LiDAR Bundle Adjustment with Progressive Spatial Smoothing

Khái niệm cốt lõi

The author presents the PSS-BA method as a solution for accurate 3D modeling in complex environments by combining spatial smoothing and poses adjustment modules.

Tóm tắt

The paper introduces the PSS-BA method to address challenges in LiDAR bundle adjustment, emphasizing accuracy in complex environments. By progressively smoothing noisy data and adjusting poses, PSS-BA achieves fine poses and parametric surfaces for high-quality point cloud reconstruction. Experimental results show its superiority over existing methods in both simulation and real-world datasets.

Thống kê

The termination threshold Tconv is set to 0.01.
The initial kernel size γ is set to 3 m.
The voxel size for evaluation is 0.1 m.

Trích dẫn

"The proposed method simultaneously achieves fine poses and parametric surfaces that can be directly employed for high-quality point cloud reconstruction."
"PSS-BA utilizes the surface smooth kernel for constructing BA residuals providing more robust and richer constraints in complex environments."
"PSS-BA introduces progressive smoothing accelerates BA convergence and improves accuracy compared to setting a fixed scale."

Thông tin chi tiết chính được chắt lọc từ

PSS-BA

by Jianping Li,... lúc arxiv.org 03-12-2024

https://arxiv.org/pdf/2403.06124.pdf

Yêu cầu sâu hơn

How can the PSS-BA method be adapted for large-scale mapping applications

To adapt the PSS-BA method for large-scale mapping applications, several adjustments can be made. One approach is to implement a hierarchical strategy where the mapping area is divided into smaller regions or chunks that can be processed independently before being merged together. This division helps manage memory usage and computational load, making it feasible to handle larger datasets. Additionally, optimizing the algorithm's efficiency by parallelizing computations and utilizing distributed computing resources can further enhance its scalability for large-scale mapping tasks.

What are the limitations of relying solely on planar features in LiDAR bundle adjustment

Relying solely on planar features in LiDAR bundle adjustment poses limitations, especially in environments with complex geometries lacking distinct planar structures. In such scenarios, traditional methods based on planar assumptions may struggle to provide accurate results due to the absence of suitable constraints for pose correction. This limitation can lead to performance degradation and divergence issues in challenging environments where planar features are scarce or not well-defined.

How can hierarchical adjustment strategies enhance the performance of PSS-BA

Hierarchical adjustment strategies can significantly improve the performance of PSS-BA by introducing a multi-level optimization approach. By dividing the optimization process into hierarchical levels, each focusing on different scales or aspects of data refinement, the algorithm can effectively address various challenges encountered in large-scale mapping applications. The hierarchical structure allows for more targeted adjustments at different levels of detail, enabling better convergence and accuracy across diverse spatial contexts within a single framework.