iSPCG: Incremental subgraph-preconditioned conjugate gradient method for online SLAM with many loop-closures

@article{Jian2014iSPCGIS,
  title={iSPCG: Incremental subgraph-preconditioned conjugate gradient method for online SLAM with many loop-closures},
  author={Yong-Dian Jian and Frank Dellaert},
  journal={2014 IEEE/RSJ International Conference on Intelligent Robots and Systems},
  year={2014},
  pages={2647-2653}
}
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… CONTINUE READING

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