Solving the SLAM problem is one way to enable a robot to explore, map, and navigate in a previously unknown environment. We investigate smoothing approaches as a viable alternative to extended Kalman filter-based solutions to the problem. In particular, we look at approaches that factorize either the associated information matrix or the measurement Jacobian into square root form. Such technique...

A new method for the high-speed computation of double-precision floating-point reciprocal, division, square root, and inverse square root operations is presented in this paper. This method employs a second-degree minimax polynomial approximation to obtain an accurate initial estimate of the reciprocal and the inverse square root values, and then performs a modified Goldschmidt iteration. The hi...

A novel computational method for fitting high-resolution structures of multiple proteins into a cryoelectron microscopy map is presented. The method named EMLZerD generates a pool of candidate multiple protein docking conformations of component proteins, which are later compared with a provided electron microscopy (EM) density map to select the ones that fit well into the EM map. The comparison...

BACKGROUND Measurements of parameters from electrocardiograms (ECGs) are still largely performed from paper ECG records. Recent guidelines from regulatory agencies and, in particular, the requirement of the Food and Drug Administration to enforce the digital submission of annotated ECGs have triggered significant efforts in the pharmaceutical industry, which, to comply with the new guidelines, ...

Quotients, reciprocals, square roots and square root reciprocals all have the property that infinitely precise p-bit rounded results for p-bit input operands can be obtained from approximate results of bounded accuracy. We investigate lower bounds on the number of bits of an approximation accurate to a unit in the last place sufficient to guarantee that correct round and sticky bits can be dete...

ÐThis paper deals with the computation of reciprocals, square roots, inverse square roots, and some elementary functions using small tables, small multipliers, and, for some functions, a final alargeo (almost full-length) multiplication. We propose a method, based on argument reduction and series expansion, that allows fast evaluation of these functions in high precision. The strength of this m...