Reconstruction of three-dimensional maps based on closed-form solutions of the variational problem of multisensor data registration
Aleksandr Vokhmintcev, A.V. Melnikov, Konstantin Valeryevich MIRONOV, Vladimir V. Burlutskiy · Доклады Академии наук · 2019
A closed-form solution is proposed for the problem of minimizing a functional consisting of two terms measuring mean-square distances for visually associated characteristic points on an image and meansquare distances for point clouds in terms of a point-to-plane metric. An accurate method for reconstructing three-dimensional dynamic environment is presented, and the properties of closed-form solutions are described. The proposed approach improves the accuracy and convergence of reconstruction methods for complex and large-scale scenes.