Efficient and distributed large-scale point cloud bundle adjustment via majorization-minimization
The International Journal of Robotics Research
Published online on January 07, 2026
Abstract
The International Journal of Robotics Research, Ahead of Print.
Point cloud bundle adjustment is critical in large-scale point cloud mapping. However, point cloud bundle adjustment is both computationally and memory intensive, growing dramatically as the number of scan poses increases. This paper presents BALM3.0, an ...
Point cloud bundle adjustment is critical in large-scale point cloud mapping. However, point cloud bundle adjustment is both computationally and memory intensive, growing dramatically as the number of scan poses increases. This paper presents BALM3.0, an ...