• 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 ...