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Factor Graphs for Fast and Scalable 3D Reconstruction and Mapping
Published on 2014-04-033297 Views
Simultaneous Localization and Mapping (SLAM) and Structure from Motion (SFM) are important and closely related problems in robotics and vision. I will show how both SLAM and SFM instances can be posed
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Presentation
Optimization in Factor Graphs for Fast and Scalable 3D Reconstruction and Mapping00:00
Georgia PhD program00:11
Monte Carlo Localization00:54
SLAM = Simultaneous Localization and Mapping01:47
2013: Full 3D LIDAR Mapping02:39
Large-Scale Structure from Motion03:30
3D Models from Community Databases - 103:50
3D Models from Community Databases - 204:10
4D Reconstruction - 104:48
4D Reconstruction - 205:43
3D Reconstruction06:12
4D Structure over Time06:39
Outline - 107:32
Outline - 207:45
Acknowledgements08:34
Boolean Satisfiability09:19
Constraint Satisfaction Problems - 110:27
Constraint Satisfaction Problems - 210:40
Graphical Models11:10
Continuous Probability Densities12:18
Simultaneous Localization and Mapping (SLAM)12:58
Factor Graph -> Smoothing and Mapping (SAM)! - 113:39
Factor Graph -> Smoothing and Mapping (SAM)! - 214:15
Structure from Motion14:40
Outline - 315:31
Gaussian Factor Graph == mxn Matrix15:52
Linear Least Squares - 116:38
Linear Least Squares - 216:45
Square Root Factorization17:27
Intel Dataset18:08
MIT Killian Court Dataset18:19
Variable Elimination - 118:44
Variable Elimination - 220:56
Small Example - 121:33
Small Example - 222:33
Small Example - 322:45
Small Example - 422:46
Small Example - 522:47
Small Example - 623:32
Elimination at work - 123:51
Elimination at work - 224:03
Outline - 425:39
GTSAM 225:52
Elimination order is again CRUCIAL26:36
Approximate Minimum Degree27:22
Divide and Conquer27:45
St. Peter’s Basilica, Rome28:28
Nested Dissection (but good separators are hard)29:11
Nested-Dissection for SFM: Hyper-SFM29:39
GTSAM in Robotics30:23
iSAM [Kaess et al., TRO 08] - 130:57
iSAM [Kaess et al., TRO 08] - 231:46
iSAM2: Bayes Tree for Manhattan Sequence33:51
Notable Applications of iSAM - 135:18
Notable Applications of iSAM - 235:23
Notable Applications of iSAM - 335:47
Mapping Aircraft Carriers etc ...36:02
Long-‐term Visual Mapping38:02
Reduced Pose Graph – 10 Floors38:42
Reduced Pose Graph39:34
Very long-term Mapping40:09
Outline - 541:08
Of Eiffel Towers ... - 142:06
Of Eiffel Towers ... - 243:02
Iterative Methods44:44
Main Idea (with Viorela Ila and Doru Balcan)45:31
Linear Reparametrization is Preconditioning46:42
Original, max47:09
Preconditioner47:47
Preconditioned, max48:23
Illustration with Real Data48:41
Notre Dame49:19
Piazza San Marco49:25
Results49:41
Outline - 649:56
GTSAM 350:42
Backbone Methods51:58
Who needs correspondence ...52:41
Distributed SLAM (and SFM?)53:38
GTSAM: SAM + MPC54:01
Outline - 754:37