• Publications
  • Influence
Robust distributed network localization with noisy range measurements
A distributed, linear-time algorithm for localizing sensor network nodes in the presence of range measurement noise is described and the probabilistic notion of robust quadrilaterals is introduced as a way to avoid flip ambiguities that otherwise corrupt localization computations. Expand
Understanding Natural Language Commands for Robotic Navigation and Mobile Manipulation
This paper describes a new model for understanding natural language commands given to autonomous systems that perform navigation and mobile manipulation in semi-structured environments that dynamically instantiates a probabilistic graphical model for a particular natural language command according to the command's hierarchical and compositional semantic structure. Expand
Anchor-Free Distributed Localization in Sensor Networks
A fully decentralized algorithm called AFL (Anchor-Free Localization) where nodes start from a random initial coordinate assignment and converge to a consistent solution using only local node interactions, which is superior to previously proposed methods that incrementally compute the coordinates of nodes in the network. Expand
Particle Video: Long-Range Motion Estimation Using Point Trajectories
  • P. Sand, S. Teller
  • Computer Science
  • IEEE Computer Society Conference on Computer…
  • 17 June 2006
A new approach to motion estimation in video using a set of particles that is useful for a variety of applications and cannot be directly obtained using existing methods such as optical flow or feature tracking. Expand
Fast iterative alignment of pose graphs with poor initial estimates
This work presents a fast non-linear optimization algorithm that rapidly recovers the robot trajectory, even when given a poor initial estimate, using a variant of stochastic gradient descent on an alternative state-space representation that has good stability and computational properties. Expand
Anytime Motion Planning using the RRT*
This paper presents two key extensions to the RRT*, committed trajectories and branch-and-bound tree adaptation, that together enable the algorithm to make more efficient use of computation time online, resulting in an anytime algorithm for real-time implementation. Expand
The cricket compass for context-aware mobile applications
This work shows how to estimate the orientation of a mobile device to within a few degrees, using precise, sub-centimeter differences in distance estimates from a beacon to each sensor on the compass, and describes an algorithm that combines several carrier arrival times to produce a robust estimate of the rigid orientation of the mobile compass. Expand
An Atlas framework for scalable mapping
Atlas is described, a hybrid metrical/topological approach to SLAM that achieves efficient mapping of large-scale environments using a graph of coordinate frames that captures the local environment and the current robot pose along with the uncertainties of each. Expand
Visibility Computations in Densely Occluded Polyhedral Environments
This thesis investigates the extent to which precomputation and storage of visibility information can be utilized to accelerate on-line culling and rendering during an interactive visual simulation of a densely occluded geometric model and implemented abstract notions for several interesting and realistic input classes. Expand
Visibility preprocessing for interactive walkthroughs
A method of visibility preprocessing that is efficient and effective for axis-aligned or axial architectural models and tests on moderately complex 2-D and 3-D axial models reveal substantially reduced rendering loads. Expand