3 papers
cs.RO2026
DCReg: Decoupled Characterization for Efficient Degenerate LiDAR Registration
Xiangcheng Hu, Xieyuanli Chen, Mingkai Jia +3
LiDAR point cloud registration is fundamental to robotic perception and navigation. In geometrically degenerate environments (e.g., corridors), registration becomes ill-conditioned…
cs.RO2025
ROVER: Robust Loop Closure Verification with Trajectory Prior in Repetitive Environments
Jingwen Yu, Jiayi Yang, Anjun Hu +3
Loop closure detection is important for simultaneous localization and mapping (SLAM), which associates current observations with historical keyframes, achieving drift correction an…
cs.RO2025
MapEval: Towards Unified, Robust and Efficient SLAM Map Evaluation Framework
Xiangcheng Hu, Jin Wu, Mingkai Jia +6
Evaluating massive-scale point cloud maps in Simultaneous Localization and Mapping (SLAM) remains challenging, primarily due to the absence of unified, robust and efficient evaluat…