{"665087":{"#nid":"665087","#data":{"type":"event","title":"PhD Proposal by Tony Lin","body":[{"value":"\u003Cp\u003E\u003Cstrong\u003ETitle:\u0026nbsp;\u003C\/strong\u003ESemantic Scene Description for Distributed Simultaneous Localization and Mapping in Communication-Constrained Environments\u003C\/p\u003E\r\n\r\n\u003Cp\u003E\u0026nbsp;\u003C\/p\u003E\r\n\r\n\u003Cp\u003E\u003Cstrong\u003EDate:\u0026nbsp;\u003C\/strong\u003EFriday, January 27, 2023\u003C\/p\u003E\r\n\r\n\u003Cp\u003E\u003Cstrong\u003ETime:\u0026nbsp;\u003C\/strong\u003E9:00AM \u0026ndash; 11:00AM\u0026nbsp;EST\u003C\/p\u003E\r\n\r\n\u003Cp\u003E\u003Cstrong\u003ELocation:\u0026nbsp;\u003C\/strong\u003EVirtual \u003Ca href=\u0022https:\/\/teams.microsoft.com\/l\/meetup-join\/19%3ameeting_ZmFiNDA4ODMtODE4ZC00YmJlLTkyZDMtYjNkNTkwMzA1OGVj%40thread.v2\/0?context=%7b%22Tid%22%3a%22482198bb-ae7b-4b25-8b7a-6d7f32faa083%22%2c%22Oid%22%3a%223ef99ab0-593c-414d-9b55-5b82aba2dab2%22%7d\u0022\u003E(link)\u003C\/a\u003E\u003C\/p\u003E\r\n\r\n\u003Cp\u003E\u0026nbsp;\u003C\/p\u003E\r\n\r\n\u003Cp\u003E\u003Cstrong\u003ETony Lin\u003C\/strong\u003E\u003C\/p\u003E\r\n\r\n\u003Cp\u003ERobotics\u0026nbsp;PhD\u0026nbsp;Student\u003C\/p\u003E\r\n\r\n\u003Cp\u003ESchool of Electrical and Computer Engineering\u003C\/p\u003E\r\n\r\n\u003Cp\u003EGeorgia Institute of Technology\u003C\/p\u003E\r\n\r\n\u003Cp\u003E\u0026nbsp;\u003C\/p\u003E\r\n\r\n\u003Cp\u003E\u003Cstrong\u003ECommittee:\u003C\/strong\u003E\u003C\/p\u003E\r\n\r\n\u003Cp\u003EDr. Fumin Zhang (Co-Advisor) \u0026ndash; School of\u0026nbsp;Electrical and Computer Engineering, Georgia Institute of Technology\u003C\/p\u003E\r\n\r\n\u003Cp\u003EDr. Samuel Coogan (Co-Advisor) \u0026ndash;\u0026nbsp;School of\u0026nbsp;Electrical and Computer Engineering, Georgia Institute of Technology\u003C\/p\u003E\r\n\r\n\u003Cp\u003EDr.\u0026nbsp;Matthieu Bloch\u0026nbsp;\u0026ndash; School of Electrical and Computer Engineering, Georgia Institute of Technology\u003C\/p\u003E\r\n\r\n\u003Cp\u003EDr.\u0026nbsp;Seth Hutchinson\u0026nbsp;\u0026ndash; School of Interactive Computing, Georgia Institute of Technology\u003C\/p\u003E\r\n\r\n\u003Cp\u003EDr. Ye Zhao \u0026ndash; School of Mechanical Engineering, Georgia Institute of Technology\u003C\/p\u003E\r\n\r\n\u003Cp\u003E\u0026nbsp;\u003C\/p\u003E\r\n\r\n\u003Cp\u003E\u003Cstrong\u003EAbstract:\u0026nbsp;\u003C\/strong\u003E\u003C\/p\u003E\r\n\r\n\u003Cp\u003EThis proposal aims to develop a framework to solve a distributed Simultaneous Localization and Mapping (SLAM) problem in communication-constrained environments, in which robots individually solve the SLAM problem while sharing semantic descriptions (e.g., \u003Cem\u003E\u0026ldquo;I see potted plants on my left and a television on my right\u0026rdquo;\u003C\/em\u003E) of their personal views. Our proposed approach incorporates such information by treating semantic descriptions of scenes as coarse relative pose estimates perturbed by some non-Gaussian noise which must be learned from data. Central to utilizing this semantic information is handling the inherent difficulties associated with the quantifying the unknown noise distribution and the \u003Cstrong\u003Edata association\u003C\/strong\u003E problem arising from the lack of uniqueness in semantic descriptions (multiple scenes may be described by the same semantic description). To overcome these difficulties, this work leverages a \u003Cstrong\u003Eparticle-driven filtering and smoothing\u003C\/strong\u003E strategy in which \u003Cstrong\u003EGenerative Adversarial Networks (GANs)\u003C\/strong\u003E are utilized to learn the unknown noise distribution and a novel \u003Cstrong\u003EParticle Product\u003C\/strong\u003E strategy, which approximates the product of two particle distributions, is used to transform and fuse shared particle distributions into a robot\u0026rsquo;s local frame of reference. The proposed Particle Product strategy is also employed to provide resiliency in the data association problem when performing smoothing of the particle estimates for each robot\u0026rsquo;s trajectory.\u003C\/p\u003E\r\n","summary":null,"format":"limited_html"}],"field_subtitle":"","field_summary":"","field_summary_sentence":[{"value":"Semantic Scene Description for Distributed Simultaneous Localization and Mapping in Communication-Constrained Environments"}],"uid":"27707","created_gmt":"2023-01-25 15:58:42","changed_gmt":"2023-01-25 15:58:42","author":"Tatianna Richardson","boilerplate_text":"","field_publication":"","field_article_url":"","field_event_time":{"event_time_start":"2023-02-27T09:00:00-05:00","event_time_end":"2023-02-27T11:00:00-05:00","event_time_end_last":"2023-02-27T11:00:00-05:00","gmt_time_start":"2023-02-27 14:00:00","gmt_time_end":"2023-02-27 16:00:00","gmt_time_end_last":"2023-02-27 16:00:00","rrule":null,"timezone":"America\/New_York"},"extras":[],"groups":[{"id":"221981","name":"Graduate Studies"}],"categories":[],"keywords":[{"id":"102851","name":"Phd proposal"}],"core_research_areas":[],"news_room_topics":[],"event_categories":[{"id":"1788","name":"Other\/Miscellaneous"}],"invited_audience":[{"id":"78761","name":"Faculty\/Staff"},{"id":"78771","name":"Public"},{"id":"78751","name":"Undergraduate students"}],"affiliations":[],"classification":[],"areas_of_expertise":[],"news_and_recent_appearances":[],"phone":[],"contact":[],"email":[],"slides":[],"orientation":[],"userdata":""}}}