Experiment Results

Experiment Results

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Verified Simulation On main

The default shifted_cylinder experiment was re-validated after the full DCReg release sync:

Parameterization	Iter	RMSE	Fitness	Trans. Error (m)	Rot. Error (deg)	LinIt	QRfb
Euler	9	0.0314988	0.116239	0.0258485	0.0516469	6	0
SE3	10	0.0315708	0.116636	0.0271197	0.0507196	6	0
SO3	10	0.0315708	0.116636	0.0271196	0.0507195	6	0
Quaternion	10	0.0315708	0.116636	0.0271196	0.0507195	6	0

Representative Module-Level Log

dcreg_minimal_example exposes the three core modules:

• Module 1: spectral degeneracy detection
• Module 2: physical-axis characterization
• Module 3: preconditioned linear solve

This minimal example uses a synthetic linear system, so it does not print RMSE, fitness, or runtime. Those registration metrics are reported by dcreg_runner and dcreg_parking_lot_example.

Visual Results

Parking-Lot Real-Scene Demo

The parking-lot example registers one LiDAR frame against a prior map from a real localization scene. The repository bundles the source frame and initial pose metadata; the large prior map remains external and is linked from the README.

Current exported diagnostics for the bundled pk01-1976 frame:

• Iterations: 5
• Final RMSE: 0.053225
• Final fitness: 0.060365
• Runtime: machine-dependent; about 1.8 ms on the local TBB validation run
• Degenerate mask: 000100, corresponding to a weak physical x translation axis
• Visualization: black background, intensity-colored target/source clouds, 100 m local target-map crop, compact degeneracy card, and highlighted weak axis

Paper Figures

Demo	Characterization

Controlled Simulation	Real-World Evaluation

Runtime	Parameter Study