相关论文: Large-Scale LiDAR Consistent Mapping using Hierach…

Accurate and consistent construction of point clouds from LiDAR scanning data is fundamental for 3D modeling applications. Current solutions, such as multiview point cloud registration and LiDAR bundle adjustment, predominantly depend on…

Bundle Adjustment (BA) refers to the problem of simultaneous determination of sensor poses and scene geometry, which is a fundamental problem in robot vision. This paper presents an efficient and consistent bundle adjustment method for…

Constructing precise global maps is a key task in robotics and is required for localization, surveying, monitoring, or constructing digital twins. To build accurate maps, data from mobile 3D LiDAR sensors is often used. Mapping requires…

Simultaneous Localization and Mapping (SLAM) using 3D LiDAR has emerged as a cornerstone for autonomous navigation in robotics. While feature-based SLAM systems have achieved impressive results by leveraging edge and planar structures, they…

The bundle adjustment (BA) algorithm is a widely used nonlinear optimization technique in the backend of Simultaneous Localization and Mapping (SLAM) systems. By leveraging the co-view relationships of landmarks from multiple perspectives,…

Point cloud maps with accurate color are crucial in robotics and mapping applications. Existing approaches for producing RGB-colorized maps are primarily based on real-time localization using filter-based estimation or sliding window…

A local Bundle Adjustment (BA) on a sliding window of keyframes has been widely used in visual SLAM and proved to be very effective in lowering the drift. But in lidar SLAM, BA method is hardly used because the sparse feature points (e.g.,…

Large-scale LiDAR Bundle Adjustment (LBA) to refine sensor orientation and point cloud accuracy simultaneously to build the navigation map is a fundamental task in logistics and robotics. Unlike pose-graph-based methods that rely solely on…

Real-time processing of UAV imagery is crucial for applications requiring urgent geospatial information, such as disaster response, where rapid decision-making and accurate spatial data are essential. However, processing high-resolution…

Large-scale multi-session LiDAR mapping is essential for a wide range of applications, including surveying, autonomous driving, crowdsourced mapping, and multi-agent navigation. However, existing approaches often struggle with data…

The joint optimization of the sensor trajectory and 3D map is a crucial characteristic of Simultaneous Localization and Mapping (SLAM) systems. To achieve this, the gold standard is Bundle Adjustment (BA). Modern 3D LiDARs now retain higher…

LiDAR bundle adjustment (BA) is an effective approach to reduce the drifts in pose estimation from the front-end. Existing works on LiDAR BA usually rely on predefined geometric features for landmark representation. This reliance restricts…

This paper introduces a novel targetless method for joint intrinsic and extrinsic calibration of LiDAR-camera systems using plane-constrained bundle adjustment (BA). Our method leverages LiDAR point cloud measurements from planes in the…

Bundle adjustment (BA) on LiDAR point clouds has been extensively investigated in recent years due to its ability to optimize multiple poses together, resulting in high accuracy and global consistency for point cloud. However, the accuracy…

LiDAR mapping is important yet challenging in self-driving and mobile robotics. To tackle such a global point cloud registration problem, DeepMapping converts the complex map estimation into a self-supervised training of simple deep…

The joint optimization of sensor poses and 3D structure is fundamental for state estimation in robotics and related fields. Current LiDAR systems often prioritize pose optimization, with structure refinement either omitted or treated…

Bundle adjustment (BA) is the standard way to optimise camera poses and to produce sparse representations of a scene. However, as the number of camera poses and features grows, refinement through bundle adjustment becomes inefficient.…

Constructing a point cloud for a large geographic region, such as a state or country, can require multiple years of effort. Often several vendors will be used to acquire LiDAR data, and a single region may be captured by multiple LiDAR…

Bundle Adjustment (BA) has been proven to improve the accuracy of the LiDAR mapping. However, the BA method has not yet been properly employed in a dead-reckoning navigation system. In this paper, we present a frame-to-frame (F2F) BA for…

LiDAR-based 3D mapping suffers from cumulative drift causing global misalignment, particularly in GNSS-constrained environments. To address this, we propose a unified framework that fuses LiDAR, GNSS, and IMU data for high-resolution…