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We present a generative model and inference algorithm for 3D nonrigid object tracking. The model, which we call G-flow, enables the joint inference of 3D position, orientation, and nonrigid deformations, as well as object texture and background texture. Optimal inference under G-flow reduces to a conditionally Gaussian stochastic filtering problem. The optimal solution to this problem reveals a new...
We introduce a new method for stereo visual SLAM (simultaneous localization and mapping) that works in unstructured, outdoor environments. Unlike other grid-based SLAM algorithms, which use occupancy grid maps, our algorithm uses a new mapping technique that maintains a posterior distribution over the height variance in each cell. This idea was motivated by our experience with outdoor navigation tasks,...
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