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DCReg: Decoupled Characterization for Efficient Degenerate LiDAR Registration

quality89

Updated 2 h ago · first seen 11 Sept 2026

paper_01M294H42MEH1M54YF1NXA6XZ2

Published: 11 Sept 2026; T1 · 2 h ago
arXiv: 2509.06285; T1 · 2 h ago
Category: cs.RO; T1 · 2 h ago

Abstract

-cross Abstract: LiDAR point cloud registration is fundamental to robotic perception and navigation. In geometrically degenerate environments (e.g., corridors), registration becomes ill-conditioned: certain motion directions are weakly constrained, causing unstable solutions and degraded accuracy. Existing detect-then-mitigate methods fail to reliably detect, physically interpret, and stabilize this ill-conditioning without corrupting the optimization. We introduce DCReg (Decoupled Characterization for Ill-conditioned Registration), establishing a detect-characterize-mitigate paradigm that systematically addresses ill-conditioned registration via three innovations. First, DCReg achieves reliable ill-conditioning detection by employing Schur complement decomposition on the Hessian matrix. This decouples the 6-DoF registration into 3-DoF clean rotational and translational subspaces, eliminating coupling effects that mask degeneracy in full-Hessian analyses. Second, within these subspaces, we develop interpretable characterization techniques resolving eigen-basis ambiguities via basis alignment. This establishes stable mappings between eigenspaces and physical motion directions, providing actionable insights on which motions lack constraints and to what extent. Third, leveraging this spectral information, we design a targeted mitigation via a structured preconditioner. Guided by MAP regularization, we implement eigenvalue clamping exclusively within the preconditioner rather than modifying the original problem. This preserves the least-squares objective and minimizer, enabling efficient optimization via Preconditioned Conjugate Gradient with a single interpretable parameter. Experiments demonstrate DCReg achieves 20-50% higher long-duration localization accuracy and 5-30x speedups (up to 116x) over degeneracy-aware baselines across diverse environments. Code: https://github.com/JokerJohn/DCReg

Authors 6

Xiangcheng Hu, Xieyuanli Chen, Mingkai Jia, Jin Wu, Ping Tan, Steven L. Waslander

Specification

Official page: arxiv.org/abs/2509.06285
Source:arXiv (Atom API + RSS)T1observed 2 h agohigh
Arxiv announce type: replace
Source:arXiv (Atom API + RSS)T1observed 2 h agohigh
arXiv id: 2509.06285
Source:arXiv (Atom API + RSS)T1observed 2 h agohigh
Categories: cs.RO, cs.CV
Source:arXiv (Atom API + RSS)T1observed 2 h agohigh
DOI: 10.1177/02783649261465040
Source:arXiv (Atom API + RSS)T1observed 2 h agohigh
PDF: arxiv.org/pdf/2509.06285
Source:arXiv (Atom API + RSS)T1observed 2 h agohigh
Primary category: cs.RO
Source:arXiv (Atom API + RSS)T1observed 2 h agohigh
Published: 11 Sept 2026
Source:arXiv (Atom API + RSS)T1observed 2 h agohigh

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Provenance

Attributed facts

Source tiers

T110

Freshest observation

2 h ago

Conflicts

None

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Claim history

10 claims · 10 properties

Official pageofficial_url1

Claim history for Official page
Value	Valid from → to	Status	Source	Confidence	Extractor
https://arxiv.org/abs/2509.06285	11 Sept 2026 21:03 UTC → current	current	arXiv (Atom API + RSS)T1	high	deterministic

Abstractabstract1

Claim history for Abstract
Value	Valid from → to	Status	Source	Confidence	Extractor
-cross Abstract: LiDAR point cloud registration is fundamental to robotic perception and navigation. In geometrically degenerate environments (e.g., corridors), registration becomes ill-conditioned: certain motion directions are weakly constrained, causing unstable solutions and degraded accuracy. Existing detect-then-mitigate methods fail to reliably detect, physically interpret, and stabilize this ill-conditioning without corrupting the optimization. We introduce DCReg (Decoupled Characterization for Ill-conditioned Registration), establishing a detect-characterize-mitigate paradigm that systematically addresses ill-conditioned registration via three innovations. First, DCReg achieves reliable ill-conditioning detection by employing Schur complement decomposition on the Hessian matrix. This decouples the 6-DoF registration into 3-DoF clean rotational and translational subspaces, eliminating coupling effects that mask degeneracy in full-Hessian analyses. Second, within these subspaces, we develop interpretable characterization techniques resolving eigen-basis ambiguities via basis alignment. This establishes stable mappings between eigenspaces and physical motion directions, providing actionable insights on which motions lack constraints and to what extent. Third, leveraging this spectral information, we design a targeted mitigation via a structured preconditioner. Guided by MAP regularization, we implement eigenvalue clamping exclusively within the preconditioner rather than modifying the original problem. This preserves the least-squares objective and minimizer, enabling efficient optimization via Preconditioned Conjugate Gradient with a single interpretable parameter. Experiments demonstrate DCReg achieves 20-50% higher long-duration localization accuracy and 5-30x speedups (up to 116x) over degeneracy-aware baselines across diverse environments. Code: https://github.com/JokerJohn/DCReg	11 Sept 2026 21:03 UTC → current	current	arXiv (Atom API + RSS)T1	high	deterministic

Arxiv announce typearxiv_announce_type1

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replace	11 Sept 2026 21:03 UTC → current	current	arXiv (Atom API + RSS)T1	high	deterministic

arXiv idarxiv_id1

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Value	Valid from → to	Status	Source	Confidence	Extractor
2509.06285	11 Sept 2026 21:03 UTC → current	current	arXiv (Atom API + RSS)T1	high	deterministic

Authorsauthors1

Claim history for Authors
Value	Valid from → to	Status	Source	Confidence	Extractor
Xiangcheng Hu, Xieyuanli Chen, Mingkai Jia, Jin Wu, Ping Tan, Steven L. Waslander	11 Sept 2026 21:03 UTC → current	current	arXiv (Atom API + RSS)T1	high	deterministic

Categoriescategories1

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Value	Valid from → to	Status	Source	Confidence	Extractor
cs.RO, cs.CV	11 Sept 2026 21:03 UTC → current	current	arXiv (Atom API + RSS)T1	high	deterministic

DOIdoi1

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10.1177/02783649261465040	11 Sept 2026 21:03 UTC → current	current	arXiv (Atom API + RSS)T1	high	deterministic

PDFpdf_url1

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https://arxiv.org/pdf/2509.06285	11 Sept 2026 21:03 UTC → current	current	arXiv (Atom API + RSS)T1	high	deterministic

Primary categoryprimary_category1

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cs.RO	11 Sept 2026 21:03 UTC → current	current	arXiv (Atom API + RSS)T1	high	deterministic

Publishedpublished_at1

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Value	Valid from → to	Status	Source	Confidence	Extractor
11 Sept 2026	11 Sept 2026 21:03 UTC → current	current	arXiv (Atom API + RSS)T1	high	deterministic

Claims are temporal and append-only: a new observation closes the previous claim (valid_to) instead of overwriting it. Conflicting claims from different sources are kept side by side and flagged — never averaged. Methodology →

Source documents
Source	Document	Type	Tier	Last observed	Snapshots
arXiv (Atom API + RSS)	rss.arxiv.org/rss/cs.CV	feed	T1· Official	38 min ago	1

Tier 1 = official/primary, 2 = quality secondary, 3 = community, 4 = unverified. Every snapshot is archived; see all sources and the methodology.