Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Complexity Analysis and Efficient Measurement Selection Primitives for
  High-Rate Graph SLAM   Sparsity has been widely recognized as crucial for efficient optimization in
graph-based SLAM. Because the sparsity and structure of the SLAM graph reflect
the set of incorporated measurements, many methods for sparsification have been
proposed in hopes of reducing computation. These methods often focus narrowly
on reducing edge count without regard for structure at a global level. Such
structurally-naive techniques can fail to produce significant computational
savings, even after aggressive pruning. In contrast, simple heuristics such as
measurement decimation and keyframing are known empirically to produce
significant computation reductions. To demonstrate why, we propose a
quantitative metric called elimination complexity (EC) that bridges the
existing analytic gap between graph structure and computation. EC quantifies
the complexity of the primary computational bottleneck: the factorization step
of a Gauss-Newton iteration. Using this metric, we show rigorously that
decimation and keyframing impose favorable global structures and therefore
achieve computation reductions on the order of $r^2/9$ and $r^3$, respectively,
where $r$ is the pruning rate. We additionally present numerical results
showing EC provides a good approximation of computation in both batch and
incremental (iSAM2) optimization and demonstrate that pruning methods promoting
globally-efficient structure outperform those that do not.

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The categories of this paper are: q-alg
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The categories of this paper are: nucl-ex
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The categories of this paper are: ao-sci
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The categories of this paper are: eess
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The categories of this paper are: quant-ph
5
The categories of this paper are: gr-qc
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The categories of this paper are: plasm-ph
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The categories of this paper are: comp-gas
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The categories of this paper are: chao-dyn
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The categories of this paper are: cmp-lg
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The categories of this paper are: nucl-th
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The categories of this paper are: nlin
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The categories of this paper are: math
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The categories of this paper are: patt-sol
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The categories of this paper are: hep-ph
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The categories of this paper are: hep-th