Frank Dellaert | Factor Graphs for Perception and​ Action | Tartan SLAM Series

Presentation by Frank Dellaert titled, "Factor Graphs for Perception and​ Action" as part of the Tartan SLAM Series. 
Series overviews and links can be found on our webpage: https://theairlab.org/tartanslamseries2/

Outline:
00:00 - Welcome and Intro
01:50 - Introduction to Factor Graphs for Perception and Action
04:34 - Outline
05:31 - Why Factor Graphs?
08:11 - Factor Graphs for Perception
19:13 - Trajectory Optimization
30:14 - Optimal Control
43:45 - Model-predictive Control
49:21 - Conclusion
50:14 - Q&A
50:30 - Q&A: Book recommendation for factor graphs
51:53 - Q&A: IMU preintegration
53:42 - Q&A: Constraint optimization
56:17 - Q&A: Robot-world interaction and deliberate contact
59:41 - Q&A: GPU factor graph acceleration
01:02:02 - Q&A: Temporal difference in loop-closure detection with factor graph
01:04:32 - Q&A: Balance of different factors in the factor graph
01:06:54 - Ending