Browsing CSAIL Digital Archive by Author "Ila, Viorela"
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The Bayes Tree: Enabling Incremental Reordering and Fluid Relinearization for Online Mapping
Kaess, Michael; Dellaert, Frank; Roberts, Richard; Ila, Viorela (2010-01-29)In this paper we present a novel data structure, the Bayes tree, which exploits the connections between graphical model inference and sparse linear algebra. The proposed data structure provides a new perspective on an ...