P2d-DO: Degeneracy Optimization for LiDAR SLAM with Point-to-distribution Detection Factors
IEEE ROBOTICS AND AUTOMATION LETTERS（2025）
关键词
Point cloud compression,Laser radar,Feature extraction,Simultaneous localization and mapping,Accuracy,Optimization,Pose estimation,Robustness,Noise,Uncertainty,LiDAR SLAM,degeneracy detection,degeneracy optimization,accuracy and robustness improvement
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