Publication detail

Incremental Cholesky Factorization for Least Squares Problems in Robotics

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

8

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"
}

Documents

iav2013.pdf