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POLOK, L. ILA, V. ŠOLONY, M. ZEMČÍK, P. SMRŽ, P.
Original Title
Efficient Implementation for Block Matrix Operations Nonlinear Least Squares Problems for Robotic Applications
Type
article in a collection out of WoS and Scopus
Language
English
Original Abstract
A large number of robotic, computer vision and computer graphics applications rely on efficiently solving the associated sparse linear system. Simultaneous localization and mapping (SLAM), structure from motion (SFM), non-rigid shape recovery, elastodynamic simulations, are only few examples in this direction. In general, those problems are non-linear and the solution can be approximated by incrementally solving a series of linearized problems. In some applications, the size of the systems might considerable affect the performance, especially when the sparsity is low. This paper exploits the block structure of such problems and offers efficient solutions to manipulate block matrices. In particular, we focus on testing the method on SLAM applications, but the applicability of the technique remains general.
Keywords
Block Matrix Operations, Nonlinear Least Squares, SLAM, Robotics
Authors
POLOK, L.; ILA, V.; ŠOLONY, M.; ZEMČÍK, P.; SMRŽ, P.
RIV year
2013
Released
10. 5. 2013
Publisher
IEEE Computer Society
Location
Karlsruhe
ISBN
978-1-4673-5642-8
Book
Proceedings of 2013 IEEE International Conference on Robotics and Automation
Pages from
123
Pages to
131
Pages count
8
URL
http://ieeexplore.ieee.org/document/6630883/?arnumber=6630883
BibTex
@inproceedings{BUT103427, author="Lukáš {Polok} and Viorela Simona {Ila} and Marek {Šolony} and Pavel {Zemčík} and Pavel {Smrž}", title="Efficient Implementation for Block Matrix Operations Nonlinear Least Squares Problems for Robotic Applications", booktitle="Proceedings of 2013 IEEE International Conference on Robotics and Automation", year="2013", pages="123--131", publisher="IEEE Computer Society", address="Karlsruhe", doi="10.1109/ICRA.2013.6630883", isbn="978-1-4673-5642-8", url="http://ieeexplore.ieee.org/document/6630883/?arnumber=6630883" }