2025
P2d-DO: Degeneracy Optimization for LiDAR SLAM With Point-to-Distribution Detection Factors
RA-L 2025
Although the LiDAR SLAM technique has been already widely deployed on various robots, it may still suffers from degeneracy caused by inadequate constraints in scenes with sparse geometric features. If the degeneracy is not detected and properly processed, the accuracy of localization and mapping wil