Robust Second-order LiDAR Bundle Adjustment Algorithm Using Mean Squared
Group Metric
Robust Second-order LiDAR Bundle Adjustment Algorithm Using Mean Squared
Group Metric
The bundle adjustment (BA) algorithm is a widely used nonlinear optimization technique in the backend of Simultaneous Localization and Mapping (SLAM) systems. By leveraging the co-view relationships of landmarks from multiple perspectives, the BA method constructs a joint estimation model for both poses and landmarks, enabling the system to generate …