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Hebei University of Technology

Academic institutionasia · cn
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Representative Papers

Degenerate in Whose Frame? An Equivariance Condition for Degeneracy Detection in LiDAR Registration

Aug 16, 2026

This study addresses the inconsistency of LiDAR registration degeneracy detection labels caused by coordinate frame variations. We propose a generalized eigenvalue criterion based on an equivariant point displacement metric to resolve this issue. By employing adjoint reparameterization and generalized eigenvalue decomposition, we establish a novel frame-independent and scale-invariant paradigm for degeneracy determination that fundamentally eliminates reliance on specific reference frames. Experimental results demonstrate that the proposed criterion enables robust cross-sequence threshold transferability. Furthermore, our analysis reveals that correction magnitudes in 44.5%–69.5% of frame pairs are significantly affected by coordinate system choices, thereby validating the effectiveness and robustness of our approach in overcoming traditional frame-dependent limitations.

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Latest Papers

Degenerate in Whose Frame? An Equivariance Condition for Degeneracy Detection in LiDAR Registration

Aug 16, 2026

This study addresses the inconsistency of LiDAR registration degeneracy detection labels caused by coordinate frame variations. We propose a generalized eigenvalue criterion based on an equivariant point displacement metric to resolve this issue. By employing adjoint reparameterization and generalized eigenvalue decomposition, we establish a novel frame-independent and scale-invariant paradigm for degeneracy determination that fundamentally eliminates reliance on specific reference frames. Experimental results demonstrate that the proposed criterion enables robust cross-sequence threshold transferability. Furthermore, our analysis reveals that correction magnitudes in 44.5%–69.5% of frame pairs are significantly affected by coordinate system choices, thereby validating the effectiveness and robustness of our approach in overcoming traditional frame-dependent limitations.

0 citationsRead paper