LiDAR Bundle Adjustment

LiDAR bundle adjustment (BA) is a technique used to refine the accuracy of 3D point cloud maps generated from LiDAR scans by jointly optimizing the poses of the sensor and the locations of observed landmarks. Current research focuses on improving the robustness and efficiency of BA, exploring methods such as semantic modeling of the environment, integration with visual data, and the development of efficient second-order optimization algorithms to handle the large datasets involved. These advancements are crucial for applications requiring highly accurate and globally consistent 3D maps, such as autonomous navigation, robotics, and large-scale 3D modeling. Hierarchical approaches are also being investigated to address the computational challenges of processing large-scale datasets.