is that the resulting convex program is often expensive to solve. In order to speed up computation, various edge sparsification heuristics have been proposed, whose aim is to reduce the number of edges in the input graph. Although these heuristics do reduce the size of the convex program and hence making it faster

Abstract—This paper reports on optimization-based methods for producing a sparse, conservative approximation of the dense potentials induced by node marginalization in simultaneous localization and mapping (SLAM) factor graphs. The proposed methods start with a sparse, but overconfident, Chow-Liu tree approximation of the marginalization potential and then use optimization-based methods to adjust the approximation so that it is conservative subject to minimizing the Kullback-Leibler divergence (KLD) from the true marginalization potential. Re-sults are presented over multiple real-world SLAM graphs and show that the proposed methods enforce a conservative approxi-mation, while achieving low KLD from the true marginalization potential. I.

Abstract—This paper reports on a factor-based method for node marginalization in simultaneous localization and mapping (SLAM) pose-graphs. Node marginalization in a pose-graph induces fill-in and leads to computational challenges in performing inference. The proposed method is able to produce a new set of constraints over the elimination clique that can represent either the true marginalization, or a sparse approximation of the true marginalization using a Chow-Liu tree. The proposed algorithm improves upon existing methods in two key ways: First, it is not limited to strictly full-state relative-pose constraints and works equally well with other low-rank constraints such as those produced by monocular vision. Second, the new factors are produced in a way that accounts for measurement correlation, a problem ignored in other methods that rely upon measurement composition. We evaluate the proposed method over several realworld SLAM graphs and show that it outperforms other stateof-the-art methods in terms of Kullback-Leibler divergence. I.

) ∑ (x(u) − x(v)) 2 wuv ≤ ∑ (x(u) − x(v)) 2 ˜wuv ≤ (1 + ǫ) ∑ (x(u) − x(v)) 2 wuv. (1) uv∈E uv ∈ ˜ E This improves upon the sparsifiers constructed by Spielman and Teng, which had O(n log c n) edges for some large constant c, and upon those of Benczúr and Karger, which only satisfied (1) for x ∈ {0, 1

. Using our improved sparsification technique, we keep track of the following properties: minimum spanning forest, best swap, connectivity, 2-edge-connectivity, and bipartiteness, in time O(n 1/2 ) per edge insertion or deletion; 2-vertex-connectivity and 3-vertex-connectivity, in time O(n) per

Abstract — In a standard pose-graph formulation of simultaneous localization and mapping (SLAM), due to the continuously increasing numbers of nodes (states) and edges (measurements), the graph may grow prohibitively too large for long-term navigation. This motivates us to systematically reduce

In this thesis we prove the following two basic statements in linear algebra. Let B be an arbitrary n × m matrix where m ≥ n and suppose 0 < ε < 1 is given. 1. Spectral Sparsification. There is a nonnegative diagonal matrix Sm×m with at most ⌈n/ε2 ⌉ nonzero entries for which (1 − ε) 2BBT

Abstract. We provide data structures that maintain a graph as edges are inserted and deleted, and keep track of the following properties with the following times: minimum spanning forests, graph connectivity, graph 2-edge connectivity, and bipartiteness in time O(n 1/ 2 ) per change; 3-edge

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(RSEC), a simple and effective algorithm for reducing the size of a motion-planning roadmap. The algorithm exhibits minimal effect on the quality of paths that can be extracted from the new roadmap. The primitive operation used by RSEC is edge contraction—the contraction of a roadmap edge to a