Events Calendar

CS Colloquium: Frank Dellaert: Subgraph Sparsifiers for Fast and Scalable Mapping and 3D Reconstruction

Speaker: Frank Dellaert, Georgia Tech

Talk Title: Subgraph Sparsifiers for Fast and Scalable Mapping and 3D Reconstruction

Series: CS Colloquium

Abstract: Simultaneous Localization and Mapping (SLAM) and Structure from Motion (SFM) are important and closely related problems in robotics and vision. I will review how SLAM andSFM can be posed in terms of factor graphs, and that inference in these domains can be understood as variable elimination. After linearization, this corresponds to using direct linear solvers such as Cholesky and QR factorization. However, these methods face considerable challenges when confronted with graphs graphs that contain dense cliques, e.g., when seeing a tall tower from many different viewpoints. I will then show how identifying an efficient sub-problem (subgraph) can yield pre-conditioners for iterative methods to attack truly large-scale problems, and make the connection with support graph theory pioneered, among others, by Dan Spielman and Shang-Hua Teng.

Biography: Frank Dellaert is an Associate Professor in the School of Interactive Computing, College of Computing at Georgia Tech. His research is in the areas of Robotics and Computer vision. He is particularly interested in graphical model techniques to solve large-scale problems in mapping and 3D reconstruction. You can find out about his research and publications at http://www.cc.gatech.edu/~dellaert

Host: Gaurav Sukhatme

Location: Seaver Science Library (SSL) - 150

Audiences: Everyone Is Invited

Contact: Assistant to CS chair