• Subgraph-preconditioned Conjugate Gradients for Large Scale SLAM 

      Dellaert, Frank; Carlson, Justin; Ila, Viorela; Ni, Kai; Thorpe, Charles E. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2010)
      In this paper we propose an efficient preconditioned conjugate gradients (PCG) approach to solving large-scale SLAM problems. While direct methods, popular in the literature, exhibit quadratic convergence and can be ...