Degeneracy-Orthogonal Geometric Constraints for LiDAR SLAM

arXiv:2609.36753 · cs.RO · Submitted 2026-09-29 · Read on arXiv

cs.RO

Submitted: 2026-09-29

Updated: 2026-09-29

Terminology

• Degeneracy — 28× in this paper · explained in 3 episodes
• Verification — 26× in this paper · explained in 2 episodes
• Alignment — 13× in this paper · explained in 1 episode
• Benchmark — 5× in this paper · explained in 2 episodes
• Accuracy — 3× in this paper · explained in 1 episode
• alpha — 3× in this paper · explained in 1 episode
• Point Clouds — 2× in this paper · explained in 2 episodes
• Aggregation — 1× in this paper · explained in 1 episode
• Benchmarking — 1× in this paper · explained in 3 episodes
• Difference of Gaussians — 1× in this paper
• Principal Component Analysis (PCA) — 1× in this paper · explained in 4 episodes

Sources

• Query-Calibrated Segmental Admission for Descriptor-Agnostic LiDAR Loop Closure in Repetitive Environments

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