2021
DOI: 10.1109/lra.2021.3105686
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On Bundle Adjustment for Multiview Point Cloud Registration

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Cited by 19 publications
(15 citation statements)
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“…Consequently, the method is hard to be used in large-scale problems where the lidar points are huge in number. This problem is partially addressed in [54], which aggregates all points associated to the same plane feature in a scan in the scan local frame. However, to ensure convergence, [54] modifies the cost function by including an extra heuristic penalty term, which is not a true representation of the map consistency.…”
Section: B Bundle or Plane Adjustmentmentioning
confidence: 99%
See 4 more Smart Citations
“…Consequently, the method is hard to be used in large-scale problems where the lidar points are huge in number. This problem is partially addressed in [54], which aggregates all points associated to the same plane feature in a scan in the scan local frame. However, to ensure convergence, [54] modifies the cost function by including an extra heuristic penalty term, which is not a true representation of the map consistency.…”
Section: B Bundle or Plane Adjustmentmentioning
confidence: 99%
“…This problem is partially addressed in [54], which aggregates all points associated to the same plane feature in a scan in the scan local frame. However, to ensure convergence, [54] modifies the cost function by including an extra heuristic penalty term, which is not a true representation of the map consistency. Moreover, the cost function in [54] still involves the plane feature similar to [47,49]- [51,53].…”
Section: B Bundle or Plane Adjustmentmentioning
confidence: 99%
See 3 more Smart Citations