2 papers
cs.RO2026
Degenerate in Whose Frame? An Equivariance Condition for Degeneracy Detection in LiDAR Registration
Yujie Zhang, Chunlei Zhao, Yuzong Lin +3
Degeneracy detectors for LiDAR registration commonly return six per-axis binary labels. We ask whether these labels are properties of the scene. Under a body-frame change, the poin…
cs.RO2026
Move First, Commit Later: Selective LiDAR-to-BIM Global Initialization via Sequential Consensus with Symmetry-Aware Abstention
Yujie Zhang, Yuxuan Guo, Jiashuo Zheng +3
Global LiDAR-to-BIM initialization must place a robot within an as-designed building model without a prior pose. In repetitive interiors, the principal failure mode is not low-conf…