[{"data":1,"prerenderedAt":338},["ShallowReactive",2],{"method-hatleskog2024probdegen":3},{"method":4,"reference":60,"equipment":79,"figures":134,"results":135},{"id":5,"label":6,"shortName":7,"title":8,"year":9,"era":10,"cluster":11,"scope":12,"keyIdeaZh":13,"keyIdeaEn":14,"fulltextStatus":15,"publicationStatus":16,"recommendation":17,"constructionRelevance":18,"validationEnvironment":19,"strengths":24,"limitations":30,"sensors":35,"platform":41,"estimator":44,"association":45,"timeModel":46,"deskew":47,"loopClosure":48,"globalOptimization":49,"mapRepresentation":50,"prior":51,"outputGeometry":52,"compute":53,"codeUrl":54,"codeLicense":55,"relatedVersions":56},"hatleskog2024probdegen","Hatleskog & Alexis, 2024","Probabilistic degeneracy detection (DRPM)","Probabilistic Degeneracy Detection for Point-to-Plane Error Minimization",2024,"recent","C13","registration_component","本法把點與法向量的雜訊傳遞到點對面最佳化的 Hessian，計算每個特徵方向訊號明顯大於雜訊的機率，作為退化判定。更新時不採硬門檻，而以該機率縮放特徵值倒數，平滑地衰減退化方向的更新。參數依 LiDAR 規格書的雜訊特性設定。","Propagates point and normal noise to the point-to-plane Hessian to compute a per-direction degeneracy probability and smoothly attenuates updates accordingly.","full_text_reviewed","peer_reviewed_published","main_body","實驗一在瑞士 Rümlang 工地的大型開闊區域以 ANYmal C（VLP-16，10 Hz）與腿式里程計先驗測試地面平面造成的退化（沿地面平移與繞法向旋轉不受約束）。作者說明使用完整 360 度視野時掃描對地圖 ICP 只受輕微影響，因此把水平視野人為縮為 180 度來研究退化；該場地無真值，只有定性比較（Sec. IV-B, Fig. 2, Table I）。",[20,21,22,23],"real_construction_site","underground_or_tunnel","infrastructure","independent_reference",[25,26,27,28,29],"Parameters taken from the LiDAR datasheet (sigma_p = 1 cm for VLP-16, 1.5 cm for the Ouster sensors) and kept unchanged between experiments 1 and 2 and between experiments 3 and 4 (Sec. IV-B to IV-E)","Lowest full-trajectory APE in the Seemühle mine: mean 0.04 m (SD 0.02) versus 0.57, 0.18 and 0.78 m for Zhang, Hinduja and Lee (Table II)","No degeneracy-induced drift in any of the four experiments, whereas Zhang and Lee drifted in all four and Hinduja in two (Table I)","In the Fyllingsdalen bicycle tunnel the method recovered the roughly 500 m tunnel section length, while tuned Zhang underestimated the longitudinal translation by about 110 m (Sec. IV-E)","Median 17 ms per scan-matching step on a laptop CPU with 5.4% overhead for detection (Sec. IV-F)",[31,32,33,34],"Experiments 1, 3 and 4 (including the construction site) lack ground truth, so only qualitative results are given there (Sec. IV-A)","Relies on outlier rejection or robust costs so that the Gaussian noise assumptions on points, normals and residuals hold (Sec. II-C)","Degeneracy at the construction site and in the tank was induced by cutting the horizontal FOV to 180 degrees; at the construction site the full 360 degree FOV affected scan-to-map ICP only mildly (Sec. IV-B, IV-D)","Hinduja et al. performed comparably in experiments 2 and 4, and Zhang et al. gave qualitatively comparable results in experiment 2 when tuned per dataset (lambda_min = 150) (Table I, Sec. IV-C)",[36,37,38,39,40],"3D LiDAR (Velodyne VLP-16 in exp. 1-2; Ouster OS0-64 RevD in exp. 3; Ouster OS0-128 RevD in exp. 4)","IMU (Alphasense IMU in exp. 2; PixRacer Pro autopilot IMU in exp. 3; VectorNav VN100 in exp. 4)","monochrome camera for the ROVIO visual-inertial prior (exp. 2)","radar (TI IWR6843AOP-EVM) for a velocity factor (exp. 4 only)","legged odometry (exp. 1)",[42,43],"legged","UAV","point-to-plane ICP whose update multiplies each inverse eigenvalue of the Hessian by the probability that the signal exceeds the noise tenfold (s = 10); in exp. 3 and 4 the scan-to-map ICP pose enters a GTSAM fixed-lag smoother (3 s lag) as a unary factor with the information