DRPM: Degeneracy Resilient Point-to-Plane Error Minimization

A probabilistic method to detect and handle degeneracies in point-to-plane error minimization for LiDAR SLAM.

Presented in the paper Probabilistic Degeneracy Detection for Point-to-Plane Error Minimization (preprint | video).

Usage

src/degeneracy.h contains a reference implementation of the method proposed in the paper "Probabilistic Degeneracy Detection for Point-to-Plane Error Minimization". See the paper for the details. src/example.cpp file exemplifies usage. The implementation can be used in your point cloud registration pipeline by including the degeneracy.h file in your project.

Building the example

See the Dockerfile for how to build the example.

To build and run the example using docker, run the following commands:

docker build -t drpm .
docker run --rm -it drpm

Docker must be installed on your machine for this to work.

Citation

If you use this code in your research, please cite the following paper:

@misc{hatleskog2024drpm,
  title={Probabilistic Degeneracy Detection for Point-to-Plane Error Minimization},
  author={Hatleskog, Johan and Alexis, Kostas},
  year={2024},
  note={arXiv:2410.10784}
}