Publications

Probabilistic Topological Maps. Ananth Ranganathan PhD Dissertation, College of Computing Georgia Institute of Technology, Feb 2008

iSAM: Incremental Smoothing and Mapping Michael Kaess, Ananth Ranganathan, and Frank Dellaert. Accepted to IEEE Transactions on Robotics, 2008

Bayesian Inference in the Space of Topological Maps. Ananth Ranganathan, Emanuele Menegatti, and Frank Dellaert. IEEE Transactions on Robotics, 22(1):92-107, Feb 2006. Note- The published version of the paper has an error in Figure 13 where the ground truth is wrongly indicated. The above link points to the corrected version. The published version can be found here. Thanks to Patrick Beeson for pointing out the error.

	Online Sparse Matrix Gaussian Process Regression and Vision Applications Ananth Ranganathan and Ming-Hsuan Yang ECCV 2008, pg 468-482, Marseille, France.
	Place Recognition-based Fixed-Lag Smoothing for Environments with Unreliable GPS Roozbeh Mottaghi, Michael Kaess, Ananth Ranganathan, Richard Roberts and Frank Dellaert ICRA 2008, Pasadena.
	Fast 3D Pose Estimation With Out-of-Sequence Measurements Ananth Ranganathan, Michael Kaess, and Frank Dellaert IROS 2007, San Diego.
	Semantic Modeling of Places using Objects Ananth Ranganathan and Frank Dellaert Robotics: Science and Systems (RSS), 2007.
	iSAM: Fast Incremental Smoothing and Mapping with Efficient Data Association Michael Kaess, Ananth Ranganathan, and Frank Dellaert. ICRA, Rome, 2007.
	Fast Incremental Square Root Information Smoothing Michael Kaess, Ananth Ranganathan, and Frank Dellaert. IJCAI 2007, Hyderabad
	Loopy SAM Ananth Ranganathan, Michael Kaess, and Frank Dellaert. IJCAI 2007, Hyderabad
	A Rao-Blackwellized Particle Filter for Topological Mapping. (Best Conference Paper Finalist) Ananth Ranganathan and Frank Dellaert. ICRA, pages 810-817, Orlando, 2006.
	Data driven MCMC for Appearance-based Topological Mapping. Ananth Ranganathan and Frank Dellaert. Robotics: Science and Systems, 2005.
	Inference In The Space Of Topological Maps: An MCMC-based Approach. Ananth Ranganathan and Frank Dellaert. IROS, pages 1518-1523, Sendai, Japan, 2004.
	PDRRTs: Integrating Graph-Based and Cell-Based Planning. Ananth Ranganathan and Sven Koenig. IROS, pages 2799-2806, Sendai, Japan, 2004.
	A Reactive Robot Architecture with Planning on Demand. Ananth Ranganathan and Sven Koenig. IROS, pages 1462-1468, Las Vegas, 2003.

• Automatic Landmark Detection for Topological Mapping Using Bayesian Surprise
  Ananth Ranganathan and Frank Dellaert
  IC Tech Report GT-IC-08-04, 2008.
• Probabilistic Topological Mapping for Mobile Robots using Urn Models
  Ananth Ranganathan and Frank Dellaert
  GVU Tech Report GIT-GVU-07-03, 2007.
• A Variational inference method for Switching Linear Dynamic Systems.
  Sang Min Oh, Ananth Ranganathan, James M. Rehg and Frank Dellaert.
  GVU Tech Report GIT-GVU-05-16, 2005.
• Data Driven MCMC for Appearance-based Topological Mapping
  Ananth Ranganathan and Frank Dellaert
  GVU Tech Report GIT-GVU-05-12, 2005.
• PDRRTs: Integrating Graph-Based and Cell-Based Planning.
  Ananth Ranganathan and Sven Koenig.
  GVU Tech Report GIT-GVU-04-10, 2004.
• Dirichlet Process based Bayesian Partition Models for Robot Topological Mapping.
  Ananth Ranganathan and Frank Dellaert.
  GVU Tech Report GIT-GVU-04-21, 2004.

• BIRS 2006 Workshop on Mathematical Methods in Computer Vision,
  Banff Internation Research Station (BIRS), Alberta, Canada