matrix of Eq. 28","scan-to-map point-to-plane (planar features within a LOAM-derived mapping module)","discrete poses","not_reported","none reported","none","LOAM-style planar feature map (CompSLAM integration)","exp. 1 legged odometry; exp. 2 ROVIO visual-inertial odometry; exp. 3 IMU preintegration plus odometry deliberately perturbed with on-manifold noise, fused in a 3 s fixed-lag smoother; exp. 4 IMU preintegration plus radar velocity factor, with ground-plane priors on roll, pitch and height inside ICP","registered point cloud map and poses","median 17 ms per adapted LOAM scan-matching step (including k-d tree build, correspondence search and plane estimation) on a laptop with Intel i7-12800H, 5.4% attributable to degeneracy detection; median 54 ms on one Cortex-A73 core of a Khadas VIM4; measured on experiment 2 (Sec. IV-F)","https:\u002F\u002Fgithub.com\u002Fntnu-arl\u002Fdrpm","MIT",[57],{"relation":58,"title":8,"doi_or_url":59},"preprint","https:\u002F\u002Farxiv.org\u002Fabs\u002F2410.10784",{"id":5,"kind":61,"shortName":7,"title":8,"authors":62,"year":9,"venue":65,"venueType":66,"publisher":67,"volumeIssuePages":68,"doi":69,"arxivId":70,"url":59,"firstPublicDate":71,"publicationStatus":16,"metadataStatus":72,"fulltextStatus":15,"era":10,"classicReason":73,"codeUrl":54,"cluster":11,"topics":74,"mdpi":75,"verification":76,"label":6,"fulltextRoute":77,"versionRead":78,"addedByCensus":75},"component",[63,64],"Johan Hatleskog","Kostas Alexis","IEEE Robotics and Automation Letters","journal","IEEE","9(12), pp. 11234-11241","10.1109\u002Flra.2024.3484153","2410.10784","2024-10-14","metadata_verified","not_applicable",[11],false,"corrected","arXiv","arXiv v2 (2025-02-03), accepted-manuscript layout of IEEE RA-L 9(12) with IEEE copyright notice; VoR not compared",[80,87,92,98,102,108,111,117,122,124,131],{"category":81,"model":82,"canonical":82,"role":83,"dataset":84,"specs":85,"locator":86},"lidar","Velodyne VLP-16","method input","Rümlang Construction Site dataset; Seemühle Mine dataset","10 Hz; horizontal FOV reduced to 180 degrees in exp. 1, full 360 degrees in exp. 2; noise model sigma_p = 1 cm from datasheet","Sec. IV-B, IV-C, Fig. 2",{"category":88,"model":89,"canonical":89,"role":83,"dataset":84,"specs":90,"locator":91},"platform","ANYbotics ANYmal C","legged robot; legged odometry used as prior in exp. 1","Sec. IV-B, IV-C",{"category":93,"model":94,"canonical":94,"role":83,"dataset":95,"specs":96,"locator":97},"camera","Alphasense development kit (forward-facing monochrome camera)","Seemühle Mine dataset","0.4 MP grayscale, 20 Hz; used for ROVIO visual-inertial prior","Sec. IV-C",{"category":99,"model":100,"canonical":100,"role":83,"dataset":95,"specs":101,"locator":97},"imu","Alphasense development kit IMU","200 Hz",{"category":81,"model":103,"canonical":104,"role":83,"dataset":105,"specs":106,"locator":107},"Ouster OS0-64 RevD","Ouster OS0-64","RelyOn Nutec dataset","10 Hz; FOV reduced from 360 to 180 degrees; noise model sigma_p = 1.5 cm from datasheet","Sec. IV-D",{"category":99,"model":109,"canonical":109,"role":83,"dataset":105,"specs":110,"locator":107},"PixRacer Pro autopilot IMU","100 Hz",{"category":81,"model":112,"canonical":113,"role":83,"dataset":114,"specs":115,"locator":116},"Ouster OS0-128 RevD","Ouster OS0-128","Fyllingsdalen Bicycle Tunnel dataset","10 Hz; full 360 degree FOV","Sec. IV-E, Fig. 5",{"category":118,"model":119,"canonical":119,"role":83,"dataset":114,"specs":120,"locator":121},"radar","Texas Instruments IWR6843AOP-EVM","10 Hz; radar velocities for a velocity factor","Sec. IV-E",{"category":99,"model":123,"canonical":123,"role":83,"dataset":114,"specs":101,"locator":121},"VectorNav