Title
MAD-BA: 3D LiDAR Bundle Adjustment – From Uncertainty Modelling to Structure Optimization
Authors
[ 1 ] Instytut Robotyki i Inteligencji Maszynowej, Wydział Automatyki, Robotyki i Elektrotechniki, Politechnika Poznańska | [ P ] employee
Scientific discipline (Law 2.0)
[2.2] Automation, electronics, electrical engineering and space technologies
Year of publication
2025
Published in
Article type
scientific article
Publication language
english
Keywords
EN
- mapping
- range sensing
- SLAM
- uncertainty
Abstract
EN The joint optimization of sensor poses and 3D structure is fundamental for state estimation in robotics and related fields. Current LiDAR systems often prioritize pose optimization, with structure refinement either omitted or treated separately using implicit representations. This letter introduces a framework for simultaneous optimization of sensor poses and 3D map, represented as surfels. A generalized LiDAR uncertainty model is proposed to address less reliable measurements in varying scenarios. Experimental results on public datasets demonstrate improved performance over most comparable state-of-the-art methods. The system is provided as open-source software to support further research.
Pages (from - to)
7254 - 7261
Ministry points / journal
200
Impact Factor
5,3 [List 2024]
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