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Support-theoretic subgraph preconditioners for large-scale SLAM

Yong-Dian Jian, Doru Balcan, Ioannis Panageas, Prasad Tetali, Frank Dellaert
<span title="">2013</span> <i title="IEEE"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/dmucnarmarh2fj6syg5jyqs7ny" style="color: black;">2013 IEEE/RSJ International Conference on Intelligent Robots and Systems</a> </i> &nbsp;
Efficiently solving large-scale sparse linear systems is important for robot mapping and navigation.  ...  We use this metric to develop an algorithm to find good subgraph preconditioners and apply them to solve the SLAM problem.  ...  This paper focuses on the theoretical contributions above. To the best of our knowledge, this is the first attempt to derive theoretically good subgraph preconditioners for SLAM problems.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/iros.2013.6696325">doi:10.1109/iros.2013.6696325</a> <a target="_blank" rel="external noopener" href="https://dblp.org/rec/conf/iros/JianBPTD13.html">dblp:conf/iros/JianBPTD13</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/zbf2sbg7rfaihl2zdmpfvkfqma">fatcat:zbf2sbg7rfaihl2zdmpfvkfqma</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20170813115116/https://www.cc.gatech.edu/~dellaert/pubs/Jian13iros.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/0a/71/0a714f054fa13efeb9bb5e6998edc689d598810f.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/iros.2013.6696325"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="external alternate icon"></i> ieee.com </button> </a>

iSPCG: Incremental subgraph-preconditioned conjugate gradient method for online SLAM with many loop-closures

Yong-Dian Jian, Frank Dellaert
<span title="">2014</span> <i title="IEEE"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/dmucnarmarh2fj6syg5jyqs7ny" style="color: black;">2014 IEEE/RSJ International Conference on Intelligent Robots and Systems</a> </i> &nbsp;
We apply this method to solve large simulated and real SLAM problems, and obtain promising results.  ...  When the error grows larger than a threshold or the optimal solution is requested, we use subgraph-preconditioned conjugate gradient method to solve the original problem where the subgraph preconditioner  ...  large-scale problems.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/iros.2014.6942924">doi:10.1109/iros.2014.6942924</a> <a target="_blank" rel="external noopener" href="https://dblp.org/rec/conf/iros/JianD14.html">dblp:conf/iros/JianD14</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/wwqdlb6ebbhcvjblz3ydpxkxj4">fatcat:wwqdlb6ebbhcvjblz3ydpxkxj4</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20170812173538/https://www.cc.gatech.edu/~dellaert/ftp/Jian14iros.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/33/09/3309d97eaaca708c6b59ae50f4f434661176b534.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/iros.2014.6942924"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="external alternate icon"></i> ieee.com </button> </a>

Generalized subgraph preconditioners for large-scale bundle adjustment

Yong-Dian Jian, Doru C. Balcan, Frank Dellaert
<span title="">2011</span> <i title="IEEE"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/753trptklbb4nj6jquqadzwwdu" style="color: black;">2011 International Conference on Computer Vision</a> </i> &nbsp;
We present a generalized subgraph preconditioning (GSP) technique to solve large-scale bundle adjustment problems efficiently.  ...  Similar to [11] , the main idea is to identify a sub-problem (subgraph) that can be solved efficiently by sparse factorization methods and use it to build a preconditioner for the conjugate gradient method  ...  Generalized Subgraph Preconditioners We present a Generalized Subgraph Preconditioning (GSP) technique, which generalize the idea of SPCG and is more suitable for large-scale bundle adjustment.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/iccv.2011.6126255">doi:10.1109/iccv.2011.6126255</a> <a target="_blank" rel="external noopener" href="https://dblp.org/rec/conf/iccv/JianBD11.html">dblp:conf/iccv/JianBD11</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/r3eh7nu6bbeozoc4uk5vowsfby">fatcat:r3eh7nu6bbeozoc4uk5vowsfby</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20170705173021/http://www.cc.gatech.edu/~dellaert/pubs/Jian11iccv.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/ec/16/ec16326b00a6115b86ee50554166d1ec960d0c2a.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/iccv.2011.6126255"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="external alternate icon"></i> ieee.com </button> </a>

Generalized Subgraph Preconditioners for Large-Scale Bundle Adjustment [chapter]

