• Subgraph-preconditioned conjugate gradients for large scale SLAM 

    Dellaert, Frank; Carlson, Justin; Ila, Viorela Simona; Ni, Kai; Thorpe, Charles E. (2010)
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    In this paper we propose an efficient preconditioned conjugate gradients (PCG) approach to solving largescale SLAM problems. While direct methods, popular in the literature, exhibit quadratic convergence and can be quite ...