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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.
  • 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. (en)
Title
  • Incremental Block Cholesky Factorization for Nonlinear Least Squares in Robotics
  • Incremental Block Cholesky Factorization for Nonlinear Least Squares in Robotics (en)
skos:prefLabel
  • Incremental Block Cholesky Factorization for Nonlinear Least Squares in Robotics
  • Incremental Block Cholesky Factorization for Nonlinear Least Squares in Robotics (en)
skos:notation
  • RIV/00216305:26230/13:PU106366!RIV15-MSM-26230___
http://linked.open...avai/riv/aktivita
http://linked.open...avai/riv/aktivity
  • P(7E13044), P(ED1.1.00/02.0070)
http://linked.open...vai/riv/dodaniDat
http://linked.open...aciTvurceVysledku
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http://linked.open...dnocenehoVysledku
  • 79508
http://linked.open...ai/riv/idVysledku
  • RIV/00216305:26230/13:PU106366
http://linked.open...riv/jazykVysledku
http://linked.open.../riv/klicovaSlova
  • SLAM, Nonlinear least squares, Cholesky Factorization, Incremental Factorization, Sparse block matrix (en)
http://linked.open.../riv/klicoveSlovo
http://linked.open...ontrolniKodProRIV
  • [973FFB6E7645]
http://linked.open...v/mistoKonaniAkce
  • Berlín
http://linked.open...i/riv/mistoVydani
  • Berlín
http://linked.open...i/riv/nazevZdroje
  • In proceedings of The Robotics: Science and Systems 2013 Conference
http://linked.open...in/vavai/riv/obor
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http://linked.open...vavai/riv/projekt
http://linked.open...UplatneniVysledku
http://linked.open...iv/tvurceVysledku
  • Smrž, Pavel
  • Zemčík, Pavel
  • Šolony, Marek
  • Polok, Lukáš
  • Ila, Viorela Simona
http://linked.open...vavai/riv/typAkce
http://linked.open.../riv/zahajeniAkce
number of pages
http://purl.org/ne...btex#hasPublisher
  • MIT Press
https://schema.org/isbn
  • 978-981-07-3937-9
http://localhost/t...ganizacniJednotka
  • 26230
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