Balm: Bundle adjustment for lidar map**
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 …
visual SLAM and proved to be very effective in lowering the drift. But in lidar SLAM, BA …
LiDAR SLAM with plane adjustment for indoor environment
Planes ubiquitously exist in the indoor environment. This letter presents a real-time and low-
drift LiDAR SLAM system using planes as the landmark for the indoor environment. Our …
drift LiDAR SLAM system using planes as the landmark for the indoor environment. Our …
Efficient and consistent bundle adjustment on lidar point clouds
Simultaneous determination of sensor poses and scene geometry is a fundamental problem
for robot vision that is often achieved by Bundle Adjustment (BA). This article presents an …
for robot vision that is often achieved by Bundle Adjustment (BA). This article presents an …
π-LSAM: LiDAR smoothing and map** with planes
This paper introduces a real-time dense planar LiDAR SLAM system, named π-LSAM, for
the indoor environment. The widely used LiDAR odometry and map** (LOAM) framework …
the indoor environment. The widely used LiDAR odometry and map** (LOAM) framework …
Do planar constraints improve camera pose estimation in monocular slam?
Geometric structures such as lines and planes are relevant in SLAM, as they improve the
map interpretability and usability for downstream tasks. Planar landmarks add structural …
map interpretability and usability for downstream tasks. Planar landmarks add structural …
[HTML][HTML] Simple loop closing for continuous 6DOF LIDAR&IMU graph SLAM with planar features for indoor environments
Simultaneous localization and map** (SLAM) is the essential technique in map**
environments that are denied to the global navigation satellite systems (GNSSs), such as …
environments that are denied to the global navigation satellite systems (GNSSs), such as …
A review of visual SLAM for robotics: evolution, properties, and future applications
Visual simultaneous localization and map** (V-SLAM) plays a crucial role in the field of
robotic systems, especially for interactive and collaborative mobile robots. The growing …
robotic systems, especially for interactive and collaborative mobile robots. The growing …
CoLi-BA: Compact linearization based solver for bundle adjustment
Bundle adjustment (BA) is widely used in SLAM and SfM, which are key technologies in
Augmented Reality. For real-time SLAM and large-scale SfM, the efficiency of BA is of great …
Augmented Reality. For real-time SLAM and large-scale SfM, the efficiency of BA is of great …