请问胡博，当初值不准确时，是否能在配准阶段检测出陷入局部最优，或者如何防止初值不准的情况

[number93soccerplayer]

[JokerJohn]

@number93soccerplayer 无法判断，因为点云匹配在退化情况下会有很多极小值点。初值不准可能带来数值退化，这个没办法，超出ICP的收敛域，这个问题再探讨下去就是global registration这个问题了，一般需要整个解空间搜索，比较慢。LIO就是解决这个问题的，但也无法说判定什么时候局部最优了。不过一般情况下，如果平移或者旋转的条件数比较极端，那么就会带来优化不稳定，有极大可能性出现局部最优的情况，用这个来检测大部份case应该能覆盖到。但也不排除，条件数优良，但特征值整体都很小的情况。

[number93soccerplayer]

@number93soccerplayer 无法判断，因为点云匹配在退化情况下会有很多极小值点。初值不准可能带来数值退化，这个没办法，超出ICP的收敛域，这个问题再探讨下去就是global registration这个问题了，一般需要整个解空间搜索，比较慢。LIO就是解决这个问题的，但也无法说判定什么时候局部最优了。不过一般情况下，如果平移或者旋转的条件数比较极端，那么就会带来优化不稳定，有极大可能性出现局部最优的情况，用这个来检测大部份case应该能覆盖到。但也不排除，条件数优良，但特征值整体都很小的情况。

我最近在实际测试中发现，也许是imu预计分出的角度不够准确，icp融合了你的dcreg在平移和旋转条件数都为个位数时，icp直接不收敛了

[number93soccerplayer]

@number93soccerplayer 无法判断，因为点云匹配在退化情况下会有很多极小值点。初值不准可能带来数值退化，这个没办法，超出ICP的收敛域，这个问题再探讨下去就是global registration这个问题了，一般需要整个解空间搜索，比较慢。LIO就是解决这个问题的，但也无法说判定什么时候局部最优了。不过一般情况下，如果平移或者旋转的条件数比较极端，那么就会带来优化不稳定，有极大可能性出现局部最优的情况，用这个来检测大部份case应该能覆盖到。但也不排除，条件数优良，但特征值整体都很小的情况。

还有就是，是运行的相同的数据集，一样的算法，为什么slam没问题，但是基于先验地图的定位反而有问题，一样算法一样数据集slam过程比先验地图定位过程难道更鲁棒吗

[number93soccerplayer]

@number93soccerplayer 无法判断，因为点云匹配在退化情况下会有很多极小值点。初值不准可能带来数值退化，这个没办法，超出ICP的收敛域，这个问题再探讨下去就是global registration这个问题了，一般需要整个解空间搜索，比较慢。LIO就是解决这个问题的，但也无法说判定什么时候局部最优了。不过一般情况下，如果平移或者旋转的条件数比较极端，那么就会带来优化不稳定，有极大可能性出现局部最优的情况，用这个来检测大部份case应该能覆盖到。但也不排除，条件数优良，但特征值整体都很小的情况。

但是刚才我又测试了，使用lio结果作为初值来配准，仍然是不收敛，胡博，这种情况应该如何去分析配准不收敛漂移的的原因呢，查看什么参数

[JokerJohn]

@number93soccerplayer

1.imu是在什么LIO框架下引入的，fastlio? 在LIO框架中，最核心的还是点云的测量更新，要用dcreg的话，分析还是需要去分析原始的测量匹配过程中的条件数（没记错的话应该是xxh_share函数），而不是滤波器中融合之后的条件数(这个一般条件数看起来会很好)，你确认下这点。后者会收到IMU先验的影响，导致分析不准确。IMU在整个LIO环节中 更多的类似 提供更好的初始值、以及平滑轨迹的作用。

2.“为什么slam没问题，但是基于先验地图的定位反而有问题”。slam过程肯定比先验地图定位过程更鲁棒，因为slam中localmap用的是最新的数据，而先验地图一般是提前采集的，跟当前场景可能存在一些差异。如果说你的数据做slam都飞了，那么在地图上做定位肯定更容易飞了（一些松耦合融合方案除外）。

