.cmu.edu/pubs/pub_3744.html},
	author = {Yanxi Liu and Frank Dellaert and W.E. Rothfus and Andrew Moore and Jeff Schneider and Takeo Kanade}
}
@inbook {Thrun01smc,
	title = {Particle filters for Mobile Robot Localization},
	booktitle = {Sequential {M}onte {C}arlo Methods in Practice},
	year = {2001},
	month = {January},
	publisher = {Springer-Verlag},
	organization = {Springer-Verlag},
	address = {New York},
	author = {Sebastian Thrun and Dieter Fox and Frank Dellaert and Wolfram Burgard},
	editor = {Arnaud Doucet and Nando de Freitas and Neil Gordon}
}
@techreport {Baker01tr,
	title = {Aligning Images Incrementally Backwards},
	number = {CMU-RI-TR-01-03},
	year = {2001},
	month = {Feb.},
	address = {Pittsburgh; PA},
	url = {http://www.ri.cmu.edu/pubs/pub_3491.html},
	author = {Simon Baker and Frank Dellaert and Iain Matthews}
}
@conference {Dellaert01nips,
	title = {Feature Correspondence: A {M}arkov Chain {M}onte {C}arlo Approach},
	booktitle = {NIPS},
	year = {2001},
	url = {http://www.ri.cmu.edu/pubs/pub_3429.html},
	author = {Frank Dellaert and Steven M. Seitz and Charles E. Thorpe and Sebastian Thrun}
}
@article {Thrun01ai,
	title = {Robust Monte Carlo Localization for Mobile Robots},
	journal = {Artificial Intelligence},
	volume = {128},
	number = {1-2},
	year = {2001},
	pages = {99{\textendash}141},
	url = {http://www.ri.cmu.edu/pubs/pub_3425.html},
	author = {Sebastian Thrun and Dieter Fox and Wolfram Burgard and Frank Dellaert}
}
@article {Thrun00ijrr,
	title = {Probabilistic Algorithms and the Interactive Museum Tour-Guide Robot Minerva},
	journal = {International Journal of Robotics Research},
	volume = {19},
	number = {11},
	year = {2000},
	month = {November},
	pages = {972-999},
	url = {http://www.ri.cmu.edu/pubs/pub_3420.html},
	author = {Sebastian Thrun and M. Beetz and Maren Bennewitz and Wolfram Burgard and A.B. Creemers and Frank Dellaert and Dieter Fox and Dirk Hahnel and Chuck Rosenberg and Nicholas Roy and Jamieson Schulte and Dirk Schulz}
}
@conference {Dellaert00cvpr,
	title = {Structure from Motion without Correspondence},
	booktitle = {CVPR},
	year = {2000},
	month = {June},
	url = {http://www.ri.cmu.edu/pubs/pub_3292.html},
	author = {Frank Dellaert and Steven M. Seitz and Charles E. Thorpe and Sebastian Thrun}
}
@techreport {Dellaert00tr,
	title = {Addressing the Correspondence Problem: A {M}arkov Chain {M}onte {C}arlo Approach},
	number = {CMU-RI-TR-00-11},
	year = {2000},
	month = {January},
	institution = {RI},
	url = {http://www.ri.cmu.edu/pubs/pub_3307.html},
	author = {Frank Dellaert}
}
@conference {Thrun99ki,
	title = {MINERVA: A Tour-Guide Robot that Learns},
	booktitle = {KI-99: Advances in AI},
	year = {1999},
	month = {September},
	pages = {14-26},
	publisher = {Springer},
	organization = {Springer},
	author = {Sebastian Thrun and Maren Bennewitz and Wolfram Burgard and Armin B. Cremers and Frank Dellaert and Dieter Fox and Dirk Haehnel and Charles Rosenberg and Nicholas Roy and Jamieson Schulte and Dirk Schulz},
	editor = {Wolfram Burgard and T. Christaller and A.B. Cremers}
}
@techreport {Dellaert99tr44,
	title = {Structure from Motion without Correspondence},
	number = {CMU-RI-TR-99-44},
	year = {1999},
	month = {December},
	institution = {RI},
	url = {http://www.ri.cmu.edu/pubs/pub_3245.html},
	author = {Frank Dellaert and Steven M. Seitz and Charles E. Thorpe and Sebastian Thrun}
}
@conference {Thrun99fsr,
	title = {Experiences with two deployed interactive tour-guide robots},
	booktitle = {International Conference on Field and Service Robotics (FSR)},
	year = {1999},
	month = {08/1999},
	url = {http://www.ri.cmu.edu/pubs/pub_3203.html},
