{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,8,5]],"date-time":"2026-08-05T01:27:58Z","timestamp":1785893278455,"version":"3.56.0"},"reference-count":39,"publisher":"IEEE","content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2015,9]]},"DOI":"10.1109\/iros.2015.7353543","type":"proceedings-article","created":{"date-parts":[[2015,12,17]],"date-time":"2015-12-17T16:52:55Z","timestamp":1450371175000},"page":"1349-1356","source":"Crossref","is-referenced-by-count":14,"title":["Exactly sparse memory efficient SLAM using the multi-block alternating direction method of multipliers"],"prefix":"10.1109","author":[{"given":"Siddharth","family":"Choudhary","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Luca","family":"Carlone","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Henrik I.","family":"Christensen","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Frank","family":"Dellaert","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"263","reference":[{"key":"ref39","doi-asserted-by":"publisher","DOI":"10.1109\/SC.1998.10018"},{"key":"ref38","doi-asserted-by":"publisher","DOI":"10.1177\/0278364914523689"},{"key":"ref33","article-title":"The direct extension of ADMM for multi-block convex minimization problems is not necessarily convergent","author":"chen","year":"2014","journal-title":"Mathematical Programming"},{"key":"ref32","doi-asserted-by":"publisher","DOI":"10.1561\/2200000016"},{"key":"ref31","article-title":"Parallel and Distributed Computation: Numerical Methods","author":"bertsekas","year":"1989"},{"key":"ref30","doi-asserted-by":"publisher","DOI":"10.1017\/CBO9780511804441"},{"key":"ref37","article-title":"Factor graphs and GTSAM: A hands-on introduction","author":"dellaert","year":"2012","journal-title":"Georgia Institute of Technology Tech Rep GT-RIM-CP&R-2012-002"},{"key":"ref36","doi-asserted-by":"publisher","DOI":"10.1109\/SmartGridComm.2014.7007744"},{"key":"ref35","article-title":"Convergence analysis of ADMM for a family of nonconvex problems","author":"hong","year":"2014","journal-title":"NIPS Workshop on Optimization for Machine Learning"},{"key":"ref34","article-title":"Parallel multi-block admm with o(l\/k) convergence","author":"deng","year":"2014"},{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.1109\/48.972094"},{"key":"ref11","article-title":"Consistent, convergent, and constant-time SLAM","author":"leonard","year":"2003","journal-title":"Intl Joint Conf on Al (IJCAI)"},{"key":"ref12","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2005.844673"},{"key":"ref13","doi-asserted-by":"publisher","DOI":"10.1177\/0278364904049393"},{"key":"ref14","doi-asserted-by":"publisher","DOI":"10.1007\/s10514-006-9043-2"},{"key":"ref15","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2010.5509636"},{"key":"ref16","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2004.839220"},{"key":"ref17","article-title":"Tectonic SAM: Exact; out-of-core; submap-based SLAM","author":"ni","year":"2007","journal-title":"IEEE Intl Conf on Robotics and Automation (ICRA)"},{"key":"ref18","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2010.5509407"},{"key":"ref19","article-title":"Multi-level submap based slam using nested dissection","author":"ni","year":"2010","journal-title":"IEEE\/RSJ Intl Conf on Intelligent Robots and Systems (IROS)"},{"key":"ref28","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2013.6631323"},{"key":"ref4","doi-asserted-by":"publisher","DOI":"10.1177\/0278364911430419"},{"key":"ref27","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2010.5652875"},{"key":"ref3","first-page":"2","article-title":"Google's X-Man A conversation with Sebastian Thrun","volume":"92","author":"rose","year":"2013","journal-title":"Foreign Affairs"},{"key":"ref6","article-title":"Generalized subgraph preconditioners for large-scale bundle adjustment","author":"jian","year":"2011","journal-title":"Intl Conf on Computer Vision (ICCV)"},{"key":"ref29","doi-asserted-by":"publisher","DOI":"10.1007\/b98874"},{"key":"ref5","doi-asserted-by":"crossref","DOI":"10.1109\/ICRA.2011.5979949","article-title":"g20: A general framework for graph optimization","author":"ktimmerle","year":"2011","journal-title":"Proc of the IEEE Int Conf on Robotics and Automation (ICRA)"},{"key":"ref8","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2014.6942924"},{"key":"ref7","article-title":"Support-theoretic subgraph preconditioners for large-scale SLAM","author":"jian","year":"2013","journal-title":"IEEE\/RSJ Intl Conf on Intelligent Robots and Systems (IROS)"},{"key":"ref2","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2010.5650422"},{"key":"ref9","doi-asserted-by":"publisher","DOI":"10.5244\/C.28.3"},{"key":"ref1","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2006.282531"},{"key":"ref20","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2012.6385779"},{"key":"ref22","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2014.6907384"},{"key":"ref21","article-title":"Linear SLAM: A linear solution to the feature-based and pose graph SLAM based on submap joining","author":"zhao","year":"2013","journal-title":"IEEE\/RSJ Intl Conf on Intelligent Robots and Systems (IROS)"},{"key":"ref24","doi-asserted-by":"publisher","DOI":"10.1109\/ECMR.2013.6698816"},{"key":"ref23","article-title":"Consistent sparsification for graph optimization","author":"huang","year":"2012","journal-title":"Proc of the European Conference on Mobile Robots (ECMR)"},{"key":"ref26","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2014.X.040"},{"key":"ref25","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2014.2347571"}],"event":{"name":"2015 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS)","location":"Hamburg, Germany","start":{"date-parts":[[2015,9,28]]},"end":{"date-parts":[[2015,10,2]]}},"container-title":["2015 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS)"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx7\/7347169\/7353104\/07353543.pdf?arnumber=7353543","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2019,9,2]],"date-time":"2019-09-02T13:07:59Z","timestamp":1567429679000},"score":1,"resource":{"primary":{"URL":"http:\/\/ieeexplore.ieee.org\/document\/7353543\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2015,9]]},"references-count":39,"URL":"https:\/\/doi.org\/10.1109\/iros.2015.7353543","relation":{},"subject":[],"published":{"date-parts":[[2015,9]]}}}