The Borg Lab

Topological Mapping

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.

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Ananth Ranganathan
Frank Dellaert

Related Papers

Online Probabilistic Topological Mapping
Ranganathan A, Dellaert F
IJRR
2010
Online Probabilistic Topological Mapping, Ranganathan, Ananth, and Dellaert Frank , IJRR, (2010)
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Probabilistic Topological Mapping for Mobile Robots using Urn Models
Ranganathan A, Dellaert F
2007
Probabilistic Topological Mapping for Mobile Robots using Urn Models, Ranganathan, Ananth, and Dellaert Frank , Number GIT-GVU-07-03, (2007)
A Rao-Blackwellized Particle Filter for Topological Mapping
Ranganathan A, Dellaert F
ICRA
2006
A Rao-Blackwellized Particle Filter for Topological Mapping, Ranganathan, Ananth, and Dellaert Frank , ICRA, (2006)
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Bayesian Inference in the Space of Topological Maps
Ranganathan A, Menegatti E, Dellaert F
TRO
2006
Bayesian Inference in the Space of Topological Maps, Ranganathan, Ananth, Menegatti E., and Dellaert Frank , TRO, Volume 22, Number 1, p.92–107, (2006) Abstract
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Data driven {MCMC} for Appearance-based Topological mapping
Ranganathan A, Dellaert F
Robotics: Science and Systems (RSS)
2005
Data driven {MCMC} for Appearance-based Topological mapping, Ranganathan, Ananth, and Dellaert Frank , Robotics: Science and Systems (RSS) , (2005)
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Data driven {MCMC} for Appearance-based Topological mapping
Ranganathan A, Dellaert F
2005
Data driven {MCMC} for Appearance-based Topological mapping, Ranganathan, Ananth, and Dellaert Frank , Number GIT-GVU-05-12, (2005)
Dirichlet Process based Bayesian Partition Models for Robot Topological Mapping
Ranganathan A, Dellaert F
2004
Dirichlet Process based Bayesian Partition Models for Robot Topological Mapping, Ranganathan, Ananth, and Dellaert Frank , Number GIT-GVU-04-21, (2004)
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Inference in the Space of Topological Maps: An {MCMC}-Based Approach
Ranganathan A, Dellaert F
IROS
2004
Inference in the Space of Topological Maps: An {MCMC}-Based Approach, Ranganathan, Ananth, and Dellaert Frank , IROS, (2004)