This repository contains a curated list of resources addressing degeneracy, particularly geometric degeneracy that leads to LiDAR-slip. Below is an example illustrating a robot traversing a tunnel with self-similar environmental features.
Please feel free to send me pull requests or email to add papers!
If you find this repository useful, please consider STARing this list. Feel free to share this list with others!
Update Log:
Oct 19, 2024
- Added 5 papers: Kinematic-ICP, Switch-slam, DRPM, A Point-to-distribution Degeneracy Detection Factor for LiDAR SLAM using Local Geometric Models, Informed, Constrained, Aligned: A Field Analysis on Degeneracy-aware Point Cloud Registration in the Wild
July 17, 2024
- create repo
- Informed, Constrained, Aligned: A Field Analysis on Degeneracy-aware Point Cloud Registration in the Wild, arXiv, 2024. [paper]
- DRPM: Degeneracy Resilient Point-to-Plane Error Minimization, RAL, 2024. [paper] [code]
- A Point-to-distribution Degeneracy Detection Factor for LiDAR SLAM using Local Geometric Models, ICRA, 2024. [paper] [code]
- X-ICP: Localizability-Aware LiDAR Registration for Robust Localization in Extreme Environments, TRO, 2024. [Paper] [Webpage]
- Learning-based Localizability Estimation for Robust LiDAR Localization, IROS, 2022. [paper] [code]
- Robust Rank Deficient SLAM, IROS, 2021. [paper]
- Degeneracy-Aware Factors with Applications to Underwater SLAM, IROS, 2019. [paper]
- Estimating the Localizability in Tunnel-like Environments using LiDAR and UWB, ICRA, 2019. [paper]
- Predicting Alignment Risk to Prevent Localization Failure, ICRA, 2018. [paper]
- On degeneracy of optimization-based state estimation problems, ICRA, 2016. [paper]
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Switch-slam: Switching-based lidar-inertial-visual slam for degenerate environments, RAL, 2024. [paper]
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Kinematic-ICP: Enhancing LiDAR Odometry with Kinematic Constraints for Wheeled Mobile Robots Moving on Planar Surfaces, arXiv, 2024. [paper]
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FAST-LIVO2: Fast, Direct LiDAR-Inertial-Visual Odometry, TRO, 2024. [paper] [code]
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Four years of multimodal odometry and mapping on the rail vehicles, JFR, 2024. [paper]
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LIVER: A Tightly Coupled LiDAR-Inertial-Visual State Estimator With High Robustness for Underground Environments, RAL, 2024. [paper]
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COIN-LIO: Complementary Intensity-Augmented LiDAR Inertial Odometry, ICRA, 2024. [arXiv] [code]
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Degradation Resilient LiDAR-Radar-Inertial Odometry, ICRA, 2024. [arXiv]
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RELEAD: Resilient Localization with Enhanced LiDAR Odometry in Adverse Environments, ICRA, 2024. [arXiv]
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R3LIVE: A Robust, Real-time, RGB-colored, LiDAR-Inertial-Visual tightly-coupled state Estimation and mapping package, ICRA,2022. [paper] [code]
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Super odometry: Imu-centric lidar-visual-inertial estimator for challenging environments, IROS, 2021. [paper]
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LVI-SAM: Tightly-coupled Lidar-Visual-Inertial Odometry via Smoothing and Mapping, ICRA, 2021. [paper] [code]
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Complementary Multi–Modal Sensor Fusion for Resilient Robot Pose Estimation in Subterranean Environments, ICUAS, 2020. [paper]
- RMS: Redundancy-Minimizing Point Cloud Sampling for Real-Time Pose Estimation, RAL, 2024. [paper] [code]
- Toward Certifying Maps for Safe Registration-Based Localization Under Adverse Conditions, RAL, 2023. [paper]
- GEODE dataset: Heterogeneous LiDAR Dataset for Benchmarking Robust Localization in Diverse Degenerate Scenarios, arXiv, 2024. [Paper] [website]
- SubT-MRS: Pushing SLAM Towards All-weather Environments, CVPR, 2024. [Paper] [website]
- ENWIDE Dataset (related paper: COIN-LIO: Complementary Intensity-Augmented LiDAR Inertial Odometry, ICRA, 2024. [arXiv] [code])
- LiDAR Degeneracy Datasets (related paper: Degradation Resilient LiDAR-Radar-Inertial Odometry, ICRA, 2024. [arXiv])
- WHU-Helmet: A helmet-based multi-sensor SLAM dataset for the evaluation of real-time 3D mapping in large-scale GNSS-denied environments, IEEE Transactions on Geoscience and Remote Sensing, 2023. [paper] [website]
- Railroad-dataset
- Open-source datasets released by the SubT teams