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This paper presents an efficient algorithm for the least-squares problem using the point-to-plane cost, which aims to jointly optimize depth sensor poses and plane parameters for 3D reconstruction.
A method for the solution of certain non-linear problems in least squares
K. Levenberg · 1944
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The levenberg-marquardt algorithm: implementation and theory
J. J. Moré · 1978
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Bundle adjustment—a modern synthesis
B. Triggs, P. F. McLauchlan, R. I. Hartley, and A. W. Fitzgibbon · 1999
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Multiple view geometry in computer vision
R. Hartley and A. Zisserman · 2003
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Fast plane detection and polygonalization in noisy 3d range images
J. Poppinga, N. Vaskevicius, A. Birk, and K. Pathak · 2008
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Parallel tracking and mapping on a camera phone
G. Klein and D. W. Murray · 2009
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Sba: A software package for generic sparse bundle adjustment
M. I. Lourakis and A. A. Argyros · 2009
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Bundle adjustment in the large
S. Agarwal, N. Snavely, S. M. Seitz, and R. Szeliski · 2010
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A tutorial on graph-based SLAM
G. Grisetti, R. Kummerle, C. Stachniss, and W. Burgard · 2010
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Fast registration based on noisy planes with unknown correspondences for 3-d mapping
K. Pathak, A. Birk, N. Vaskevicius, and J. Poppinga · 2010
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Kinectfusion: Real-time dense surface mapping and tracking
R. A. Newcombe, S. Izadi, O. Hilliges, D. Molyneaux, D. Kim, A. J. Davison, P. Kohi, J. Shotton, S. Hodges, and A. Fitzgibbon · 2011
Earlier work this paper cites.
Multicore bundle adjustment
C. Wu, S. Agarwal, B. Curless, and S. M. Seitz · 2011
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Matrix computations
G. H. Golub and C. F. Van Loan · 2012
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isam2: Incremental smoothing and mapping using the bayes tree
M. Kaess, H. Johannsson, R. Roberts, V. Ila, J. J. Leonard, and F. Dellaert · 2012
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Indoor mapping using planes extracted from noisy rgb-d sensors
T. Lee, S. Lim, S. Lee, S. An, and S. Oh · 2012
Cited alongside, same era.
Planar surface SLAM with 3d and 2d sensors
A. J. Trevor, J. G. Rogers, and H. I. Christensen · 2012
Cited alongside, same era.
Point-plane SLAM for hand-held 3d sensors
Y. Taguchi, Y.-D. Jian, S. Ramalingam, and C. Feng · 2013
Cited alongside, same era.
Dense planar SLAM
R. F. Salas-Moreno, B. Glocken, P. H. Kelly, and A. J. Davison · 2014
Cited alongside, same era.
Semi-dense visual odometry for ar on a smartphone
T. Schöps, J. Engel, and D. Cremers · 2014
Cited alongside, same era.
Robust bundle adjustment revisited
C. Zach · 2014
Cited alongside, same era.
Simultaneous localization and mapping with infinite planes
Distributed very large scale bundle adjustment by global camera consensus
R. Zhang, S. Zhu, T. Fang, and L. Quan · 2017
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LIPS: Lidar-inertial 3d plane SLAM
P. Geneva, K. Eckenhoff, Y. Yang, and G. Huang · 2018
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Structure aware SLAM using quadrics and planes
M. Hosseinzadeh, Y. Latif, T. Pham, N. Suenderhauf, and I. Reid · 2018
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Dense planar-inertial SLAM with structural constraints
M. Hsiao, E. Westman, and M. Kaess · 2018
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Linear rgb-d SLAM for planar environments
P. Kim, B. Coltin, and H. Jin Kim · 2018
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ICE-BA: Incremental, consistent and efficient bundle adjustment for visual-inertial SLAM
H. Liu, M. Chen, G. Zhang, H. Bao, and Y. Bao · 2018
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M. Kaess · 2015
Cited alongside, same era.
Robust keyframe-based monocular SLAM for augmented reality
H. Liu, G. Zhang, and H. Bao · 2016
Cited alongside, same era.
Structure-from-Motion revisited
J. L. Schonberger and J.-M. Frahm · 2016
Cited alongside, same era.
Pop-up SLAM: Semantic monocular plane SLAM for low-texture environments
S. Yang, Y. Song, M. Kaess, and S. Scherer · 2016
Cited alongside, same era.
Keyframe-based dense planar SLAM
M. Hsiao, E. Westman, G. Zhang, and M. Kaess · 2017
Cited alongside, same era.
ORB-SLAM2: An open-source SLAM system for monocular, stereo, and rgb-d cameras
R. Mur-Artal and J. D. Tardós · 2017
Cited alongside, same era.
A tutorial on quantitative trajectory evaluation for visual (-inertial) odometry
Z. Zhang and D. Scaramuzza · 2018
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Efficient velodyne SLAM with point and plane features
W. S. Grant, R. C. Voorhies, and L. Itti · 2019
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Optimization for rgb-d SLAM based on plane geometrical constraint
N. Huang, J. Chen, and Y. Miao · 2019
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Robust and efficient visual-inertial odometry with multi-plane priors
J. Li, B. Yang, K. Huang, G. Zhang, and H. Bao · 2019
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A submap joining algorithm for 3d reconstruction using an rgb-d camera based on point and plane features
J. Wang, J. Song, L. Zhao, S. Huang, and R. Xiong · 2019
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Monocular object and plane SLAM in structured environments
S. Yang and S. Scherer · 2019
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Tightly-coupled aided inertial navigation with point and plane features
Y. Yang, P. Geneva, X. Zuo, K. Eckenhoff, Y. Liu, and G. Huang · 2019
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A fast and accurate solution for pose estimation from 3D correspondences
L. Zhou, S. Wang, and M. Kaess · 2020
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