{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/rkhs-ba-a-semantic-correspondence-free-multi","title":"RKHS-BA: A Robust Correspondence-Free Multi-View Registration Framework with Semantic Point Clouds","arxiv_id":"2403.01254","date":"2024-03-02","proceeding":null,"authors":["Ray Zhang","Jingwei Song","Xiang Gao","Junzhe Wu","Tianyi Liu","Jinyuan Zhang","Ryan Eustice","Maani Ghaffari"],"abstract":"This work reports a novel multi-frame Bundle Adjustment (BA) framework called RKHS-BA. It uses continuous landmark representations that encode RGB-D/LiDAR and semantic observations in a Reproducing Kernel Hilbert Space (RKHS). With a correspondence-free pose graph formulation, the proposed system constructs a loss function that achieves more generalized convergence than classical point-wise convergence. We demonstrate its applications in multi-view point cloud registration, sliding-window odometry, and global LiDAR mapping on simulated and real data. It shows highly robust pose estimations in extremely noisy scenes and exhibits strong generalization with various types of semantic inputs. The open source implementation is released in https://github.com/UMich-CURLY/RKHS_BA.","url_abs":"https://arxiv.org/abs/2403.01254v2","url_pdf":"https://arxiv.org/pdf/2403.01254v2.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"links_only","authors_date_abstract":"arXiv metadata, CC0 1.0 (https://info.arxiv.org/help/license), from the Kaggle arXiv metadata snapshot of 2026-09-12"},"code_links":[{"paper_slug":"rkhs-ba-a-semantic-correspondence-free-multi","repo_url":"https://github.com/umich-curly/rkhs_ba","is_official":1,"mentioned_in_paper":1,"mentioned_in_github":1,"framework":"none","reach":null}],"tasks":[],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"syntology_url":"https://syntology.ai/paper/2403.01254","atlas_url":"https://app.syntology.ai/?focus=2403.01254","mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}