Subgraph-preconditioned conjugate gradients for large scale SLAM

In this paper we propose an efficient preconditioned conjugate gradients (PCG) approach to solving large-scale SLAM problems. While direct methods, popular in the literature, exhibit quadratic convergence and can be quite efficient for sparse problems, they typically require a lot of storage and efficient elimination orderings to be found. In contrast… (More)

6 Figures & Tables


Citations per Year

52 Citations

Semantic Scholar estimates that this publication has 52 citations based on the available data.

See our FAQ for additional information.