• Reduced state representation in delayed-state SLAM 

      Ila, Viorela Simona; Porta Pleite, Josep Maria; Andrade-Cetto, Juan (IEEE Press. Institute of Electrical and Electronics Engineers, 2009-10-11)
      Comunicació de congrés
      Accés obert
      This paper introduces an approach that reduces the size of the state and maximizes the sparsity of the information matrix in exactly sparse delayed-state SLAM. We propose constant time procedures to measure the ...
    • Subgraph-preconditioned conjugate gradients for large scale SLAM 

      Dellaert, Frank; Carlson, Justin; Ila, Viorela Simona; Ni, Kai; Thorpe, Charles E. (2010)
      Text en actes de congrés
      Accés obert
      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 ...
    • Vision-based loop closing for delayed state robot mapping 

      Ila, Viorela Simona; Andrade-Cetto, Juan; Valencia Carreño, Rafael; Sanfeliu Cortés, Alberto (IEEE, 2007)
      Text en actes de congrés
      Accés obert
      This paper shows results on outdoor vision-based loop closing for Simultaneous Localization and Mapping. Our experiments show that for loops of over 50m, the pose estimates maintained with a Delayed-State Extended Information ...