VN100",{"category":125,"model":126,"canonical":126,"role":127,"dataset":128,"specs":129,"locator":130},"compute","laptop with Intel i7-12800H CPU","compute for runtime",null,"median 17 ms per scan-matching step","Sec. IV-F",{"category":125,"model":132,"canonical":132,"role":127,"dataset":128,"specs":133,"locator":130},"Khadas VIM4","2.2 GHz quad-core Cortex-A73 plus 2.0 GHz quad-core Cortex-A53; one A73 core used; median 54 ms",[],{"totalRows":136,"groupCount":137,"groups":138,"others":337},16,4,[139,221,279,314],{"slug":140,"group":141,"sourceId":5,"sourceLabel":6,"table":142,"selfRows":143,"metrics":144,"seqs":162,"entrants":170,"cells":182,"outcomes":214,"locators":215,"hardware":216,"wordings":217,"notes":218},"hatleskog2024probdegen-table-ii","hatleskog2024probdegen:Table II","Table II",8,[145,149,152,154,156,158,160],{"label":146,"unit":147,"statistic":148,"alignment":47},"APE [m], mean (SD 0.02)","m","mean",{"label":150,"unit":151,"statistic":148,"alignment":47},"APE [deg], mean (SD 0.38)","deg",{"label":153,"unit":147,"statistic":148,"alignment":47},"RPE [m], mean (SD 0.01)",{"label":155,"unit":151,"statistic":148,"alignment":47},"RPE [deg], mean (SD 0.20)",{"label":157,"unit":147,"statistic":148,"alignment":47},"APE [m], mean (SD 0.01)",{"label":159,"unit":151,"statistic":148,"alignment":47},"APE [deg], mean (SD 0.18)",{"label":161,"unit":151,"statistic":148,"alignment":47},"RPE [deg], mean (SD 0.19)",[163,167],{"dataset":164,"sequence":165,"environment":166},"Seemühle Mine","full trajectory","abandoned underground mine, self-similar tunnel",{"dataset":164,"sequence":168,"environment":169},"non-tunnel segments","underground mine, segments before and after the tunnel",[171,174,177,180],{"name":172,"methodId":5,"linkable":173,"proposed":173,"self":173},"Ours",true,{"name":175,"methodId":176,"linkable":173,"proposed":75,"self":75},"Zhang [14]","zhang2016degeneracy",{"name":178,"methodId":179,"linkable":173,"proposed":75,"self":75},"Hinduja [15]","hinduja2019degeneracy",{"name":181,"methodId":128,"linkable":75,"proposed":75,"self":75},"Lee [19] (Switch-SLAM)",[183,187,190,193,194,195,197,199,201,202,205,206,207,208,211,212,213],[184,184,184,185,186,184,186,186,184],0,0.04,-1,[184,188,184,189,186,184,186,186,188],1,0.48,[184,191,184,192,186,184,186,186,188],2,0.01,[188,191,184,192,186,184,186,186,188],[191,191,184,192,186,184,186,186,188],[196,191,184,192,186,184,186,186,188],3,[184,196,184,198,186,184,186,186,188],0.17,[184,137,188,200,186,184,186,186,188],0.02,[191,137,188,200,186,184,186,186,188],[184,203,188,204,186,184,186,186,188],5,0.38,[191,203,188,204,186,184,186,186,188],[184,191,188,192,186,184,186,186,188],[191,191,188,192,186,184,186,186,188],[184,209,188,210,186,184,186,186,188],6,0.12,[188,209,188,210,186,184,186,186,188],[191,209,188,210,186,184,186,186,188],[196,209,188,210,186,184,186,186,188],[],[142],[],[],[219,220],"Seemühle mine, ANYmal C with VLP-16 (360 deg FOV) and ROVIO prior; mean (SD) APE and RPE vs ground truth from the X-ICP procedure, computed with evo","Seemühle mine, mean (SD) APE and RPE",{"slug":222,"group":223,"sourceId":5,"sourceLabel":6,"table":224,"selfRows":137,"metrics":225,"seqs":228,"entrants":244,"cells":249,"outcomes":266,"locators":269,"hardware":274,"wordings":275,"notes":276},"hatleskog2024probdegen-table-i","hatleskog2024probdegen:Table I","Table I",[226],{"label":227,"unit":49,"statistic":47,"alignment":49},"degeneracy-induced drift (qualitative)",[229,233,236,240],{"dataset":230,"sequence":231,"environment":232},"Rümlang Construction Site","exp. 1 (VLP-16, FOV cut to 180 deg)","large open area of a construction