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Statements

Subject Item
n2:RIV%2F00216305%3A26230%2F13%3APU106287%21RIV14-MSM-26230___
rdf:type
n13:Vysledek skos:Concept
dcterms: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. 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.
dcterms:title
Efficient Implementation for Block Matrix Operations Nonlinear Least Squares Problems for Robotic Applications Efficient Implementation for Block Matrix Operations Nonlinear Least Squares Problems for Robotic Applications
skos:prefLabel
Efficient Implementation for Block Matrix Operations Nonlinear Least Squares Problems for Robotic Applications Efficient Implementation for Block Matrix Operations Nonlinear Least Squares Problems for Robotic Applications
skos:notation
RIV/00216305:26230/13:PU106287!RIV14-MSM-26230___
n13:predkladatel
n14:orjk%3A26230
n3:aktivita
n15:P
n3:aktivity
P(7E12056), P(7H10011), P(ED1.1.00/02.0070)
n3:dodaniDat
n7:2014
n3:domaciTvurceVysledku
Šolony, Marek n6:5548322 n6:9340386 n6:1574582 Ila, Viorela Simona
n3:druhVysledku
n20:D
n3:duvernostUdaju
n10:S
n3:entitaPredkladatele
n9:predkladatel
n3:idSjednocenehoVysledku
72072
n3:idVysledku
RIV/00216305:26230/13:PU106287
n3:jazykVysledku
n21:eng
n3:klicovaSlova
Block Matrix Operations, Nonlinear Least Squares, SLAM, Robotics
n3:klicoveSlovo
n5:Nonlinear%20Least%20Squares n5:SLAM n5:Block%20Matrix%20Operations n5:Robotics
n3:kontrolniKodProRIV
[4B0E5733F08D]
n3:mistoKonaniAkce
Karlsruhe, Germany
n3:mistoVydani
Karlsruhe
n3:nazevZdroje
Proceedings of 2013 IEEE International Conference on Robotics and Automation
n3:obor
n8:IN
n3:pocetDomacichTvurcuVysledku
5
n3:pocetTvurcuVysledku
5
n3:projekt
n19:7H10011 n19:7E12056 n19:ED1.1.00%2F02.0070
n3:rokUplatneniVysledku
n7:2013
n3:tvurceVysledku
Smrž, Pavel Polok, Lukáš Šolony, Marek Ila, Viorela Simona Zemčík, Pavel
n3:typAkce
n16:WRD
n3:zahajeniAkce
2013-05-06+02:00
s:numberOfPages
8
n22:hasPublisher
IEEE Computer Society
n18:isbn
978-1-4673-5642-8
n17:organizacniJednotka
26230