Title:
iSPCG: Incremental Subgraph-Preconditioned Conjugate Gradient Method for Online SLAM with Many Loop-Closures
iSPCG: Incremental Subgraph-Preconditioned Conjugate Gradient Method for Online SLAM with Many Loop-Closures
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Author(s)
Jian, Yong-Dian
Dellaert, Frank
Dellaert, Frank
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Abstract
We 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.
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2014-09
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Proceedings