Large-Scale LiDAR Consistent Mapping using Hierachical LiDAR Bundle Adjustment.
Xiyuan LiuZheng LiuFanze KongFu ZhangPublished in: CoRR (2022)
Keyphrases
- bundle adjustment
- structure from motion
- point cloud
- camera parameters
- multi view
- camera motion
- scene structure
- reprojection error
- nonlinear optimization
- levenberg marquardt
- least squares
- point correspondences
- high resolution
- computer vision
- urban areas
- maximum likelihood
- multi view stereo
- scene reconstruction
- neural network
- stereo rig
- image features
- cost function
- camera positions
- initial solution
- image sequences
- camera motion estimation
- point sets
- piecewise planar
- camera pose
- semi supervised
- principal component analysis
- missing data