Abstract
LiDAR-inertial odometry (LIO) is widely used for real-time localization and mapping, but its reliability can degrade substantially in subterranean environments affected by smoke, dust, and other airborne obscurants, whereas radar remains comparatively robust. This article presents a one-class temporal learning framework for LiDAR degradation detection and reliability-aware localization under such conditions. A broad set of degradation-sensitive cues, including spatial, cross-modal, geometric/motion, intensity, and measurement-recency features, is evaluated to characterize changes in LiDAR sensing quality. Their temporal evolution is modelled over sliding windows using an LSTM autoencoder trained exclusively on nominal operation, enabling deviations from healthy sensor behaviour to be detected without requiring labelled degradation data. The resulting LiDAR reliability estimate governs adaptive selection between LIO and radar inertial odometry (RIO), retaining LIO during reliable sensing and transferring localization authority to RIO when degradation is detected. The framework is evaluated using real-world ground robot data collected in GNSS-denied subterranean tunnels under nominal and dense-smoke conditions. Experimental results demonstrate degradation detection, adaptive modality switching, and continued localization output under severe LiDAR degradation. A feature family ablation study further shows that a reduced feature representation can improve degradation-aware localization performance in the evaluated dense-smoke scenarios, highlighting the importance of feature parsimony in one-class sensor degradation detection. The code will be released as open source to support reproducibility and further research.
Abstract (translated)
URL
https://arxiv.org/abs/2610.13788
