Incremental Block Cholesky Factorization for Nonlinear Least Squares in Robotics
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F00216305%3A26230%2F13%3APU106366" target="_blank" >RIV/00216305:26230/13:PU106366 - isvavai.cz</a>
Result on the web
<a href="http://roboticsproceedings.org/rss09/p42.html" target="_blank" >http://roboticsproceedings.org/rss09/p42.html</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.15607/RSS.2013.IX.042" target="_blank" >10.15607/RSS.2013.IX.042</a>
Alternative languages
Result language
angličtina
Original language name
Incremental Block Cholesky Factorization for Nonlinear Least Squares in Robotics
Original language description
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.
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
In proceedings of The Robotics: Science and Systems 2013 Conference
ISBN
978-981-07-3937-9
ISSN
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e-ISSN
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Number of pages
8
Pages from-to
1-8
Publisher name
MIT Press
Place of publication
Berlín
Event location
Berlín
Event date
Jun 24, 2013
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
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