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Meng-Fan Zhu

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Open access Oct 2026

OCE: an optimization convergence metric for LiDAR SLAM degeneracy detection

LiDAR-based Simultaneous Localization and Mapping (SLAM) systems suffer from environment-induced degeneracy in geometrically self-similar scenes such as tunnels and cylindrical structures, where the point cloud registration problem becomes ill-conditioned. Existing degeneracy detection methods predominantly rely on eig...

Jun-Rui Zhang, Meng-Fan Zhu, Chen-Yang Sun et al. · 0 citations

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