发表机构
School of Mechanical Engineering, Hebei University of Technology（河北工业大学机械工程学院）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
研究激光雷达到BIM全局初始化问题，提出“先移动，后提交”的选择性层，将配准前端作证据源决定是否提交，通过特殊方法聚合证据，在真实建筑和模拟中表现良好，能正确提交或弃权，提交锚点精度高且前端模块化。
AI 中文摘要
全局激光雷达到BIM初始化必须在没有先验位姿的情况下将机器人放置在设计好的建筑模型中。在重复的室内环境中，主要失败模式不是低置信度配准而是置信度高的混淆：一个子地图可以与几个BIM区域以相当的分数匹配，产生因对称而偏移的高分位姿。我们提出了“先移动，后提交”，这是一个选择性层，将配准前端视为证据源并决定是否提交。来自多个子地图的候选点被映射到一个公共的SE(2)锚点；一个对非冠军多重性不变的top-1共识B_m聚合跨子地图证据；拓扑仅作为一个二进制可行性门。决策类型为提交、推迟或模糊(τ)，报告检测到的对称周期，并且是可逆的：打破对称的运动会将模糊升级为提交。在一个真实的多房间建筑和一个受控的对称模拟中，该层在每个测试的轨迹尺度配置中都能正确提交，否则以类型化状态弃权，而在相同前端上的强制选择策略在大多数情况下会选择错误的房间。提交的锚点与独立激光跟踪器位置参考的距离在0.02 - 0.36米以内，与BIM配准方向代理的角度在1.9°以内。评估涵盖一座建筑和一个前端；该层设计为前端模块化。
英文摘要
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-confidence registration but confident aliasing: a submap can match several BIM regions with comparable scores, producing a high-scoring pose displaced by symmetry. We present Move First, Commit Later, a selective layer that treats a registration front-end as an evidence source and decides whether to commit. Candidates from multiple submaps are mapped to a common $\mathrm{SE}(2)$ anchor; a top-1 consensus $B_m$, invariant to non-champion multiplicity, aggregates cross-submap evidence; and topology serves only as a binary feasibility gate. The decision is typed--COMMIT, DEFER, or AMBIGUOUS($τ$), reporting the detected symmetry period--and reversible: symmetry-breaking motion upgrades AMBIGUOUS to COMMIT. On a real multi-room building and a controlled symmetric simulation, the layer commits correctly in every tested trajectory-scale configuration and otherwise abstains with a typed state, whereas forced-choice policies on the same front-end select wrong rooms in most cases. Committed anchors are within 0.02--0.36 m of an independent laser-tracker position reference and within $1.9^\circ$ of a BIM-registration orientation proxy. The evaluation covers one building and one front-end; the layer is designed to be front-end modular.
Comments8 pages, 6 figures, 3 tables. Preprint
