B-Spline-Based Trajectory Estimation for Handheld LiDAR-SLAM Device

Abstract

In this paper, a B-Spline-based trajectory estimation method is proposed and implemented based on the state-of-the-art LiDAR-SLAM framework LIOM. The proposed method parameterizes the trajectory with the cubic uniform B-Spline and performs a batch optimization within a local map to get LiDAR poses. Real-world experiments are conducted and the results demonstrate the high robustness and accuracy of the proposed method in challenging environments for handled LiDAR-SLAM applications.