{"id":"https://openalex.org/W2056458921","doi":"https://doi.org/10.1109/iros.2010.5650422","title":"Subgraph-preconditioned conjugate gradients for large scale SLAM","display_name":"Subgraph-preconditioned conjugate gradients for large scale SLAM","publication_year":2010,"publication_date":"2010-10-01","ids":{"openalex":"https://openalex.org/W2056458921","doi":"https://doi.org/10.1109/iros.2010.5650422","mag":"2056458921"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2010.5650422","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2010.5650422","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://hdl.handle.net/2117/12343","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5087336025","display_name":"Frank Dellaert","orcid":"https://orcid.org/0000-0002-5532-3566"},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"F Dellaert","raw_affiliation_strings":["Georgia Institute of Technology, Atlanta, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Georgia Institute of Technology, Atlanta, USA","institution_ids":["https://openalex.org/I130701444"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068319054","display_name":"Johan E. Carlson","orcid":"https://orcid.org/0000-0002-6216-6132"},"institutions":[{"id":"https://openalex.org/I4210089979","display_name":"Carnegie Mellon University Qatar","ror":"https://ror.org/00az5dt38","country_code":"QA","type":"education","lineage":["https://openalex.org/I4210089979","https://openalex.org/I74973139"]}],"countries":["QA"],"is_corresponding":false,"raw_author_name":"J Carlson","raw_affiliation_strings":["Carnegie Mellon Qatar, Doha, Qatar"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Carnegie Mellon Qatar, Doha, Qatar","institution_ids":["https://openalex.org/I4210089979"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028642327","display_name":"Viorela Ila","orcid":"https://orcid.org/0000-0002-8137-0833"},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]},{"id":"https://openalex.org/I4210093282","display_name":"Institut de Rob\u00f2tica i Inform\u00e0tica Industrial","ror":"https://ror.org/00mcdyn90","country_code":"ES","type":"facility","lineage":["https://openalex.org/I134820265","https://openalex.org/I4210093282","https://openalex.org/I9617848"]}],"countries":["ES","US"],"is_corresponding":false,"raw_author_name":"V Ila","raw_affiliation_strings":["Georgia Institute of Technology, Atlanta, USA","Institut de Rob\u00f2tica i Inform\u00e0tica Industrial, CSIC/UPC, Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Georgia Institute of Technology, Atlanta, USA","institution_ids":["https://openalex.org/I130701444"]},{"raw_affiliation_string":"Institut de Rob\u00f2tica i Inform\u00e0tica Industrial, CSIC/UPC, Spain","institution_ids":["https://openalex.org/I4210093282"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5075633314","display_name":"Kai Ni","orcid":"https://orcid.org/0000-0002-3628-3431"},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Kai Ni","raw_affiliation_strings":["Georgia Institute of Technology, Atlanta, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Georgia Institute of Technology, Atlanta, USA","institution_ids":["https://openalex.org/I130701444"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5111447178","display_name":"C. Thorpe","orcid":null},"institutions":[{"id":"https://openalex.org/I4210089979","display_name":"Carnegie Mellon University Qatar","ror":"https://ror.org/00az5dt38","country_code":"QA","type":"education","lineage":["https://openalex.org/I4210089979","https://openalex.org/I74973139"]}],"countries":["QA"],"is_corresponding":false,"raw_author_name":"C E Thorpe","raw_affiliation_strings":["Carnegie Mellon Qatar, Doha, Qatar"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Carnegie Mellon Qatar, Doha, Qatar","institution_ids":["https://openalex.org/I4210089979"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":172.1513,"has_fulltext":false,"cited_by_count":57,"citation_normalized_percentile":{"value":0.99921918,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"2566","last_page":"2571"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10036","display_name":"Advanced Neural Network Applications","score":0.9984999895095825,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.998199999332428,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/conjugate-gradient-method","display_name":"Conjugate gradient method","score":0.7619935274124146},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6247479319572449},{"id":"https://openalex.org/keywords/parameterized-complexity","display_name":"Parameterized