D$^2$-LIO: Enhanced Optimization for LiDAR-IMU Odometry Considering Directional Degeneracy
Fuente:
arXiv
Salvato in:
| Autori principali: | , , |
|---|---|
| Natura: | Preprint |
| Pubblicazione: |
2025
|
| Soggetti: | |
| Accesso online: | |
| Tags: |
Aggiungi Tag
Nessun Tag, puoi essere il primo ad aggiungerne!!
|
| _version_ | 1866909744519708672 |
|---|---|
| author | Yao, Guodong Wang, Hao Chang, Qing |
| author_facet | Yao, Guodong Wang, Hao Chang, Qing |
| contents | LiDAR-inertial odometry (LIO) plays a vital role in achieving accurate localization and mapping, especially in complex environments. However, the presence of LiDAR feature degeneracy poses a major challenge to reliable state estimation. To overcome this issue, we propose an enhanced LIO framework that integrates adaptive outlier-tolerant correspondence with a scan-to-submap registration strategy. The core contribution lies in an adaptive outlier removal threshold, which dynamically adjusts based on point-to-sensor distance and the motion amplitude of platform. This mechanism improves the robustness of feature matching in varying conditions. Moreover, we introduce a flexible scan-to-submap registration method that leverages IMU data to refine pose estimation, particularly in degenerate geometric configurations. To further enhance localization accuracy, we design a novel weighting matrix that fuses IMU preintegration covariance with a degeneration metric derived from the scan-to-submap process. Extensive experiments conducted in both indoor and outdoor environments-characterized by sparse or degenerate features-demonstrate that our method consistently outperforms state-of-the-art approaches in terms of both robustness and accuracy. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2508_14355 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | D$^2$-LIO: Enhanced Optimization for LiDAR-IMU Odometry Considering Directional Degeneracy Yao, Guodong Wang, Hao Chang, Qing Robotics LiDAR-inertial odometry (LIO) plays a vital role in achieving accurate localization and mapping, especially in complex environments. However, the presence of LiDAR feature degeneracy poses a major challenge to reliable state estimation. To overcome this issue, we propose an enhanced LIO framework that integrates adaptive outlier-tolerant correspondence with a scan-to-submap registration strategy. The core contribution lies in an adaptive outlier removal threshold, which dynamically adjusts based on point-to-sensor distance and the motion amplitude of platform. This mechanism improves the robustness of feature matching in varying conditions. Moreover, we introduce a flexible scan-to-submap registration method that leverages IMU data to refine pose estimation, particularly in degenerate geometric configurations. To further enhance localization accuracy, we design a novel weighting matrix that fuses IMU preintegration covariance with a degeneration metric derived from the scan-to-submap process. Extensive experiments conducted in both indoor and outdoor environments-characterized by sparse or degenerate features-demonstrate that our method consistently outperforms state-of-the-art approaches in terms of both robustness and accuracy. |
| title | D$^2$-LIO: Enhanced Optimization for LiDAR-IMU Odometry Considering Directional Degeneracy |
| topic | Robotics |
| url | https://arxiv.org/abs/2508.14355 |