Detail publikace

Efficient Implementation for Block Matrix Operations Nonlinear Least Squares Problems for Robotic Applications

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

Originální název

Efficient Implementation for Block Matrix Operations Nonlinear Least Squares Problems for Robotic Applications

Typ

článek ve sborníku mimo WoS a Scopus

Jazyk

angličtina

Originální abstrakt

A large number of robotic, computer vision and computer graphics applications rely on efficiently solving the associated sparse linear system. Simultaneous localization and mapping (SLAM), structure from motion (SFM), non-rigid shape recovery, elastodynamic simulations, are only few examples in this direction. In general, those problems are non-linear and the solution can be approximated by incrementally solving a series of linearized problems. In some applications, the size of the systems might considerable affect the performance, especially when the sparsity is low. This paper exploits the block structure of such problems and offers efficient solutions to manipulate block matrices. In particular, we focus on testing the method on SLAM applications, but the applicability of the technique remains general.

Klíčová slova

Block Matrix Operations, Nonlinear Least Squares, SLAM, Robotics 

Autoři

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

Rok RIV

2013

Vydáno

10. 5. 2013

Nakladatel

IEEE Computer Society

Místo

Karlsruhe

ISBN

978-1-4673-5642-8

Kniha

Proceedings of 2013 IEEE International Conference on Robotics and Automation

Strany od

123

Strany do

131

Strany počet

8

URL

http://ieeexplore.ieee.org/document/6630883/?arnumber=6630883

BibTex

@inproceedings{BUT103427,
  author="Lukáš {Polok} and Viorela Simona {Ila} and Marek {Šolony} and Pavel {Zemčík} and Pavel {Smrž}",
  title="Efficient Implementation for Block Matrix Operations Nonlinear Least Squares Problems for Robotic Applications",
  booktitle="Proceedings of 2013 IEEE International Conference on Robotics and Automation",
  year="2013",
  pages="123--131",
  publisher="IEEE Computer Society",
  address="Karlsruhe",
  doi="10.1109/ICRA.2013.6630883",
  isbn="978-1-4673-5642-8",
  url="http://ieeexplore.ieee.org/document/6630883/?arnumber=6630883"
}