complexity","score":0.5709269046783447},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.5393736958503723},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.5189613699913025},{"id":"https://openalex.org/keywords/iterative-method","display_name":"Iterative method","score":0.4952675402164459},{"id":"https://openalex.org/keywords/gradient-descent","display_name":"Gradient descent","score":0.4723801612854004},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.4705142080783844},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.32486510276794434},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.14670395851135254},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.06601867079734802}],"concepts":[{"id":"https://openalex.org/C81184566","wikidata":"https://www.wikidata.org/wiki/Q1191895","display_name":"Conjugate gradient method","level":2,"score":0.7619935274124146},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6247479319572449},{"id":"https://openalex.org/C165464430","wikidata":"https://www.wikidata.org/wiki/Q1570441","display_name":"Parameterized complexity","level":2,"score":0.5709269046783447},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.5393736958503723},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.5189613699913025},{"id":"https://openalex.org/C159694833","wikidata":"https://www.wikidata.org/wiki/Q2321565","display_name":"Iterative method","level":2,"score":0.4952675402164459},{"id":"https://openalex.org/C153258448","wikidata":"https://www.wikidata.org/wiki/Q1199743","display_name":"Gradient descent","level":3,"score":0.4723801612854004},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.4705142080783844},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.32486510276794434},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.14670395851135254},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.06601867079734802},{"id":"https://openalex.org/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0}],"mesh":[],"locations_count":6,"locations":[{"id":"doi:10.1109/iros.2010.5650422","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2010.5650422","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},{"id":"pmh:oai:www.recercat.cat:2072/192923","is_oa":true,"landing_page_url":"http://hdl.handle.net/2117/12343","pdf_url":null,"source":{"id":"https://openalex.org/S4306402147","display_name":"RECERCAT (Consorci de Serveis Universitaris de Catalunya)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210090028","host_organization_name":"Consorci de Serveis Universitaris de Catalunya","host_organization_lineage":["https://openalex.org/I4210090028"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"","raw_type":"info:eu-repo/semantics/publishedVersion"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.207.9222","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.207.9222","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.cc.gatech.edu/~dellaert/ftp/Dellaert10iros.pdf","raw_type":"text"},{"id":"pmh:oai:digital.csic.es:10261/39276","is_oa":true,"landing_page_url":"http://hdl.handle.net/10261/39276","pdf_url":null,"source":{"id":"https://openalex.org/S4306401639","display_name":"DIGITAL.CSIC (Spanish National Research Council (CSIC))","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I134820265","host_organization_name":"Consejo Superior de Investigaciones Cient\u00edficas","host_organization_lineage":["https://openalex.org/I134820265"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Comunicaci\u00f3n de congreso"},{"id":"pmh:oai:smartech.gatech.edu:1853/38327","is_oa":false,"landing_page_url":"http://hdl.handle.net/1853/38327","pdf_url":null,"source":{"id":"https://openalex.org/S4377196313","display_name":"SMARTech Repository (Georgia Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I130701444","host_organization_name":"Georgia Institute of Technology","host_organization_lineage":["https://openalex.org/I130701444"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Text"},{"id":"pmh:oai:upcommons.upc.edu:2117/12343","is_oa":false,"landing_page_url":"https://hdl.handle.net/2117/12343","pdf_url":null,"source":{"id":"https://openalex.org/S4377196262","display_name":"UPCommons institutional repository (Universitat Polit\u00e8cnica de Catalunya)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I9617848","host_organization_name":"Universitat Polit\u00e8cnica de Catalunya","host_organization_lineage":["https://openalex.org/I9617848"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":{"id":"pmh:oai:www.recercat.cat:2072/192923","is_oa":true,"landing_page_url":"http://hdl.handle.net/2117/12343","pdf_url":null,"source":{"id":"https://openalex.org/S4306402147","display_name":"RECERCAT (Consorci de Serveis Universitaris de Catalunya)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210090028","host_organization_name":"Consorci