{"id":"https://openalex.org/W4413925088","doi":"https://doi.org/10.1109/icra55743.2025.11127400","title":"LVBA: LiDAR-Visual Bundle Adjustment for RGB Point Cloud Mapping","display_name":"LVBA: LiDAR-Visual Bundle Adjustment for RGB Point Cloud Mapping","publication_year":2025,"publication_date":"2025-05-19","ids":{"openalex":"https://openalex.org/W4413925088","doi":"https://doi.org/10.1109/icra55743.2025.11127400"},"language":"en","primary_location":{"id":"doi:10.1109/icra55743.2025.11127400","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11127400","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5101780302","display_name":"Rundong Li","orcid":"https://orcid.org/0000-0003-0250-1952"},"institutions":[{"id":"https://openalex.org/I889458895","display_name":"University of Hong Kong","ror":"https://ror.org/02zhqgq86","country_code":"HK","type":"education","lineage":["https://openalex.org/I889458895"]},{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["CN","HK"],"is_corresponding":true,"raw_author_name":"Rundong Li","raw_affiliation_strings":["The University of Hong Kong,Department of Mechanical Engineering,Hong Kong,China"],"affiliations":[{"raw_affiliation_string":"The University of Hong Kong,Department of Mechanical Engineering,Hong Kong,China","institution_ids":["https://openalex.org/I177725633","https://openalex.org/I889458895"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059217582","display_name":"Xiyuan Liu","orcid":"https://orcid.org/0000-0001-9429-6364"},"institutions":[{"id":"https://openalex.org/I889458895","display_name":"University of Hong Kong","ror":"https://ror.org/02zhqgq86","country_code":"HK","type":"education","lineage":["https://openalex.org/I889458895"]},{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["CN","HK"],"is_corresponding":false,"raw_author_name":"Xiyuan Liu","raw_affiliation_strings":["The University of Hong Kong,Department of Mechanical Engineering,Hong Kong,China"],"affiliations":[{"raw_affiliation_string":"The University of Hong Kong,Department of Mechanical Engineering,Hong Kong,China","institution_ids":["https://openalex.org/I177725633","https://openalex.org/I889458895"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103036503","display_name":"Haotian Li","orcid":"https://orcid.org/0009-0002-9964-3008"},"institutions":[{"id":"https://openalex.org/I889458895","display_name":"University of Hong Kong","ror":"https://ror.org/02zhqgq86","country_code":"HK","type":"education","lineage":["https://openalex.org/I889458895"]},{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["CN","HK"],"is_corresponding":false,"raw_author_name":"Haotian Li","raw_affiliation_strings":["The University of Hong Kong,Department of Mechanical Engineering,Hong Kong,China"],"affiliations":[{"raw_affiliation_string":"The University of Hong Kong,Department of Mechanical Engineering,Hong Kong,China","institution_ids":["https://openalex.org/I177725633","https://openalex.org/I889458895"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5041866950","display_name":"Zheng Liu","orcid":"https://orcid.org/0000-0001-6176-5283"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633"]},{"id":"https://openalex.org/I889458895","display_name":"University of Hong Kong","ror":"https://ror.org/02zhqgq86","country_code":"HK","type":"education","lineage":["https://openalex.org/I889458895"]}],"countries":["CN","HK"],"is_corresponding":false,"raw_author_name":"Zheng Liu","raw_affiliation_strings":["The University of Hong Kong,Department of Mechanical Engineering,Hong Kong,China"],"affiliations":[{"raw_affiliation_string":"The University of Hong Kong,Department of Mechanical Engineering,Hong Kong,China","institution_ids":["https://openalex.org/I177725633","https://openalex.org/I889458895"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076435971","display_name":"Jiarong Lin","orcid":"https://orcid.org/0000-0001-8404-7057"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633"]},{"id":"https://openalex.org/I889458895","display_name":"University of Hong Kong","ror":"https://ror.org/02zhqgq86","country_code":"HK","type":"education","lineage":["https://openalex.org/I889458895"]}],"countries":["CN","HK"],"is_corresponding":false,"raw_author_name":"Jiarong Lin","raw_affiliation_strings":["The University of Hong Kong,Department of Mechanical Engineering,Hong