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ICRA
2005
IEEE
114views Robotics» more  ICRA 2005»
10 years 4 months ago
A Proof for the Approximate Sparsity of SLAM Information Matrices
— For the Simultaneous Localization and Mapping problem several efficient algorithms have been proposed that make use of a sparse information matrix representation (e.g. SEIF, T...
Udo Frese
AROBOTS
2006
119views more  AROBOTS 2006»
9 years 10 months ago
A Discussion of Simultaneous Localization and Mapping
This paper aims at a discussion of the structure of the SLAM problem. The analysis is not strictly formal but based both on informal studies and mathematical derivation. The first ...
Udo Frese
MP
2002
103views more  MP 2002»
9 years 10 months ago
Detecting Jacobian sparsity patterns by Bayesian probing
In this paper we describe an automatic procedure for successively reducing the set of possible nonzeros in a Jacobian matrix until eventually the exact sparsity pattern is obtained...
Andreas Griewank, Christo Mitev
IJRR
2007
100views more  IJRR 2007»
9 years 10 months ago
Exactly Sparse Extended Information Filters for Feature-based SLAM
Recent research concerning the Gaussian canonical form for Simultaneous Localization and Mapping (SLAM) has given rise to a handful of algorithms that attempt to solve the SLAM sc...
Matthew Walter, Ryan Eustice, John J. Leonard
CORR
2010
Springer
133views Education» more  CORR 2010»
9 years 10 months ago
Nonuniform Sparse Recovery with Gaussian Matrices
Compressive sensing predicts that sufficiently sparse vectors can be recovered from highly incomplete information. Efficient recovery methods such as 1-minimization find the sparse...
Ulas Ayaz, Holger Rauhut
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