de Serveis Universitaris de Catalunya","host_organization_lineage":["https://openalex.org/I4210090028"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"","raw_type":"info:eu-repo/semantics/publishedVersion"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/1","score":0.7300000190734863,"display_name":"No poverty"}],"awards":[{"id":"https://openalex.org/G3006225402","display_name":"RI:  Inference in Large-Scale Graphical Models","funder_award_id":"0713162","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G6671297155","display_name":null,"funder_award_id":"CAREER","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G6803813892","display_name":"CAREER: Markov Chain Monte Carlo Methods for Large Scale Correspondence Problems in Computer Vision and Robotics","funder_award_id":"0448111","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320322930","display_name":"Ministerio de Ciencia e Innovaci\u00f3n","ror":"https://ror.org/034900433"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W96557935","https://openalex.org/W142685375","https://openalex.org/W1530872699","https://openalex.org/W1977464512","https://openalex.org/W1990012555","https://openalex.org/W2010315317","https://openalex.org/W2064169939","https://openalex.org/W2101648351","https://openalex.org/W2104181141","https://openalex.org/W2105018789","https://openalex.org/W2107905629","https://openalex.org/W2109513571","https://openalex.org/W2111295154","https://openalex.org/W2119538218","https://openalex.org/W2120353515","https://openalex.org/W2149895934","https://openalex.org/W2151005018","https://openalex.org/W2155537009","https://openalex.org/W2169194538","https://openalex.org/W2316564661","https://openalex.org/W2336416123","https://openalex.org/W2516013240","https://openalex.org/W3143919370","https://openalex.org/W4302564868","https://openalex.org/W6605876125","https://openalex.org/W6682410138","https://openalex.org/W6685072645"],"related_works":["https://openalex.org/W2589834695","https://openalex.org/W2350706414","https://openalex.org/W3037834065","https://openalex.org/W2046588673","https://openalex.org/W2388528661","https://openalex.org/W2378960609","https://openalex.org/W937190428","https://openalex.org/W2378491594","https://openalex.org/W2355152789","https://openalex.org/W2349115186"],"abstract_inverted_index":{"In":[0,49],"this":[1],"paper":[2],"we":[3],"propose":[4],"an":[5],"efficient":[6,31,43],"preconditioned":[7],"conjugate":[8,84],"gradients":[9,85],"(PCG)":[10],"approach":[11,153],"to":[12,46,57,101,134],"solving":[13,123],"large-scale":[14],"SLAM":[15,95,166],"problems.":[16],"While":[17],"direct":[18,106,120],"methods,":[19,109,121],"popular":[20],"in":[21,86],"the":[22,58,81,89,94,103,125,158,163],"literature,":[23],"exhibit":[24],"quadratic":[25],"convergence":[26],"and":[27,42,60,107,122,187],"can":[28,67,115,146],"be":[29,47,116,147],"quite":[30],"for":[32,124],"sparse":[33],"problems,":[34],"they":[35],"typically":[36],"require":[37,55],"a":[38,62,112,135,138],"lot":[39],"of":[40,83,88,93,105,160,162,176],"storage":[41],"elimination":[44],"orderings":[45],"found.":[48],"contrast,":[50],"iterative":[51,108,165],"optimization":[52],"methods":[53,167],"only":[54],"access":[56],"gradient":[59,172],"have":[61],"small":[63],"memory":[64],"footprint,":[65],"but":[66],"suffer":[68],"from":[69],"poor":[70],"convergence.":[71],"Our":[72],"new":[73,155,178],"method,":[74],"subgraph":[75],"preconditioning,":[76],"is":[77,100,180],"obtained":[78],"by":[79,110],"re-interpreting":[80],"method":[82],"terms":[87],"graphical":[90],"model":[91],"representation":[92],"problem.":[96],"The":[97,130,174],"main":[98],"idea":[99],"combine":[102],"advantages":[104],"identifying":[111],"sub-problem":[113],"that":[114,145],"easily":[117],"solved":[118],"using":[119,128],"remaining":[126],"part":[127],"PCG.":[129],"easy":[131],"sub-problems":[132],"correspond":[133],"spanning":[136],"tree,":[137],"planar":[139],"subgraph,":[140],"or":[141],"any":[142],"other":[143],"substructure":[144],"efficiently":[148],"solved.":[149],"As":[150],"such,":[151],"our":[152,177],"provides":[154],"insights":[156],"into":[157],"performance":[159],"state":[161],"art":[164],"based":[168],"on":[169,182],"re-parameterized":[170],"stochastic":[171],"descent.":[173],"efficiency":[175],"algorithm":[179],"illustrated":[181],"large":[183],"datasets,":[184],"both":[185],"simulated":[186],"real.":[188]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":5},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":6},{"year":2015,"cited_by_count":5},{"year":2014,"cited_by_count":5},{"year":2013,"cited_by_count":5},{"year":2012,"cited_by_count":9}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}