Cross-Level Degeneracy Perception for Robust LiDAR Localization

This work-in-progress extends LIO-SAM with cross-level degeneracy per-ception (CLDP). Geometric and scan-matching weak directions are jointly verifiedand temporally filtered into three reliability states that regulate directional dampingand LiDAR-factor covariance. Tests on five vehicle and two GEODE sequencesshow reduced drift, including a tunnel2 RMSE reduction from 17.01 to 7.29 magainst its best baseline. Additional independent diagnostics examine the relationbetween scene normals and runtime registration information.