Kong,China"],"affiliations":[{"raw_affiliation_string":"The University of Hong Kong,Department of Mechanical Engineering,Hong Kong,China","institution_ids":["https://openalex.org/I177725633","https://openalex.org/I889458895"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102243833","display_name":"Yixi Cai","orcid":"https://orcid.org/0000-0003-0321-1164"},"institutions":[{"id":"https://openalex.org/I889458895","display_name":"University of Hong Kong","ror":"https://ror.org/02zhqgq86","country_code":"HK","type":"education","lineage":["https://openalex.org/I889458895"]},{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["CN","HK"],"is_corresponding":false,"raw_author_name":"Yixi Cai","raw_affiliation_strings":["The University of Hong Kong,Department of Mechanical Engineering,Hong Kong,China"],"affiliations":[{"raw_affiliation_string":"The University of Hong Kong,Department of Mechanical Engineering,Hong Kong,China","institution_ids":["https://openalex.org/I177725633","https://openalex.org/I889458895"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100460011","display_name":"Fu Zhang","orcid":"https://orcid.org/0000-0002-8636-4168"},"institutions":[{"id":"https://openalex.org/I889458895","display_name":"University of Hong Kong","ror":"https://ror.org/02zhqgq86","country_code":"HK","type":"education","lineage":["https://openalex.org/I889458895"]},{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["CN","HK"],"is_corresponding":false,"raw_author_name":"Fu Zhang","raw_affiliation_strings":["The University of Hong Kong,Department of Mechanical Engineering,Hong Kong,China"],"affiliations":[{"raw_affiliation_string":"The University of Hong Kong,Department of Mechanical Engineering,Hong Kong,China","institution_ids":["https://openalex.org/I177725633","https://openalex.org/I889458895"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5101780302"],"corresponding_institution_ids":["https://openalex.org/I177725633","https://openalex.org/I889458895"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.26667701,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"2041","last_page":"2047"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.9959999918937683,"subfield":{"id":"https://openalex.org/subfields/2305","display_name":"Environmental Engineering"},"field":{"id":"https://openalex.org/fields/23","display_name":"Environmental Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11164","display_name":"Remote Sensing and LiDAR Applications","score":0.9959999918937683,"subfield":{"id":"https://openalex.org/subfields/2305","display_name":"Environmental Engineering"},"field":{"id":"https://openalex.org/fields/23","display_name":"Environmental Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11211","display_name":"3D Surveying and Cultural Heritage","score":0.9950000047683716,"subfield":{"id":"https://openalex.org/subfields/1907","display_name":"Geology"},"field":{"id":"https://openalex.org/fields/19","display_name":"Earth and Planetary Sciences"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12153","display_name":"Advanced Optical Sensing Technologies","score":0.9631999731063843,"subfield":{"id":"https://openalex.org/subfields/3105","display_name":"Instrumentation"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/bundle-adjustment","display_name":"Bundle adjustment","score":0.7378750443458557},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.6882030367851257},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.6519824266433716},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5718684196472168},{"id":"https://openalex.org/keywords/cloud-computing","display_name":"Cloud computing","score":0.5532426834106445},{"id":"https://openalex.org/keywords/rgb-color-model","display_name":"RGB color model","score":0.5164844989776611},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4340880513191223},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.40074729919433594},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.39599359035491943},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.3213832676410675},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.06501507759094238}],"concepts":[{"id":"https://openalex.org/C179458375","wikidata":"https://www.wikidata.org/wiki/Q1020763","display_name":"Bundle