Robohub.org
Michael Kaess: Factor Graphs for Robot Perception | CMU RI Seminar
Abstract: “Factor graphs have become a popular tool for modeling robot perception problems. Not only can they model the bipartite relationship between sensor measurements and variables of interest for inference, but they have also been instrumental in devising novel inference algorithms that exploit the spatial and temporal structure inherent in these problems. I will overview some of the inference algorithms and present two specific applications: Simultaneous localization and mapping for underwater robots and state estimation for aerial robots. For state estimation I will introduce a novel fixed-lag smoother for visual-inertial odometry. I will also give a brief overview of factor graphs in the context of other robot perception problems.”
John Payne
Related posts :
Social media round-up from #IROS2025
Lucy Smith
27 Oct 2025
Take a look at what participants got up to at the IEEE/RSJ International Conference on Intelligent Robots and Systems.
Using generative AI to diversify virtual training grounds for robots
MIT News
24 Oct 2025
New tool from MIT CSAIL creates realistic virtual kitchens and living rooms where simulated robots can interact with models of real-world objects, scaling up training data for robot foundation models.
Robot Talk Episode 130 – Robots learning from humans, with Chad Jenkins
Robot Talk
24 Oct 2025
In the latest episode of the Robot Talk podcast, Claire chatted to Chad Jenkins from University of Michigan about how robots can learn from people and assist us in our daily lives.
Robot Talk at the Smart City Robotics Competition
Robot Talk
22 Oct 2025
In a special bonus episode of the podcast, Claire chatted to competitors, exhibitors, and attendees at the Smart City Robotics Competition in Milton Keynes.
Robot Talk Episode 129 – Automating museum experiments, with Yuen Ting Chan
Robot Talk
17 Oct 2025
In the latest episode of the Robot Talk podcast, Claire chatted to Yuen Ting Chan from Natural History Museum about using robots to automate molecular biology experiments.
What’s coming up at #IROS2025?
Lucy Smith
15 Oct 2025
Find out what the International Conference on Intelligent Robots and Systems has in store.
From sea to space, this robot is on a roll
Texas A&M University
13 Oct 2025
Graduate students in the aptly named "RAD Lab" are working to improve RoboBall, the robot in an airbag.
Robot Talk Episode 128 – Making microrobots move, with Ali K. Hoshiar
Robot Talk
10 Oct 2025
In the latest episode of the Robot Talk podcast, Claire chatted to Ali K. Hoshiar from University of Essex about how microrobots move and work together.
