Saturday, July 6, 2019

Graphs in Spatial AI

Andrew Davison is talking about using graphs to propagate local information into the global structure here.

[23:42] Forgotten graph techniques for SLAM: Gaussian belief propagation.
Some experiments in distributed processing Gaussian Belief Propagation
x Master representation is the factor graph; can be completely dynamic.
x Global entities can be estimated with completely local processing and storage and message passing.
x Linear, Gaussian GaBP (belief propagation) converges to correct means, over-confident ellipses.
x Interesting progress towards non-linear and robust factor graphs.
x Implements recompute instead of store. New measures of algorithm performance needed.

[26:15] Estimate global things with purely local computation.
[27:22] Graphs in Spatial AI
Graph NN (neural networks).