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dc.contributor.authorJian, Yong-Dian
dc.contributor.authorDellaert, Frank
dc.date.accessioned2015-08-18T18:19:48Z
dc.date.available2015-08-18T18:19:48Z
dc.date.issued2014-09
dc.identifier.citationJian, Y-D. & Dellaert, F. (2014). "iSPCG: Incremental subgraph-preconditioned conjugate gradient method for online SLAM with many loop-closures”. 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2014), 14-18 September 2014, pp. 2647-2653.en_US
dc.identifier.urihttp://hdl.handle.net/1853/53727
dc.description© 2014 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works.en_US
dc.description2014 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2014), 14-18 September 2014, Chicago, IL.
dc.descriptionDOI: 10.1109/IROS.2014.6942924
dc.description.abstractWe propose a novel method to solve online SLAM problems with many loop-closures on the basis of two state- of-the-art SLAM methods, iSAM and SPCG. We first use iSAM to solve a sparse sub-problem to obtain an approximate solution. 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 and initial estimate are provided by iSAM. Finally we use the optimal solution from SPCG to regularize iSAM in the next steps. The proposed method is consistent, efficient and can find the optimal solution. We apply this method to solve large simulated and real SLAM problems, and obtain promising results.en_US
dc.language.isoen_USen_US
dc.publisherGeorgia Institute of Technologyen_US
dc.subjectGradient methodsen_US
dc.subjectIncremental subgraph-preconditioned conjugate gradienten_US
dc.subjectiSAMen_US
dc.subjectiSPCGen_US
dc.subjectLoop-closuresen_US
dc.subjectSimultaneous localization and mappingen_US
dc.subjectSLAMen_US
dc.titleiSPCG: Incremental Subgraph-Preconditioned Conjugate Gradient Method for Online SLAM with Many Loop-Closuresen_US
dc.typeProceedingsen_US
dc.contributor.corporatenameGeorgia Institute of Technology. Institute for Robotics and Intelligent Machinesen_US
dc.contributor.corporatenameGeorgia Institute of Technology. College of Computing
dc.contributor.corporatenameGeorgia Institute of Technology. School of Interactive Computing
dc.publisher.originalInstitute of Electrical and Electronics Engineers
dc.identifier.doi10.1109/IROS.2014.6942924
dc.embargo.termsnullen_US


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