The Borg Lab

Richard Roberts

About Me

I'm a PhD candidate in Robotics at Georgia Tech.  My research interests are in robot vision for high-speed autonomous mobility.  I'm currently working on autonomous driving using instantaneous image motion.  This is related to optical flow but is not exactly, because we don't have to compute optical flow first!

I'm also heavily involved in development of GTSAM, our group's high-performance and easy-to-use C++ (and Matlab-wrapped) library for robot smoothing and mapping and general incremental nonlinear least-squares optimization.

See below for current projects & papers

Past projects
Learning behaviors Mobile manipulation
Educational robot software Finite-element analysis and Cichlid jaw strength

Additional links

My calendar availability

Projects

Autonomous Navigation by Optical Flow
GTSAM
iLBA: Incremental Light Bundle Adjustment
Plug & Play Navigation

Journal Papers

Concurrent Filtering and Smoothing: A Parallel Architecture for Real-Time Navigation and Full Smoothing
Williams S, Indelman V, Kaess M, Roberts R, Leonard J, Dellaert F
2014
Concurrent Filtering and Smoothing: A Parallel Architecture for Real-Time Navigation and Full Smoothing, Williams, Stephen, Indelman Vadim, Kaess Michael, Roberts Richard, Leonard John, and Dellaert Frank , (2014)
iSAM2: Incremental Smoothing and Mapping Using the Bayes Tree
Kaess M, Johannsson H, Roberts R, Ila V, Leonard J, Dellaert F
International Journal of Robotics Research (IJRR)
2012
iSAM2: Incremental Smoothing and Mapping Using the Bayes Tree, Kaess, Michael, Johannsson Hordur, Roberts Richard, Ila Viorela, Leonard John, and Dellaert Frank , International Journal of Robotics Research (IJRR), (2012)
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Learning Outdoor Mobile Robot Behaviors by Example
Roberts R, Pippin C, Balch T
Journal of Field Robotics
2009
Learning Outdoor Mobile Robot Behaviors by Example, Roberts, Richard, Pippin Charles, and Balch Tucker , Journal of Field Robotics, Volume 26, Issue 2, (2009)
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Conference Papers

Direct Superpixel Labeling for Mobile Robot Navigation Using Learned General Optical Flow Templates
Roberts R, Dellaert F
2014
Direct Superpixel Labeling for Mobile Robot Navigation Using Learned General Optical Flow Templates, Roberts, Richard, and Dellaert Frank , (2014)
Optical Flow Templates for Superpixel Labeling in Autonomous Robot Navigation
Roberts R, Dellaert F
5th Workshop on Planning, Perception and Navigation for Intelligent Vehicles (PPNIV13)
2013
Optical Flow Templates for Superpixel Labeling in Autonomous Robot Navigation, Roberts, Richard, and Dellaert Frank , 5th Workshop on Planning, Perception and Navigation for Intelligent Vehicles (PPNIV13), 11/2013, Tokyo, Japan, (2013)
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High Frame Rate Egomotion Estimation
Srinivasan N, Roberts R, Dellaert F
International Conference on Computer Vision Systems
2013
High Frame Rate Egomotion Estimation, Srinivasan, Natesh, Roberts Richard, and Dellaert Frank , International Conference on Computer Vision Systems, 07/2013, Volume 7963, p.183-192, (2013)
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Probabilistic Analysis of Incremental Light Bundle Adjustment
Indelman V, Roberts R, Dellaert F
IEEE Workshop on Robot Vision (WoRV)
2013
Probabilistic Analysis of Incremental Light Bundle Adjustment, Indelman, Vadim, Roberts Richard, and Dellaert Frank , IEEE Workshop on Robot Vision (WoRV), 01/2013, (2013)
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Incremental Light Bundle Adjustment
Indelman V, Roberts R, Beall C, Dellaert F
British Machine Vision Conference (BMVC)
2012
Incremental Light Bundle Adjustment, Indelman, Vadim, Roberts Richard, Beall Chris, and Dellaert Frank , British Machine Vision Conference (BMVC), 09/2012, (2012)
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Saliency Detection and Model-based Tracking: a Two Part Vision System for Small Robot Navigation in Forested Environment
Roberts R, Ta D-N, Straub J, Dellaert F
Unmanned Systems Technology XIV - SPIE Defense; Security; and Sensing
2012
Saliency Detection and Model-based Tracking: a Two Part Vision System for Small Robot Navigation in Forested Environment, Roberts, Richard, Ta Duy-Nguyen, Straub Julian, and Dellaert Frank , Unmanned Systems Technology XIV - SPIE Defense; Security; and Sensing, 04/2012, (2012)
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Concurrent Filtering and Smoothing
Kaess M, Williams S, Indelman V, Roberts R, Leonard J, Dellaert F
FUSION
2012
Concurrent Filtering and Smoothing, Kaess, Michael, Williams Stephen, Indelman Vadim, Roberts Richard, Leonard John, and Dellaert Frank , FUSION, (2012)
image/png iconKaess12fusion.png
Structure from motion for scenes with large duplicate structures
Roberts R, Sinha SN, Szeliski R, Steedly D
IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR 2011)
2011
Structure from motion for scenes with large duplicate structures, Roberts, Richard, Sinha Sudipta N., Szeliski Richard, and Steedly Drew , IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR 2011), June, Fort Collins, CO, (2011)
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iSAM2: Incremental Smoothing and Mapping with Fluid Relinearization and Incremental Variable Reordering
Kaess M, Johannsson H, Roberts R, Ila V, Leonard J, Dellaert F
ICRA
2011
iSAM2: Incremental Smoothing and Mapping with Fluid Relinearization and Incremental Variable Reordering, Kaess, Michael, Johannsson Hordur, Roberts Richard, Ila Viorela, Leonard John, and Dellaert Frank , ICRA, (2011)
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The Bayes Tree: An Algorithmic Foundation for Probabilistic Robot Mapping
Kaess M, Ila V, Roberts R, Dellaert F
WAFR
2010
The Bayes Tree: An Algorithmic Foundation for Probabilistic Robot Mapping, Kaess, Michael, Ila Viorela, Roberts Richard, and Dellaert Frank , WAFR, Dec, (2010)
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Learning General Optical Flow Subspaces for Egomotion Estimation and Detection of Motion Anomalies
Roberts R, Potthast C, Dellaert F
CVPR
2009
Learning General Optical Flow Subspaces for Egomotion Estimation and Detection of Motion Anomalies, Roberts, Richard, Potthast Christian, and Dellaert Frank , CVPR, (2009)
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Place Recognition-based Fixed-lag Smoothing for Environments with Unreliable GPS
Mottaghi R, Kaess M, Ranganathan A, Roberts R, Dellaert F
ICRA
2008
Place Recognition-based Fixed-lag Smoothing for Environments with Unreliable GPS, Mottaghi, Roozbeh, Kaess Michael, Ranganathan Ananth, Roberts Richard, and Dellaert Frank , ICRA, (2008)
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Memory-Based Learning for Visual Odometry
Roberts R, Nguyen H, Krishnamurthi N, Balch T
IEEE International Conference on Robotics and Automation, ICRA
2008
Memory-Based Learning for Visual Odometry, Roberts, Richard, Nguyen Hai, Krishnamurthi Niyant, and Balch Tucker , IEEE International Conference on Robotics and Automation, ICRA, (2008)
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Technical Reports

The Bayes Tree: Enabling Incremental Reordering and Fluid Relinearization for Online Mapping
Kaess M, Ila V, Roberts R, Dellaert F
MIT-CSAIL-TR-2010-021
2010