外观
论文arXiv 2609.3675329 天前
退化正交几何约束用于 LiDAR SLAM
原文链接：Degeneracy-Orthogonal Geometric Constraints for LiDAR SLAM（arXiv 2609.36753 · 发布日期：2026-09-29）
Degeneracy-Orthogonal Geometric Constraints for LiDAR SLAM
针对长隧道和管道中LiDAR里程计纵向漂移，提出DeCOD横截面地标描述子，并在公开基准和现场实验验证。
核心要点
- 轴向均匀走廊特征弱，局部扫描匹配无法消除沿行进方向的结构性退化漂移。
- DeCOD利用边界轮廓的有符号法向偏差，描述管接头、结构环等横截面地标。
- 匹配过程解析航向歧义，并通过畸变估计解耦一阶轮廓误差。
- 公开基准和现场实验显示，其地标检索优于标准3D描述子，并稳定多种里程计前端轨迹。
验证范围与局限：验证范围包括公开基准和现场实验，面向轴向均匀走廊中的纵向漂移约束；绕公共轴旋转不受约束。
英文摘要 (Abstract)
Autonomous robot navigation relies on simultaneous localization and mapping (SLAM) to estimate motion and maintain an accurate pose within an environment. However, in axially uniform corridors such as long tunnels and pipelines, LiDAR odometry is fundamentally limited by unconstrained drift along the feature-weak travel direction. This structural degeneracy cannot be resolved by local scan matching alone. To address this challenge, we propose the Degeneracy-orthogonal Contour Offset Descriptor (DeCOD), a structure-aligned geometric descriptor for cross-sectional landmarks. Cross-sectional boundaries, such as pipe joints and structural rings, provide metric constraints along this degenerate axis, but distinguishing individual landmarks requires capturing subtle surface variations across nearly identical profiles. The descriptor parameterizes signed normal deviation from estimated boundary contours, and matching explicitly resolves heading ambiguity and decouples first-order contour errors by distortion estimation. Matched landmarks yield geometric factors that enforce agreement in cross-section position and corridor axis alignment during pose-graph optimization, correcting longitudinal drift while leaving rotation about the common axis unconstrained. On a public benchmark and in field experiments, DeCOD achieves robust landmark retrieval over standard 3D descriptors and successfully stabilizes trajectories across different odometry frontends, reliably constraining longitudinal drift under geometric degeneracy.
作者：Minseo Kim, Kim, Yina, 황진화, Alex Junho Lee
来源
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