Yong-Dian Jian, Doru C. Balcan, Frank Dellaert
<span title="">2012</span> <i title="Springer Berlin Heidelberg"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/2w3awgokqne6te4nvlofavy5a4" style="color: black;">Lecture Notes in Computer Science</a> </i> &nbsp;
We present a generalized subgraph preconditioning (GSP) technique to solve large-scale bundle adjustment problems efficiently.  ...  Similar to [11] , the main idea is to identify a sub-problem (subgraph) that can be solved efficiently by sparse factorization methods and use it to build a preconditioner for the conjugate gradient method  ...  Generalized Subgraph Preconditioners We present a Generalized Subgraph Preconditioning (GSP) technique, which generalize the idea of SPCG and is more suitable for large-scale bundle adjustment.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1007/978-3-642-34091-8_6">doi:10.1007/978-3-642-34091-8_6</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/o223eyf7xvgxza3hivuuu2etmm">fatcat:o223eyf7xvgxza3hivuuu2etmm</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20170705173021/http://www.cc.gatech.edu/~dellaert/pubs/Jian11iccv.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/ec/16/ec16326b00a6115b86ee50554166d1ec960d0c2a.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1007/978-3-642-34091-8_6"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="external alternate icon"></i> springer.com </button> </a>

A Survey of Structure from Motion [article]

Onur Ozyesil, Vladislav Voroninski, Ronen Basri, Amit Singer
<span title="2017-05-09">2017</span> <i > arXiv </i> &nbsp; <span class="release-stage" >pre-print</span>
We also cover the basics of the simultaneous localization and mapping (SLAM) problem, which can be viewed as a specific case of the SfM problem.  ...  in the literature, followed by discussion of notable techniques for 3D structure recovery.  ...  A method recently proposed in [17] , coined Large-Scale Direct monocular SLAM (LSD-SLAM), is capable of building consistent large scale maps of a 3D scene in real-time, by estimating semi-dense depth  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener" href="https://arxiv.org/abs/1701.08493v2">arXiv:1701.08493v2</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/44hrgmeiujaqtggdztx57ew44i">fatcat:44hrgmeiujaqtggdztx57ew44i</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20191020021522/https://arxiv.org/pdf/1701.08493v2.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/b3/5e/b35ec5cf0795ad92fac0d076eefda9f6a7580774.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener" href="https://arxiv.org/abs/1701.08493v2" title="arxiv.org access"> <button class="ui compact blue labeled icon button serp-button"> <i class="file alternate outline icon"></i> arxiv.org </button> </a>

A survey of direct methods for sparse linear systems

Timothy A. Davis, Sivasankaran Rajamanickam, Wissam M. Sid-Lakhdar
<span title="">2016</span> <i title="Cambridge University Press (CUP)"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/umcr7ozalbgofhcbyd4l6c32aq" style="color: black;">Acta Numerica</a> </i> &nbsp;
Wilkinson defined a sparse matrix as one with enough zeros that it pays to take advantage of them. 1 This informal yet practical definition captures the essence of the goal of direct methods for solving  ...  The goal of this survey article is to impart a working knowledge of the underlying theory and practice of sparse direct methods for solving linear systems and least-squares problems, and to provide an  ...  Portions of this work were supported by the National Science Foundation, Texas A&M University, and Sandia, a multiprogram laboratory operated by Sandia Corporation, a Lockheed Martin Company, for the U.S  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1017/s0962492916000076">doi:10.1017/s0962492916000076</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/u4dqyjkjqnelll5e3ywm7lqkca">fatcat:u4dqyjkjqnelll5e3ywm7lqkca</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20170517025705/http://faculty.cse.tamu.edu:80/davis/publications_files/survey_tech_report.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/e7/7f/e77f353c3548e934cbafd2f9ef76b4111a7f0c50.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1017/s0962492916000076"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="external alternate icon"></i> cambridge.org </button> </a>

Graphical Models and Overlay Networks for Reasoning about Large Distributed Systems

Stanislave Funiak
<span title="2018-06-28">2018</span>
To reason accurately, a networkeddevice often needs to incorporate observations from other nodes and must do so with limitedcomputation and communication even for large problems.  ...  parts,and collaborative filtering for providing recommendations in a peer-to-peer network.  ...  Chapter 5: Localization in large-scale modular robot ensembles. In this chapter, we turn to our second application, localization in large-scale modular robot ensembles.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1184/r1/6718754">doi:10.1184/r1/6718754</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/tthczwdojzf6jjen3s7p52ozoy">fatcat:tthczwdojzf6jjen3s7p52ozoy</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20200213043509/https://s3-eu-west-1.amazonaws.com/pstorage-cmu-348901238291901/12252896/GraphicalModelsandOverlayNetworksforReasoningaboutLargeD.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/0d/7d/0d7dc661642a55ad74755d0d8088e3d31adc6de9.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1184/r1/6718754"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="external alternate icon"></i> Publisher / doi.org </button> </a>