Nikolas Sanderson

Sparse Variable Projection in Robotic Perception: Exploiting Separable Structure for Efficient Nonlinear Optimization

Robotic perception often requires solving large nonlinear least-squares (NLS) problems. While sparsity has been well-exploited to scale solvers, a complementary and underexploited structure is emph{separability} -- where some variables (e.g., visual landmarks) enter the residuals linearly and, for a…