Conference paper

POLOK Lukáš, ILA Viorela S., ŠOLONY Marek, ZEMČÍK Pavel and SMRŽ Pavel. Efficient Implementation for Block Matrix Operations Nonlinear Least Squares Problems for Robotic Applications. In: Proceedings of 2013 IEEE International Conference on Robotics and Automation. Karlsruhe: IEEE Computer Society, 2013, pp. 123-131. ISBN 978-1-4673-5642-8. Available from: http://ieeexplore.ieee.org/document/6630883/?arnumber=6630883
Publication language:english
Original title:Efficient Implementation for Block Matrix Operations Nonlinear Least Squares Problems for Robotic Applications
Title (cs):Efektivní implementace operací s blokovými maticemi pro řešení soustav nelineárních rovnic pro robotické aplikace
Pages:123-131
Proceedings:Proceedings of 2013 IEEE International Conference on Robotics and Automation
Conference:2013 IEEE International Conference on Robotics and Automation
Place:Karlsruhe, DE
Year:2013
URL:http://ieeexplore.ieee.org/document/6630883/?arnumber=6630883
ISBN:978-1-4673-5642-8
Publisher:IEEE Computer Society
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Keywords
Block Matrix Operations, Nonlinear Least Squares, SLAM, Robotics 
Annotation

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.

BibTeX:
@INPROCEEDINGS{
   author = {Luk{\'{a}}{\v{s}} Polok and S. Viorela Ila and Marek
	{\v{S}}olony and Pavel Zem{\v{c}}{\'{i}}k and Pavel
	Smr{\v{z}}},
   title = {Efficient Implementation for Block Matrix Operations
	Nonlinear Least Squares Problems for Robotic Applications},
   pages = {123--131},
   booktitle = {Proceedings of 2013 IEEE International Conference on
	Robotics and Automation},
   year = {2013},
   location = {Karlsruhe, DE},
   publisher = {IEEE Computer Society},
   ISBN = {978-1-4673-5642-8},
   language = {english},
   url = {http://www.fit.vutbr.cz/research/view_pub.php.en.iso-8859-2?id=10143}
}

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