{"paper":{"title":"Graph Optimality-Aware Stochastic LiDAR Bundle Adjustment with Progressive Spatial Smoothing","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Jianping Li, Lihua Xie, Muqing Cao, Shenghai Yuan, Thien-Minh Nguyen, Tzu-Yi Hung","submitted_at":"2024-10-18T16:10:50Z","abstract_excerpt":"Large-scale LiDAR Bundle Adjustment (LBA) to refine sensor orientation and point cloud accuracy simultaneously to build the navigation map is a fundamental task in logistics and robotics. Unlike pose-graph-based methods that rely solely on pairwise relationships between LiDAR frames, LBA leverages raw LiDAR correspondences to achieve more precise results, especially when initial pose estimates are unreliable for low-cost sensors. However, existing LBA methods face challenges such as simplistic planar correspondences, extensive observations, and dense normal matrices in the least-squares proble"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2410.14565","kind":"arxiv","version":2},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2410.14565/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"}