Publication detail

Incremental Block Cholesky Factorization for Nonlinear Least Squares in Robotics

ILA, V. POLOK, L. SMRŽ, P. ŠOLONY, M. ZEMČÍK, P.

Original Title

Incremental Block Cholesky Factorization for Nonlinear Least Squares in Robotics

Type

article in a collection out of WoS and Scopus

Language

English

Original Abstract

The paper presents an extension to the matrix factorization methods, a resumed factorization. It is suitable for incremental applications where the size of the system grows with time, but the rest remains without change. The implementation yields excellent results, comparable and except for a couple singularities, exceeding the ones of methods working on graph factorizations. The proposed method is, however, much simpler, and as such is suitable for hardware acceleration.

Keywords

SLAM, Nonlinear least squares, Cholesky Factorization, Incremental Factorization, Sparse block matrix

Authors

ILA, V.; POLOK, L.; SMRŽ, P.; ŠOLONY, M.; ZEMČÍK, P.

RIV year

2013

Released

7. 5. 2013

Publisher

MIT Press

Location

Berlín

ISBN

978-981-07-3937-9

Book

In proceedings of The Robotics: Science and Systems 2013 Conference

Pages from

1

Pages to

8

Pages count

8

URL

http://roboticsproceedings.org/rss09/p42.html

BibTex

@inproceedings{BUT103506,
  author="Viorela Simona {Ila} and Lukáš {Polok} and Pavel {Smrž} and Marek {Šolony} and Pavel {Zemčík}",
  title="Incremental Block Cholesky Factorization for Nonlinear Least Squares in Robotics",
  booktitle="In proceedings of The Robotics: Science and Systems 2013 Conference",
  year="2013",
  pages="1--8",
  publisher="MIT Press",
  address="Berlín",
  doi="10.15607/RSS.2013.IX.042",
  isbn="978-981-07-3937-9",
  url="http://roboticsproceedings.org/rss09/p42.html"
}

Documents

rss2013.pdf