Degeneracy-Resilient Teach and Repeat for Geometrically Challenging Environments Using FMCW Lidar

arXiv:2603.10248 · cs.RO · Submitted 2026-03-10 · Read on arXiv

cs.RO

Submitted: 2026-03-10

Updated: 2026-09-15

Terminology

• Degeneracy — 82× in this paper · explained in 3 episodes
• Robustness — 24× in this paper · explained in 5 episodes
• Point Clouds — 10× in this paper · explained in 2 episodes
• Ablation — 6× in this paper · explained in 1 episode
• Accuracy — 6× in this paper · explained in 1 episode
• Alignment — 6× in this paper · explained in 1 episode
• Ablation study — 5× in this paper · explained in 1 episode
• Clustering — 5× in this paper · explained in 2 episodes
• Parking Lot Route — 5× in this paper
• Consistency — 4× in this paper · explained in 3 episodes
• Adaptation — 2× in this paper · explained in 1 episode
• Ablation Studies — 1× in this paper · explained in 1 episode
• Adaptive Weighting — 1× in this paper · explained in 1 episode
• Decoupling — 1× in this paper · explained in 2 episodes
• Feature Extraction — 1× in this paper · explained in 2 episodes
• Frequency-Modulated Continuous-Wave — 1× in this paper
• Maximum A Posteriori — 1× in this paper
• Point Cloud Data — 1× in this paper · explained in 2 episodes
• Redundancy — 1× in this paper · explained in 2 episodes
• Regularization — 1× in this paper · explained in 3 episodes
• Sparsity — 1× in this paper · explained in 4 episodes

Sources

• Sharing the Load: Autonomous Multi-Rover Cargo Transport
• A visual study of ICP variants for Lidar Odometry
• D$^2$-LIO: Enhanced Optimization for LiDAR-IMU Odometry Considering Directional Degeneracy

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