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

Sehua Ji, Weinan Chen, Zerong Su, Yisheng Guan, Jiehao Li, Hong Zhang 0013, Haifei Zhu. A Point-to-distribution Degeneracy Detection Factor for LiDAR SLAM using Local Geometric Models. In IEEE International Conference on Robotics and Automation, ICRA 2024, Yokohama, Japan, May 13-17, 2024. pages 12283-12289, IEEE, 2024. [doi]

Abstract

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