Browsing Theses by Subject "automatic differentiation"
Now showing items 1-2 of 2
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The determination of structured Hessian matrices via automatic differentiation
(University of Waterloo, 2014-09-23)In using automatic differentiation (AD) for Hessian computation, efficiency can be achieved by exploiting the sparsity existing in the derivative matrix. However, in the case where the Hessian is dense, this cannot be done ... -
On the Manifold: Representing Geometry in C++ for State Estimation
(University of Waterloo, 2018-12-19)Manipulating geometric objects is central to state estimation problems in robotics. Typical algorithms must optimize over non-Euclidean states, such as rigid transformations on the SE(3) manifold, and handle measurements ...