Robust odometry estimation in perceptually degraded environments represents a key challenge in the field of robotics. In this paper, we propose a LiDAR-radar fusion method for robust odometry for adverse environment with LiDAR degeneracy. By comparing the LiDAR point cloud with the radar static point cloud obtained through preprocessing module, it is possible to identify instances of LiDAR degeneracy to overcome perceptual limits. We demonstrate the effectiveness of our method in challenging conditions such as dense smoke, showcasing its ability to reliably estimate odometry and identify/remove dynamic points prone to LiDAR degeneracy.

翻译：在感知退化环境下实现鲁棒的里程计估计是机器人领域的一项关键挑战。针对激光雷达退化导致的恶劣环境，本文提出一种激光雷达-雷达融合方法以实现鲁棒的里程计估计。通过将激光雷达点云与经预处理模块获取的雷达静态点云进行对比，可识别激光雷达退化实例以突破感知限制。我们通过在密集烟雾等挑战性条件下的实验验证了该方法的有效性，展示了其可靠估计里程计以及识别/移除易引发激光雷达退化的动态点的能力。