PSS-BA: LiDAR Bundle Adjustment with Progressive Spatial Smoothing

arXiv:2403.06124v1 Announce Type: new
Abstract: Accurate and consistent construction of point clouds from LiDAR scanning data is fundamental for 3D modeling applications. Current solutions, such as multiview point cloud registration and LiDAR bundle adjustment, predominantly depend on the local plane assumption, which may be inadequate in complex environments lacking of planar geometries or substantial initial pose errors. To mitigate this problem, this paper presents a LiDAR bundle adjustment with progressive spatial smoothing, which is suitable for complex environments and exhibits …

3d modeling abstract applications arxiv cloud consistent construction cs.cv cs.ro current data environments lidar modeling plane registration solutions spatial type