Efficient Cholesky Factor Recovery for Column Reordering in Simultaneous Localisation and Mapping
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چکیده
منابع مشابه
Efficient Cholesky Factor Recovery for Column Reordering in Simultaneous Localisation and Mapping
Simultaneous Localisation And Mapping problems are inherently dynamic and the structure of the graph representing them changes significantly over time. To obtain the least square solution of such systems efficiently, it is desired to maintain a good column ordering such that fill-ins are reduced. This comes at a cost since general ordering changes require the complete re-computation of the Chol...
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A judiciously chosen symmetric permutation can signiicantly reduce the amount of storage and computation for the Cholesky factorization of sparse matrices. On distributed memory machines, the issue of mapping data and computation on processors is also important. Previous research on ordering for paral-lelism has focussed on idealized measures like execution time on an unbounded number of proces...
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ژورنال
عنوان ژورنال: Journal of Intelligent & Robotic Systems
سال: 2016
ISSN: 0921-0296,1573-0409
DOI: 10.1007/s10846-016-0367-7