This work reports a novel multi-frame Bundle Adjustment (BA) framework called RKHS-BA. It uses continuous landmark representations that encode RGB-D/LiDAR and semantic observations in a Reproducing Kernel Hilbert Space (RKHS). With a correspondence-free pose graph formulation, the proposed system constructs a loss function that achieves more generalized convergence than classical point-wise convergence. We demonstrate its applications in multi-view point cloud registration, sliding-window odometry, and global LiDAR mapping on simulated and real data. It shows highly robust pose estimations in extremely noisy scenes and exhibits strong generalization with various types of semantic inputs. The open source implementation is released in https://github.com/UMich-CURLY/RKHS_BA.
Cite
@article{arxiv.2403.01254,
title = {RKHS-BA: A Robust Correspondence-Free Multi-View Registration Framework with Semantic Point Clouds},
author = {Ray Zhang and Jingwei Song and Xiang Gao and Junzhe Wu and Tianyi Liu and Jinyuan Zhang and Ryan Eustice and Maani Ghaffari},
journal= {arXiv preprint arXiv:2403.01254},
year = {2024}
}
Comments
17 pages, 18 figures, technical report under review