Efficient Implementation for Block Matrix Operations Nonlinear Least Squares Problems for Robotic Applications
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F00216305%3A26230%2F13%3APU106287" target="_blank" >RIV/00216305:26230/13:PU106287 - isvavai.cz</a>
Result on the web
<a href="http://ieeexplore.ieee.org/document/6630883/?arnumber=6630883" target="_blank" >http://ieeexplore.ieee.org/document/6630883/?arnumber=6630883</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1109/ICRA.2013.6630883" target="_blank" >10.1109/ICRA.2013.6630883</a>
Alternative languages
Result language
angličtina
Original language name
Efficient Implementation for Block Matrix Operations Nonlinear Least Squares Problems for Robotic Applications
Original language description
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.
Czech name
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Czech description
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Classification
Type
D - Article in proceedings
CEP classification
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OECD FORD branch
10201 - Computer sciences, information science, bioinformathics (hardware development to be 2.2, social aspect to be 5.8)
Result continuities
Project
Result was created during the realization of more than one project. More information in the Projects tab.
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)
Others
Publication year
2013
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Article name in the collection
Proceedings of 2013 IEEE International Conference on Robotics and Automation
ISBN
978-1-4673-5642-8
ISSN
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e-ISSN
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Number of pages
8
Pages from-to
123-131
Publisher name
IEEE Computer Society
Place of publication
Karlsruhe
Event location
Karlsruhe, Germany
Event date
May 6, 2013
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
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