Detail publikace

Incremental Block Cholesky Factorization for Nonlinear Least Squares in Robotics

Originální název

Incremental Block Cholesky Factorization for Nonlinear Least Squares in Robotics

Anglický název

Incremental Block Cholesky Factorization for Nonlinear Least Squares in Robotics

Jazyk

en

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.

Anglický 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.

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",
  annote="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.",
  address="MIT Press",
  booktitle="In proceedings of The Robotics: Science and Systems 2013 Conference",
  chapter="103506",
  doi="10.15607/RSS.2013.IX.042",
  edition="NEUVEDEN",
  howpublished="print",
  institution="MIT Press",
  year="2013",
  month="may",
  pages="1--8",
  publisher="MIT Press",
  type="conference paper"
}