Abstract
The SLAM system, which uses 3D LiDAR as the only sensor, is prone to degradation when facing a scenario with sparse structure and fewer constraints. It cannot solve the robot pose based on limited LiDAR constraint information, which leads to the localization failure and mapping failure of the SLAM system. Due to the limitations of LiDAR, it is difficult to only rely on the point cloud data provided by LiDAR to solve the problem of localization and mapping of degraded scenarios. Currently, the mainstream is to provide additional information through multi-sensor fusion and other schemes to restrict and correct the system's attitude. In the multi-source fusion system, it is still essential to determine the information reliability of each sensor source in different directions. Hence, the recognition of the degradation scenario has significant research value. In this paper, three schemes, geometric information, constraint distur-bance, and residual disturbance, are designed to quantitatively identify the degradation state of the system and estimate the degradation direction. Through experimental verification, the proposed schemes have a favorable recognition effect in the degradation scenario of the simulation environment and real environment.
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