PCG(preconditioned conjugate gradient) for RCS(reduced camera system) in SLAM

最新推荐文章于 2025-08-25 16:07:09 发布

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最新推荐文章于 2025-08-25 16:07:09 发布 · 834 阅读

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本文介绍了预条件共轭梯度（PCG）在减少相机系统（RCS）中的应用，用于SLAM问题的求解。作者探讨了线性代数软件的选择，如BLAS、LAPACK和Eigen，并详细阐述了PCG算法在加速RCS线性系统的解算中的效果。通过对比直接求解、CG方法，展示了PCG在处理不同规模RCS数据集时的速度提升。

1. Introduction

The main contribution of this article are :

Recommond to read this slide from Standford Convex optimzation course EE364B website .

BLAS offers three levels of basic matrix operations.
LAPACK offers more high level linear algebra algorithms.
Both can be called from C++ (our main develop language).
Eigen is another matrix calculation library (has better interface, but little bit slows). See their Benchmark, And also see How does Eigen compare to BLAS/LAPACK?

In my point of view, I prefer Eigen , as it is easier to use,