	author = {Sebastian Thrun and Maren Bennewitz and Wolfram Burgard and Armin B. Cremers and Frank Dellaert and Dieter Fox and Dirk Haehnel and Charles Rosenberg and Nicholas Roy and Jamieson Schulte and Dirk Schulz and W. Steiner}
}
@conference {Thrun99icra,
	title = {MINERVA: A second generation mobile tour-guide robot},
	booktitle = {International Conference on Robotics and Automation (ICRA)},
	year = {1999},
	url = {http://www.ri.cmu.edu/pubs/pub_2664.html},
	author = {Sebastian Thrun and Maren Bennewitz and Wolfram Burgard and Armin B. Cremers and Frank Dellaert and Dieter Fox and Dirk Haehnel and Charles Rosenberg and Nicholas Roy and Jamieson Schulte and Dirk Schulz}
}
@conference {Dellaert99icra,
	title = {Monte {C}arlo {L}ocalization for Mobile Robots},
	booktitle = {ICRA},
	year = {1999},
	url = {http://www.ri.cmu.edu/pubs/pub_533.html},
	author = {Frank Dellaert and Dieter Fox and Wolfram Burgard and Sebastian Thrun}
}
@conference {Fox99aaai,
	title = {Monte {C}arlo {L}ocalization {\textendash} {E}fficient position estimation for mobile robots},
	booktitle = {AAAI},
	year = {1999},
	url = {http://www.ri.cmu.edu/pubs/pub_534.html},
	author = {Dieter Fox and Wolfram Burgard and Frank Dellaert and Sebastian Thrun}
}
@techreport {Dellaert99tr34,
	title = {Mosaicing a Large Number of Widely Dispersed; Noisy; and Distorted Images: A {B}ayesian Approach},
	number = {CMU-RI-TR-99-34},
	year = {1999},
	institution = {RI},
	url = {http://www.ri.cmu.edu/pubs/pub_3244.html},
	author = {Frank Dellaert and Sebastian Thrun and Charles E. Thorpe}
}
@conference {Dellaert99frp,
	title = {Fast Image-Based Tracking by Selective Pixel Integration},
	booktitle = {1999 ICCV Workshop on Frame Rate Vision; Corfu; Greece},
	year = {1999},
	url = {https://www.cc.gatech.edu/~dellaert/pubs/Dellaert99frv.pdf},
	author = {Frank Dellaert and Robert T. Collins}
}
@conference {Dellaert99cvpr,
	title = {Using the Condensation Algorithm for Robust - Vision-based Mobile Robot Localization},
	booktitle = {CVPR},
	year = {1999},
	url = {http://www.ri.cmu.edu/pubs/pub_532.html},
	author = {Frank Dellaert and Dieter Fox and Wolfram Burgard and Sebastian Thrun}
}
@conference {Dellaert98wacv,
	title = {Jacobian Images of Super-Resolved Texture Maps for Model-Based Motion Estimation and Tracking},
	booktitle = {WACV},
	year = {1998},
	month = {October},
	pages = {2-7},
	url = {http://www.ri.cmu.edu/pubs/pub_489.html},
	author = {Frank Dellaert and Sebastian Thrun and Charles E. Thorpe}
}
@conference {Dellaert98icra,
	title = {Model-Based Car Tracking Integrated with a Road-Follower},
	booktitle = {ICRA},
	year = {1998},
	month = {May},
	pages = {1889-1894},
	address = {Leuven; Belgium},
	url = {http://www.ri.cmu.edu/pubs/pub_491.html},
	author = {Frank Dellaert and Dean Pomerleau and Charles E. Thorpe}
}
@conference {Liu98cvpr,
	title = {A Classification Based Similarity Metric for 3D Image Retrieval},
	booktitle = {CVPR},
	year = {1998},
	month = {June},
	url = {http://www.ri.cmu.edu/pubs/pub_574.html},
	author = {Yanxi Liu and Frank Dellaert}
}
@techreport {Liu98tr,
	title = {Classification Driven Semantic Based Medical Image Indexing and Retrieval},
	number = {CMU-RI-TR-98-25},
	year = {1998},
	institution = {RI},
	address = {Pittsburgh; PA},
	url = {http://www.ri.cmu.edu/pubs/pub_472.html},
	author = {Yanxi Liu and Frank Dellaert and W.E. Rothfus}
}
@conference {Liu98cvpr,
	title = {A Classification based {E}uclidean similarity metric for {3D} image retrieval},
	booktitle = {CVPR},
	year = {1998},
	url = {http://www.ri.cmu.edu/pubs/pub_574.html},
	author = {Yanxi Liu and Frank Dellaert}
}
@conference {Liu98iuw,
	title = {Classification Driven Medical Image Retrieval},
	booktitle = {Image Understanding workshop},
	year = {1998},
	url = {http://www.ri.cmu.edu/pubs/pub_2343.html},
