Efficient Modification of the Upper Triangular Square Root Matrix on Variable Reordering

In probabilistic state inference, we seek to estimate the state of an (autonomous) agent from noisy observations. It can be shown that, under certain assumptions, finding the estimate is equivalent to solving a linear least squares problem. Solving such a problem is done by calculating the upper tri...

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Bibliographic Details
Published in:	IEEE robotics and automation letters Vol. 6; no. 2; pp. 675 - 682
Main Authors:	Elimelech, Khen, Indelman, Vadim
Format:	Journal Article
Language:	English
Published:	Piscataway IEEE 01.04.2021 The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects:	Algorithms Autonomous agents Factorization Incremental least squares Least squares method Mathematical analysis Matrices (mathematics) Matrix decomposition Optimization parallel algorithms Parallel processing Permutations Probabilistic inference Probabilistic logic Robots Simultaneous localization and mapping SLAM Smoothing methods sparse systems Symmetric matrices
ISSN:	2377-3766, 2377-3766
Online Access:	Get full text
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