Before revision: We propose a framework for bundle adjustment (BA) on sparse lidar points and incorporate it to a lidar odometry and mapping (LOAM) to lower the drift. A local BA on a sliding window of keyframes has been widely used in visual SLAM and has proved to be very effective in lowering the drift.
After revision: We propose a framework for bundle adjustment (BA) on a sliding window of keyframes has been widely used in visual SLAM and has proved to be very effective in lowering the drift.