adjustment","level":3,"score":0.7378750443458557},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.6882030367851257},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.6519824266433716},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5718684196472168},{"id":"https://openalex.org/C79974875","wikidata":"https://www.wikidata.org/wiki/Q483639","display_name":"Cloud computing","level":2,"score":0.5532426834106445},{"id":"https://openalex.org/C82990744","wikidata":"https://www.wikidata.org/wiki/Q166194","display_name":"RGB color model","level":2,"score":0.5164844989776611},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4340880513191223},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.40074729919433594},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.39599359035491943},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.3213832676410675},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.06501507759094238},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra55743.2025.11127400","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11127400","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W1986528120","https://openalex.org/W2003370853","https://openalex.org/W2118187878","https://openalex.org/W2471962767","https://openalex.org/W2474281075","https://openalex.org/W2491179239","https://openalex.org/W2519683295","https://openalex.org/W2603886824","https://openalex.org/W2772942222","https://openalex.org/W2886968365","https://openalex.org/W2888422218","https://openalex.org/W2964189516","https://openalex.org/W2967109249","https://openalex.org/W3003659795","https://openalex.org/W3004334518","https://openalex.org/W3021282624","https://openalex.org/W3133767727","https://openalex.org/W3199184510","https://openalex.org/W4312265650","https://openalex.org/W4362500596","https://openalex.org/W4387042048","https://openalex.org/W4391270188"],"related_works":["https://openalex.org/W4319317934","https://openalex.org/W4406302447","https://openalex.org/W2901265155","https://openalex.org/W2956374172","https://openalex.org/W4319837668","https://openalex.org/W4308071650","https://openalex.org/W3188333020","https://openalex.org/W4281783339","https://openalex.org/W4293094720","https://openalex.org/W2739701376"],"abstract_inverted_index":{"Point":[0],"cloud":[1,60,88,154],"maps":[2,18],"with":[3],"accurate":[4,151],"color":[5],"are":[6,19],"crucial":[7],"in":[8,102,114],"robotics":[9],"and":[10,36,140],"mapping":[11,61,129],"applications.":[12],"Existing":[13],"approaches":[14],"for":[15,89],"producing":[16],"RGB-colorized":[17],"primarily":[20],"based":[21],"on":[22],"realtime":[23],"localization":[24],"using":[25],"filter-based":[26],"estimation":[27],"or":[28],"sliding":[29],"window":[30],"optimization,":[31],"which":[32],"may":[33],"lack":[34],"accuracy":[35],"global":[37,46,72,111],"consistency.":[38],"In":[39],"this":[40],"work,":[41],"we":[42,106,122],"introduce":[43],"a":[44,71,77,108],"novel":[45,109],"LiDAR-Visual":[47],"bundle":[48],"adjustment":[49],"(BA)":[50],"named":[51],"LVBA":[52,65,146],"to":[53,94],"improve":[54],"the":[55,85,96,118],"quality":[56,130],"of":[57,98,120],"RGB":[58,152],"point":[59,87,100,153],"beyond":[62],"existing":[63,132],"baselines.":[64],"first":[66],"optimizes":[67],"LiDAR":[68,73,86],"poses":[69],"via":[70],"BA,":[74],"followed":[75],"by":[76,126],"photometric":[78],"visual":[79],"BA":[80],"incorporating":[81],"planar":[82],"features":[83],"from":[84],"camera":[90],"pose":[91],"optimization.":[92],"Additionally,":[93],"address":[95],"challenge":[97],"map":[99],"occlusions":[101],"constructing":[103],"optimization":[104],"problems,":[105],"implement":[107],"LiDAR-assisted":[110],"visibility":[112],"algorithm":[113],"LVBA.":[115],"To":[116],"evaluate":[117],"effectiveness":[119],"LVBA,":[121],"conducted":[123],"extensive":[124],"experiments":[125],"comparing":[127],"its":[128,157],"against":[131],"state-of-the-art":[133],"baselines":[134],"(i.e.,":[135],"<tex":[136],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[137],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">$\\mathbf{R}^{3}$</tex>":[138],"LIVE":[139],"FAST-LIVO).":[141],"Our":[142],"results":[143],"prove":[144],"that":[145],"can":[147],"proficiently":[148],"reconstruct":[149],"high-fidelity,":[150],"maps,":[155],"outperforming":[156],"counterparts.":[158]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}