• The Bayes Tree: Enabling Incremental Reordering and Fluid Relinearization for Online Mapping 

      Kaess, Michael; Ila, Viorela; Roberts, Richard; Dellaert, Frank (Georgia Institute of TechnologyMassachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory, 2010-01-29)
      In this paper we present a novel data structure, the Bayes tree, which exploits the connections between graphical model inference and sparse linear algebra. The proposed data structure provides a new perspective on an ...