Pose Correction by Space-Time Integration

and its LU factorization (with partial pivoting) be given by A = PT LUR. The matrices P and R are permutations (R = I in the first iteration), L and U are lower and upper triangular. The goal of factorization update is to reuse this known factorization for the derivation of the LU factorization of an RBF linear system that is extended by m new RBF centers and which has the form A′ = Φ0,0 Φ1,0 Π0 Φ1,0 Φ1,1 Π1 Π0 Π T 1 0  .

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