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degeneracy_detection package from degenerate-detection repo

degeneracy_detection

Package Summary

Tags No category tags.
Version 0.0.0
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/jisehua/degenerate-detection.git
VCS Type git
VCS Version master
Last Updated 2025-02-21
Dev Status UNMAINTAINED
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

OpenMP boosted NDT and GICP algorithms

Additional Links

No additional links.

Maintainers

  • koide

Authors

No additional authors.

Degenerate Detection

About

This project presents a point-to-distribution based approach for detecting LiDAR SLAM degeneracy. A novel degeneracy factor is introduced, leveraging local geometric model information to accurately characterize the algorithm’s degeneracy state. This method not only effectively reduces noise interference and minimizes false detections but also enhances overall robustness.

Video

https://github.com/jisehua/Degenerate-Detection/assets/89381045/50744cab-6248-4e52-8b5d-8fa28f6f5884

https://github.com/user-attachments/assets/78d88d44-d583-4cd4-b9da-3bb843d12d64

Sehua Ji, Weinan Chen, Zerong Su, Yisheng Guan, Jiehao Li, Hong Zhang, Haifei Zhu. A Point-to-distribution Degeneracy Detection Factor for LiDAR SLAM using Local Geometric Models, [C]//2024 IEEE International Conference on Robotics and Automation(ICRA), pp. 12283-12289, 2024.

Weinan Chen (Supervisor), Sehua Ji, Yisheng Guan, Haifei Zhu, Hong Zhang, P2d-DO: Degeneracy Optimization for LiDAR SLAM with Point-to-Distribution Detection Factors, IEEE Robotics and Automation Letters, vol. 10, no. 2, pp. 1489-1496, Feb. 2025.

If you use our method in an academic work, please cite:

@article{Ji2024APD,
  title={A Point-to-distribution Degeneracy Detection Factor for LiDAR SLAM using Local Geometric Models},
  author={Sehua Ji, Weinan Chen, Zerong Su, Yisheng Guan, Jiehao Li, Hong Zhang, Haifei Zhu},
  journal={2024 IEEE International Conference on Robotics and Automation (ICRA)},
  pages={12283--12289},
  year={2024},
  pages={12283-12289},
}

@article{Chen2025P2dDO,
  title={P2d-DO: Degeneracy Optimization for LiDAR SLAM With Point-to-Distribution Detection Factors},
  author={Weinan Chen, Sehua Ji, Xubin Lin, Zhi-xin Yang, Wenzheng Chi, Yisheng Guan, Haifei Zhu, Hong Zhang},
  journal={IEEE Robotics and Automation Letters},
  year={2025},
  no.={2},
  volume={10},
  pages={1489-1496}
}

How to use

  1. Build the project in the ROS workspace
  mkdir -p catkin_ws/src && cd catkin_ws/src
  git clone
  cd catkin_ws
  catkin_make
  
  1. Related parameter
  * star_launch:
      /resolution_value  # Initialize voxel size.
      /velodyne_points   # LiDAR frame ID.
      /save_path         # The path where the test results are saved.
  * voxel_grid_covariance_omp_impl.hpp:
      bool pub_mark;     # Switch for voxel visualization on rviz.(If set to true, the playback speed of the dataset can be reduced for better presentation, e.g. x0.5.)
  
  1. Run
  roslaunch degeneracy_detection start.launch
  

Notic

The voxel segmentation method mentioned in the paper has not yet been fully organized. Therefore, part of the code is being open-sourced first.

CHANGELOG
No CHANGELOG found.

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

System Dependencies

Dependant Packages

No known dependants.

Launch files

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged degeneracy_detection at Robotics Stack Exchange

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