Reconstruction of Three-Dimensional Maps Based on Closed-Form Solutions of the Variational Problem of Multisensor Data Registration

Abstract

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 mean-square 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.