LiLi: Lie Theory Based 3D LiDAR Scan Alignment Degeneracy Detection

arXiv:2609.17145 · cs.RO · Submitted 2026-09-15 · Read on arXiv

cs.RO

Submitted: 2026-09-15

Updated: 2026-09-16

Terminology

• Degeneracy — 76× in this paper · explained in 3 episodes
• Alignment — 52× in this paper · explained in 1 episode
• Robustness — 9× in this paper · explained in 5 episodes
• Accuracy — 6× in this paper · explained in 1 episode
• IEEE International Conference on Robotics and Automation — 4× in this paper
• Interpretability — 4× in this paper · explained in 15 episodes
• Point Clouds — 4× in this paper · explained in 2 episodes
• Benchmark — 2× in this paper · explained in 2 episodes
• Absolute Trajectory Error — 1× in this paper
• Adaptation — 1× in this paper · explained in 1 episode
• Benchmarking — 1× in this paper · explained in 3 episodes
• Feature Selection — 1× in this paper · explained in 4 episodes
• Online Adaptation — 1× in this paper · explained in 3 episodes
• Principal Component Analysis — 1× in this paper
• Principal Component Analysis (PCA) — 1× in this paper · explained in 4 episodes
• Regularization — 1× in this paper · explained in 3 episodes
• Relative Pose Error — 1× in this paper

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