发表机构
Sookmyung Women’s University（淑明女子大学）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
针对LiDAR SLAM在轴向均匀走廊中的纵向漂移问题，提出简并正交轮廓偏移描述符（DeCOD），利用横截面地标提供几何约束，在公开基准和现场实验中稳定轨迹并校正漂移。
AI 中文摘要
自主机器人导航依赖于同步定位与地图构建（SLAM）来估计运动并维持环境中的精确位姿。然而，在长隧道和管道等轴向均匀的走廊中，LiDAR里程计在特征较弱的行进方向上受到无约束漂移的根本限制。这种结构简并不能仅通过局部扫描匹配来解决。为应对这一挑战，我们提出了简并正交轮廓偏移描述符（DeCOD），一种用于横截面地标的结构对齐几何描述符。横截面边界，如管道接头和结构环，提供了沿该简并轴的度量约束，但区分单个地标需要捕捉几乎相同轮廓间的细微表面变化。该描述符参数化相对于估计边界轮廓的带符号法向偏差，匹配过程通过畸变估计明确解决航向模糊性并解耦一阶轮廓误差。匹配的地标产生几何因子，在位姿图优化期间强制执行横截面位置和走廊轴对齐的一致性，从而校正纵向漂移，同时保持绕公共轴的旋转不受约束。在公开基准和现场实验中，DeCOD在标准3D描述符之上实现了稳健的地标检索，并成功稳定了不同里程计前端下的轨迹，在几何简并条件下可靠地约束纵向漂移。
英文摘要
Autonomous robot navigation relies on simultaneous localization and mapping (SLAM) to estimate motion and maintain an accurate pose within an environment. However, in axially uniform corridors such as long tunnels and pipelines, LiDAR odometry is fundamentally limited by unconstrained drift along the feature-weak travel direction. This structural degeneracy cannot be resolved by local scan matching alone. To address this challenge, we propose the Degeneracy-orthogonal Contour Offset Descriptor (DeCOD), a structure-aligned geometric descriptor for cross-sectional landmarks. Cross-sectional boundaries, such as pipe joints and structural rings, provide metric constraints along this degenerate axis, but distinguishing individual landmarks requires capturing subtle surface variations across nearly identical profiles. The descriptor parameterizes signed normal deviation from estimated boundary contours, and matching explicitly resolves heading ambiguity and decouples first-order contour errors by distortion estimation. Matched landmarks yield geometric factors that enforce agreement in cross-section position and corridor axis alignment during pose-graph optimization, correcting longitudinal drift while leaving rotation about the common axis unconstrained. On a public benchmark and in field experiments, DeCOD achieves robust landmark retrieval over standard 3D descriptors and successfully stabilizes trajectories across different odometry frontends, reliably constraining longitudinal drift under geometric degeneracy.
Comments8 pages, 4 figures