	author = {Yanxi Liu and Frank Dellaert}
}
@conference {Dellaert98iros,
	title = {Super-Resolved Tracking of Planar Surface Patches},
	booktitle = {IROS},
	year = {1998},
	url = {http://www.ri.cmu.edu/pubs/pub_490.html},
	author = {Frank Dellaert and Charles E. Thorpe and Sebastian Thrun}
}
@conference {Dellaert97spie,
	title = {Robust car tracking using {K}alman filtering and {B}ayesian templates},
	booktitle = {Proc. SPIE Vol. 3207; Intelligent Transportation Systems},
	volume = {3207},
	year = {1997},
	month = {October},
	pages = {72-83},
	url = {http://www.ri.cmu.edu/pubs/pub_895.html},
	author = {Frank Dellaert and Charles E. Thorpe}
}
@techreport {Dellaert97tr,
	title = {CANSS: A Candidate Selection and Search Algorithm to Initialize Car Tracking},
	number = {CMU-RI-TR-97-34},
	year = {1997},
	institution = {RI},
	url = {http://www.ri.cmu.edu/pubs/pub_916.html},
	author = {Frank Dellaert}
}
@techreport {Moravec96tr,
	title = {Fractal branching ultra-dexterous robots (Bush robots)},
	year = {1996},
	note = {PR-Number 10-86888},
	month = {December},
	institution = {NASA Advanced Concepts Research Project},
	url = {http://www.ri.cmu.edu/pubs/pub_1800.html},
	author = {Hans Moravec and Jesse Easudes and Frank Dellaert}
}
@conference {Dellaert96sab,
	title = {A Developmental Model for the Evolution of Complete Autonomous Agents},
	booktitle = {From Animals to Animats 4: Proceedings of the Fourth International Conference on Simulation of Adaptive Behavior},
	year = {1996},
	url = {http://www.ri.cmu.edu/pubs/pub_897.html},
	author = {Frank Dellaert and Randall D. Beer}
}
@conference {Dellaert96icslp,
	title = {Recognizing Emotion in Speech},
	booktitle = {International Conference on Spoken Language Processing (ICSLP)},
	year = {1996},
	doi = {http://dx.doi.org/10.1109/ICSLP.1996.608022},
	url = {http://www.ri.cmu.edu/pubs/pub_896.html},
	author = {Frank Dellaert and Thomas Polzin and Alexander Waibel}
}
@mastersthesis {Dellaert95msc,
	title = {Toward a Biologically Defensible Model of Development},
	year = {1995},
	school = {Case Western Reserve University; Dept. of Computer Engineering and Science},
	type = {masters},
	address = {Cleveland; OH 44106},
	url = {https://www.cc.gatech.edu/~dellaert/pubs/Dellaert95msc.ps.gz},
	author = {Frank Dellaert}
}
@techreport {Dellaert94tr,
	title = {Co-evolving Body and Brain in Autonomous Agents using a Developmental Mode},
	number = {CES-94-16},
	year = {1994},
	institution = {Department of Computer Engineering and Science; Case Western Reserve University},
	address = {Cleveland; OH 44106},
	url = {https://www.cc.gatech.edu/~dellaert/pubs/Dellaert94tr.ps.gz},
	author = {Frank Dellaert and Randall D. Beer}
}
@conference {Dellaert94alife,
	title = {Toward an Evolvable Model of Development for Autonomous Agent Synthesis},
	booktitle = {Artificial Life IV; Proceedings of the Fourth International Workshop on the Synthesis and Simulation of Living Systems},
	year = {1994},
	url = {http://www.ri.cmu.edu/pubs/pub_3308.html},
	author = {Frank Dellaert and Randall D. Beer}
}
@conference {Dellaert94cnna,
	title = {Automatic design of Cellular Neural Networks by means of Genetic Algorithms: Finding a Feature Detector},
	booktitle = {CNNA {\textquoteright}94: proceedings; fourth International IEEE Workshop on Cellular Neural Networks and their Applications},
	year = {1994},
	url = {http://www.ri.cmu.edu/pubs/pub_898.html},
	author = {Frank Dellaert and Joos Vandewalle}
}
@mastersthesis {Dellaert89msc,
	title = {Simulation of a Retinotopic Computer},
	year = {1989},
	school = {Catholic University of Leuven; Dept. of Electrical Engineering},
	type = {masters},
	address = {Leuven; Belgium},
	author = {Frank Dellaert and Erik Laurijssen}
}