Research map / Learning theory and algorithms / Matrix and tensor methods
Efficient Second-Order Plane Adjustment
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Measured effects reported in the paper
| What was changed | Where | Measured | Effect |
|---|---|---|---|
| Use damped Newton's method with closed-form Hessian and gradient instead of PA_LM | Plane adjustment · Four LiDAR datasets, all noise levels | convergence speed | Helped |
| Eliminate planes using their closed-form optimal estimates from the current poses | Plane adjustment · Four LiDAR datasets | convergence speed | Helped |
| Increase pose perturbation noise when using PA_LM | PA_LM · Datasets C and D | convergence speed | Hurt |
| Increase pose perturbation noise to σ_R = 3° and σ_t = 3 m when using PA_LM | PA_LM · Datasets A and B | convergence | Hurt |
| Increase pose perturbation noise | Proposed Newton plane adjustment · Four LiDAR datasets | robustness to noise | No clear effect |
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