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ILA, V. POLOK, L. SMRŽ, P. ŠOLONY, M. ZEMČÍK, P.
Originální název
Incremental Block Cholesky Factorization for Nonlinear Least Squares in Robotics
Typ
článek ve sborníku mimo WoS a Scopus
Jazyk
angličtina
Originální abstrakt
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.
Klíčová slova
SLAM, Nonlinear least squares, Cholesky Factorization, Incremental Factorization, Sparse block matrix
Autoři
ILA, V.; POLOK, L.; SMRŽ, P.; ŠOLONY, M.; ZEMČÍK, P.
Rok RIV
2013
Vydáno
7. 5. 2013
Nakladatel
MIT Press
Místo
Berlín
ISBN
978-981-07-3937-9
Kniha
In proceedings of The Robotics: Science and Systems 2013 Conference
Strany od
1
Strany do
8
Strany počet
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" }