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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
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" }