SOURCE-LINKED INTELLIGENCE
LiLi: Lie Theory Based 3D LiDAR Scan Alignment Degeneracy Detection
In this paper, we study 3D LiDAR scan alignment in challenging scenarios with degeneracies, such as straight corridors or flat fields, where the alignment solution is not unique and compromises localization and mapping accuracy. Existing degeneracy detection methods that neglect the potential for reassociating data points are prone to being sensitive to noise and complex degeneracies. Therefore, we propose LiLi - a novel method that leverages Lie theory to identify the full set of degenerate transformations within the SE(3) Lie group of rigid transformations. The method employs perturbations o
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Evidence & attribution
- arXiv · AI, language, vision and robotics · 2026-09-15T13:10:08.000Z
First collected: 2026-09-20T08:40:59.508Z. This is not the publication date.