BA-CLM: A Globally Consistent 3D LiDAR Mapping Based on Bundle Adjustment Cost Factors

Constructing a globally consistent high-precision map is essential for the application of mobile robots. Existing optimization-based mapping methods typically constrain robot states in pose space during the graph optimization process, without directly optimizing the structure of the scene, thereby c...

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Autores principales:	Bohan Shi, Wanbiao Lin, Wenlan Ouyang, Chenyu Shen, Siyang Sun, Yan Sun, Lei Sun
Formato:	Artigo
Lenguaje:	Inglês
Publicado:	MDPI AG 2024-08-01
Colección:	Sensors
Materias:	consistent high-precision mapping LiDAR bundle adjustment graph optimization
Acceso en línea:	https://www.mdpi.com/1424-8220/24/17/5554
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