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Published at December 10

A Real-time Degeneracy Sensing and Compensation Method for Enhanced LiDAR SLAM

cs.RO

Released Date: December 10, 2024

Authors: Zongbo Liao¹, Xuanxuan Zhang¹, Tianxiang Zhang¹, Zhi Li², Zhenqi Zheng¹, Zhichao Wen¹, You Li¹

Aff.: ¹Wuhan University; ²Beijing Automation Control Equipment Research Institute

Arxiv: http://arxiv.org/pdf/2412.07513v1

Refer to caption

	Methods	RMSE(m)	End-to-end error(m)	Max error(m)
campus	LIO-SAM	16.97	$\backslash$	61.03
	R3LIVE	0.28	$\backslash$	0.83
	OURS	$\mathbf{0.22}$	$\backslash$	$\mathbf{0.24}$
xhl	LIO-SAM	$\backslash$	14.73	$\backslash$
	R3LIVE	$\backslash$	4.81	$\backslash$
	OURS	$\backslash$	$\mathbf{0.66}$	$\backslash$
basement	LIO-SAM	1.04	$\backslash$	2.57
	R3LIVE	$\mathbf{0.1}$	$\backslash$	$\mathbf{0.38}$
	OURS	0.31	$\backslash$	2.15
uzh	LIO-SAM	3.78	$\backslash$	6.58
	R3LIVE	$\mathbf{0.19}$	$\backslash$	$\mathbf{0.47}$
	OURS	0.26	$\backslash$	0.76
construction	LIO-SAM	10.42	$\backslash$	23.62
	R3LIVE	10.01	$\backslash$	24.10
	OURS	$\mathbf{0.19}$	$\backslash$	$\mathbf{1.01}$
quad	LIO-SAM	15.79	$\backslash$	28.63
	R3LIVE	3.28	$\backslash$	9.11
	OURS	$\mathbf{0.14}$	$\backslash$	$\mathbf{0.29}$
degenerate_00	LIO-SAM	$\backslash$	2.41	$\backslash$
	R3LIVE	$\backslash$	0.034	$\backslash$
	OURS	$\backslash$	$\mathbf{0.033}$	$\backslash$
degenerate_01	LIO-SAM	$\backslash$	9.39	$\backslash$
	R3LIVE	$\backslash$	$\mathbf{0.096}$	$\backslash$
	OURS	$\backslash$	5.18	$\backslash$