A Point-to-distribution Degeneracy Detection Factor for LiDAR SLAM using Local Geometric Models-Reference-Cited by-同舟云学术

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A Point-to-distribution Degeneracy Detection Factor for LiDAR SLAM using Local Geometric Models

Published:2024-05-13 Issue: Volume:14 Page:12283-12289
ISSN:
Container-title:2024 IEEE International Conference on Robotics and Automation (ICRA)
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Author:

Ji Sehua¹,Chen Weinan¹,Su Zerong²,Guan Yisheng¹,Li Jiehao³,Zhang Hong⁴,Zhu Haifei¹

Affiliation:

1. Guangdong University of Technology,Biomimetic and Intelligent Robotics Lab (BIRL), School of Electromechanical Engineer,Guangzhou,China

2. Institute of Intelligent Manufacturing, Guangdong Academy of Sciences,Guangdong Key Laboratory of Modern Control Technology,Guangzhou,China

3. College of Engineering, South China Agricultural University,China

4. Southern University of Science and Technology,Shenzhen Key Laboratory of Robotics and Computer Vision,China

Funder

National Natural Science Foundation of China

Publisher

IEEE

Link

http://xplorestaging.ieee.org/ielx8/10609961/10609862/10610340.pdf?arnumber=10610340

Reference30 articles.

1. A method for registration of 3-d shapes;Besl,1992

2. Loam: Lidar odometry and mapping in real-time;Zhang,2014

3. The three-dimensional normal-distributions transform : an efficient representation for registration, surface analysis, and loop detection;Magnusson,2009

4. On degeneracy of optimization-based state estimation problems;Zhang

5. Degeneracy-aware factors with applications to underwater slam;Hinduja

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