site",{"dataset":164,"sequence":234,"environment":235},"exp. 2 (VLP-16, full FOV)","underground mine tunnel",{"dataset":237,"sequence":238,"environment":239},"RelyOn Nutec","exp. 3 (OS0-64, FOV cut to 180 deg)","cylindrical tank, radius 8 m, height 16 m",{"dataset":241,"sequence":242,"environment":243},"Fyllingsdalen Bicycle Tunnel","exp. 4 (OS0-128, full FOV)","500 m straight bicycle tunnel section",[245,246,247,248],{"name":172,"methodId":5,"linkable":173,"proposed":173,"self":173},{"name":175,"methodId":176,"linkable":173,"proposed":75,"self":75},{"name":178,"methodId":179,"linkable":173,"proposed":75,"self":75},{"name":181,"methodId":128,"linkable":75,"proposed":75,"self":75},[250,251,252,253,254,255,256,257,258,259,260,261,262,263,264,265],[184,184,184,128,184,184,186,186,184],[188,184,184,128,188,184,186,186,188],[191,184,184,128,188,184,186,186,188],[196,184,184,128,188,184,186,186,188],[184,184,188,128,184,188,186,186,188],[188,184,188,128,188,188,186,186,188],[191,184,188,128,184,188,186,186,188],[196,184,188,128,188,188,186,186,188],[184,184,191,128,184,191,186,186,188],[188,184,191,128,188,191,186,186,188],[191,184,191,128,188,191,186,186,188],[196,184,191,128,188,191,186,186,188],[184,184,196,128,184,196,186,186,188],[188,184,196,128,188,196,186,186,188],[191,184,196,128,184,196,186,186,188],[196,184,196,128,188,196,186,186,188],[267,268],"no degeneracy-induced drift","degeneracy-induced drift",[270,271,272,273],"Table I, Fig. 2","Table I, Fig. 3","Table I, Fig. 4","Table I, Fig. 5",[],[],[277,278],"Qualitative presence or absence of degeneracy-induced drift in partial maps; no numeric values","Qualitative drift check",{"slug":280,"group":281,"sourceId":5,"sourceLabel":6,"table":282,"selfRows":196,"metrics":283,"seqs":291,"entrants":295,"cells":297,"outcomes":304,"locators":305,"hardware":306,"wordings":309,"notes":310},"hatleskog2024probdegen-text-sec-iv-f","hatleskog2024probdegen:Text Sec. IV-F","Text Sec. IV-F",[284,288],{"label":285,"unit":286,"statistic":287,"alignment":49},"median runtime of scan-matching step","ms","median",{"label":289,"unit":290,"statistic":47,"alignment":49},"share of runtime directly attributable to degeneracy detection","%",[292],{"dataset":164,"sequence":293,"environment":294},"exp. 2","underground mine",[296],{"name":172,"methodId":5,"linkable":173,"proposed":173,"self":173},[298,300,302],[184,184,184,299,186,184,184,186,184],17,[184,184,184,301,186,184,188,186,188],54,[184,188,184,303,186,184,184,186,191],5.4,[],[130],[307,308],"laptop, Intel i7-12800H","Khadas VIM4, one Cortex-A73 core",[],[311,312,313],"Runtime of adapted LOAM scan-matching step in exp. 2, incl. k-d tree build, correspondence search and plane estimation","Runtime of adapted LOAM scan-matching step in exp. 2","Share of runtime attributable to degeneracy detection",{"slug":315,"group":316,"sourceId":5,"sourceLabel":6,"table":317,"selfRows":188,"metrics":318,"seqs":321,"entrants":324,"cells":327,"outcomes":331,"locators":332,"hardware":333,"wordings":334,"notes":335},"hatleskog2024probdegen-text-sec-iv-e","hatleskog2024probdegen:Text Sec. IV-E","Text Sec. IV-E",[319],{"label":320,"unit":147,"statistic":47,"alignment":47},"estimated tunnel section length (approximately, described as correct)",[322],{"dataset":241,"sequence":323,"environment":243},"exp. 4",[325,326],{"name":172,"methodId":5,"linkable":173,"proposed":173,"self":173},{"name":178,"methodId":179,"linkable":173,"proposed":75,"self":75},[328,330],[184,184,184,329,186,184,186,186,184],500,[188,184,184,329,186,184,186,186,184],[],[116],[],[],[336],"Fyllingsdalen tunnel, approximate values stated in text",[],1790510657461]