MAD-BA performs simultaneous optimization of LiDAR poses and surfel-based 3D maps with a generalized uncertainty model, claiming improved performance over most state-of-the-art methods on public datasets with open-source release.
MAD-ICP: It is all about matching data – robust and informed LiDAR odometry
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MAD-BA: 3D LiDAR Bundle Adjustment -- from Uncertainty Modelling to Structure Optimization
MAD-BA performs simultaneous optimization of LiDAR poses and surfel-based 3D maps with a generalized uncertainty model, claiming improved performance over most state-of-the-art methods on public datasets with open-source release.