This paper presents L-infinity SLAM which solves camera orientations trough rotation averaging and estimates the camera positions and 3D points via a quasi-convex formulation that can be solved efficiently and globally optimally. This approach not only obviates the need to estimate and maintain the positions and 3D map at keyframe rate (which enables simpler SLAM systems), it is also more capable of handling slow motions or pure rotational motions.
Point cloud registration is a fundamental problem in 3D scanning. In this paper, we address the frequent special case of registering terrestrial LiDAR scans (or, more generally, levelled point clouds). Many current solutions still rely on the …