Large-Scale LiDAR Consistent Mapping Using Hierarchical LiDAR Bundle Adjustment.
Xiyuan LiuZheng LiuFanze KongFu ZhangPublished in: IEEE Robotics Autom. Lett. (2023)
Keyphrases
- bundle adjustment
- structure from motion
- point cloud
- camera parameters
- camera motion
- point correspondences
- least squares
- scene reconstruction
- nonlinear optimization
- levenberg marquardt
- scene structure
- multi view
- high resolution
- computer vision
- multi view stereo
- stereo rig
- missing data
- visual slam
- reprojection error
- piecewise planar
- loop closure
- camera motion estimation
- initial solution
- camera positions
- feature correspondences
- pairwise
- maximum likelihood
- face recognition
- neural network
- real time