BALM: Bundle Adjustment for Lidar Mapping

16 Oct 2020 Zheng Liu Fu Zhang

We propose a framework for bundle adjustment (BA) on sparse lidar points and incorporate it to a lidar odometry and mapping (LOAM) to lower the drift. A local BA on a sliding window of keyframes has been widely used in visual SLAM and has proved to be very effective in lowering the drift... (read more)

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