Plane Adjustment

Plane adjustment (PA) is a crucial process in 3D computer vision and robotics, aiming to optimally estimate the positions of planes and sensors in a scene by minimizing the distance between points and their corresponding planes. Current research focuses on developing efficient algorithms, such as those employing bi-convex relaxation or incremental plane pre-fitting, to address the computational challenges posed by large-scale datasets and noisy data, particularly from LiDAR scans. These advancements improve the accuracy and speed of 3D reconstruction, localization, and mapping in applications ranging from autonomous navigation to augmented reality. The development of faster and more robust PA methods is vital for enabling real-time processing of large-scale 3D data.