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ILA, V. POLOK, L. SMRŽ, P. ŠOLONY, M. ZEMČÍK, P.
Original Title
Incremental Cholesky Factorization for Least Squares Problems in Robotics
Type
article in a collection out of WoS and Scopus
Language
English
Original Abstract
The paper proposes a novel efficient incremental solution to least squares problems, with focus on the use in robotic applications, especially the simultaneous location an mapping problem. The results are very good, the proposed method significantly outperforms all the major state of the art implementations.
Keywords
Robotics, Least squares problems, SLAM, Incremental solvers
Authors
ILA, V.; POLOK, L.; SMRŽ, P.; ŠOLONY, M.; ZEMČÍK, P.
RIV year
2013
Released
26. 6. 2013
Publisher
IEEE Computer Society
Location
Gold Coast
ISBN
978-3-902823-36-6
Book
Proceedings of The 2013 IFAC Intelligent Autonomous Vehicles Symposium
Pages from
1
Pages to
8
Pages count
URL
http://www.sciencedirect.com/science/article/pii/S1474667015349284
BibTex
@inproceedings{BUT103505, author="Viorela Simona {Ila} and Lukáš {Polok} and Pavel {Smrž} and Marek {Šolony} and Pavel {Zemčík}", title="Incremental Cholesky Factorization for Least Squares Problems in Robotics", booktitle="Proceedings of The 2013 IFAC Intelligent Autonomous Vehicles Symposium", year="2013", pages="1--8", publisher="IEEE Computer Society", address="Gold Coast", doi="10.3182/20130626-3-AU-2035.00027", isbn="978-3-902823-36-6", url="http://www.sciencedirect.com/science/article/pii/S1474667015349284" }