Detail publikace

Incremental Block Cholesky Factorization for Nonlinear Least Squares in Robotics

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

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"
}

Dokumenty

rss2013.pdf