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
| dc.contributor.author | Jian, Yong-Dian | |
| dc.contributor.author | Dellaert, Frank | |
| dc.contributor.corporatename | Georgia Institute of Technology. Institute for Robotics and Intelligent Machines | en_US |
| dc.contributor.corporatename | Georgia Institute of Technology. College of Computing | |
| dc.contributor.corporatename | Georgia Institute of Technology. School of Interactive Computing | |
| dc.date.accessioned | 2015-08-18T18:19:48Z | |
| dc.date.available | 2015-08-18T18:19:48Z | |
| dc.date.issued | 2014-09 | |
| 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.description | 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2014), 14-18 September 2014, Chicago, IL. | |
| dc.description | DOI: 10.1109/IROS.2014.6942924 | |
| dc.description.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. | en_US |
| dc.embargo.terms | null | en_US |
| dc.identifier.citation | Jian, 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.doi | 10.1109/IROS.2014.6942924 | |
| dc.identifier.uri | http://hdl.handle.net/1853/53727 | |
| dc.language.iso | en_US | en_US |
| dc.publisher | Georgia Institute of Technology | en_US |
| dc.publisher.original | Institute of Electrical and Electronics Engineers | |
| dc.subject | Gradient methods | en_US |
| dc.subject | Incremental subgraph-preconditioned conjugate gradient | en_US |
| dc.subject | iSAM | en_US |
| dc.subject | iSPCG | en_US |
| dc.subject | Loop-closures | en_US |
| dc.subject | Simultaneous localization and mapping | en_US |
| dc.subject | SLAM | en_US |
| dc.title | iSPCG: Incremental Subgraph-Preconditioned Conjugate Gradient Method for Online SLAM with Many Loop-Closures | en_US |
| dc.type | Text | |
| dc.type.genre | Proceedings | |
| dspace.entity.type | Publication | |
| local.contributor.author | Dellaert, Frank | |
| local.contributor.corporatename | Institute for Robotics and Intelligent Machines (IRIM) | |
| relation.isAuthorOfPublication | dac80074-d9d8-4358-b6eb-397d95bdc868 | |
| relation.isOrgUnitOfPublication | 66259949-abfd-45c2-9dcc-5a6f2c013bcf |