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Paper Abstract and Keywords
Presentation 2025-12-08 10:25
Stabilization Method for UAV Autonomous Flight Control Using Degeneracy Information in LiDAR SLAM
Taku Hamazaki (UTokyo), Seisuke Fukuda (JAXA) SANE2025-85
Abstract (in Japanese) (See Japanese page) 
(in English) In GNSS-denied environments, UAV autonomous flight relies on SLAM. However, feature-sparse scenes (e.g., corridors or flat structures) cause degeneracy and destabilize localization. This study proposes a robust control framework enabling UAVs to autonomously detect and avoid degeneracy. The method analyzes the LiDAR--IMU SLAM information matrix using the Schur complement and eigenvalue decomposition to identify translational degeneracy in real time. Upon detection, feature points from a normal-based voxel map are selected to restore observability, and a time-optimal trajectory generated by MINCO guides the UAV to maintain their visibility. Simulations demonstrate effective suppression of estimation error divergence.
Keyword (in Japanese) (See Japanese page) 
(in English) UAV / SLAM / LiDAR / Degeneracy suppression / / / /  
Reference Info. IEICE Tech. Rep., vol. 125, no. 280, SANE2025-85, pp. 26-31, Dec. 2025.
Paper # SANE2025-85 
Date of Issue 2025-12-01 (SANE) 
ISSN Online edition: ISSN 2432-6380
Copyright
and
reproduction		 All rights are reserved and no part of this publication may be reproduced or transmitted in any form or by any means, electronic or mechanical, including photocopy, recording, or any information storage and retrieval system, without permission in writing from the publisher. Notwithstanding, instructors are permitted to photocopy isolated articles for noncommercial classroom use without fee. (License No.: 10GA0019/12GB0052/13GB0056/17GB0034/18GB0034)
Download PDF SANE2025-85

Conference Information
Committee SANE  
Conference Date 2025-12-08 - 2025-12-08 
Place (in Japanese) (See Japanese page) 
Place (in English) Meiji University Surugadai Campus 
Topics (in Japanese) (See Japanese page) 
Topics (in English) Radar image processing, Signal processing, EM measurement, Machine learning and general 
Paper Information
Registration To SANE 
Conference Code 2025-12-SANE 
Language Japanese 
Title (in Japanese) (See Japanese page) 
Sub Title (in Japanese) (See Japanese page) 
Title (in English) Stabilization Method for UAV Autonomous Flight Control Using Degeneracy Information in LiDAR SLAM 
Sub Title (in English)  
Keyword(1) UAV  
Keyword(2) SLAM  
Keyword(3) LiDAR  
Keyword(4) Degeneracy suppression  
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1st Author's Name Taku Hamazaki  
1st Author's Affiliation The University of Tokyo (UTokyo)
2nd Author's Name Seisuke Fukuda  
2nd Author's Affiliation Japan Aerospace Exploration Agency (JAXA)
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Speaker Author-1 
Date Time 2025-12-08 10:25:00 
Presentation Time 20 minutes 
Registration for SANE 
Paper # SANE2025-85 
Volume (vol) vol.125 
Number (no) no.280 
Page pp.26-31 
#Pages 6 
Date of Issue 2025-12-01 (SANE) 

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