Characterizing Marginalization and Incremental Operations on the Bayes Tree

DOI10.1007/978-3-030-66723-8_14zbMath1469.68123OpenAlexW3128922389MaRDI QIDQ3381968

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Publication date: 20 September 2021

Published in: Algorithmic Foundations of Robotics XIV (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1007/978-3-030-66723-8_14

zbMATH Keywords

localizationroboticsjunction treebelief propagationsum-productBayes networkBayes treeChapman-Kolmogorov transit integral

Mathematics Subject Classification ID

Artificial intelligence for robotics (68T40)

Uses Software

• COLAMD
• GitHub
• iSAM2

Cites Work

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• The Bayes Tree: An Algorithmic Foundation for Probabilistic Robot Mapping
• Simple Linear-Time Algorithms to Test Chordality of Graphs, Test Acyclicity of Hypergraphs, and Selectively Reduce Acyclic Hypergraphs
• Square Root SAM: Simultaneous Localization and Mapping via Square Root Information Smoothing
• Complexity of Finding Embeddings in a k-Tree
• Factor graphs and the sum-product algorithm
• A column approximate minimum degree ordering algorithm

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