3.保存飞的这些场景的单帧的点云、map以及初始位姿，调整参数跑单帧的dcreg，确保source点云大概几点个点，map点云大概几万个点，search radius默认1.0m，匹配失败的话放大到2.0m. 打印首次迭代的关联点数量，舒尔条件数，6个特征值等信息。

[number93soccerplayer]

@number93soccerplayer

1.imu是在什么LIO框架下引入的，fastlio? 在LIO框架中，最核心的还是点云的测量更新，要用dcreg的话，分析还是需要去分析原始的测量匹配过程中的条件数（没记错的话应该是xxh_share函数），而不是滤波器中融合之后的条件数(这个一般条件数看起来会很好)，你确认下这点。后者会收到IMU先验的影响，导致分析不准确。IMU在整个LIO环节中 更多的类似 提供更好的初始值、以及平滑轨迹的作用。

2.“为什么slam没问题，但是基于先验地图的定位反而有问题”。slam过程肯定比先验地图定位过程更鲁棒，因为slam中localmap用的是最新的数据，而先验地图一般是提前采集的，跟当前场景可能存在一些差异。如果说你的数据做slam都飞了，那么在地图上做定位肯定更容易飞了（一些松耦合融合方案除外）。

3.保存飞的这些场景的单帧的点云、map以及初始位姿，调整参数跑单帧的dcreg，确保source点云大概几点个点，map点云大概几万个点，search radius默认1.0m，匹配失败的话放大到2.0m. 打印首次迭代的关联点数量，舒尔条件数，6个特征值等信息。

我没使用fastlio系列的滤波框架，我使用的是faster-lio配准框架，大致流程就是imu预计分提供初始位置，然后根据这个初始位置找最近邻，拟合平面，构建残差，计算h和g,然后使用qr迭代求解，这个过程应该很好融合dcreg,我是直接把dcreg替换整个qr求解，这和源代码中融合方式一致，此外，dcreg应该只能识别条件数大(特征值差异大)的退化情况并缓解退化情况;目前我遇到的这种情况能使用dcreg排查吗

[JokerJohn]

fastlio还是faster-lio在滤波框架一点上没区别，处理方法类似。我之前做的都是基于先验地图定位实验，匹配过程比较干净。耦合到滤波框架中，这点我还没试过，可能需要部分调整（知乎上有人找我讨论过）。
直接DCReg替换QR求解，感觉有点暴力。你可以按照这个步骤排查：
1.只在第一次迭代时，检测和缓解退化（这样他只会轻微调整优化路径）
2.打印单帧第一次迭代的条件数，看看大概旋转平移在什么数值，多少点匹配，特征值大小是多少。

有这些信息了基本就知道大概原因了。

[number93soccerplayer]

fastlio还是faster-lio在滤波框架一点上没区别，处理方法类似。我之前做的都是基于先验地图定位实验，匹配过程比较干净。耦合到滤波框架中，这点我还没试过，可能需要部分调整（知乎上有人找我讨论过）。 直接DCReg替换QR求解，感觉有点暴力。你可以按照这个步骤排查： 1.只在第一次迭代时，检测和缓解退化（这样他只会轻微调整优化路径） 2.打印单帧第一次迭代的条件数，看看大概旋转平移在什么数值，多少点匹配，特征值大小是多少。

有这些信息了基本就知道大概原因了。

[2026-05-28 16:39:55.678] [loc] [info] Using FrontEnd LIO as localization registration guess: lio_ts=1779154179.173537s loc_ts=1779154179.173537s dt=0.000ms guess_t=(-107.129,-82.953,-2.100)
[2026-05-28 16:39:55.678] [loc] [info] PointToPlane_OctIVOX DCReg weight iter=0 input=4056 active=4056 accepted=2923 hard_rejected=1133 rejected_weight=0 weight(mean=0.954838,min=0.563414,max=0.999980) jac_scale(mean=0.909675,min=0.126828,max=0.999961) residual_abs(mean=0.050180,max=0.485096)
[2026-05-28 16:39:55.678] [loc] [info] PointToPlane_OctIVOX DCReg solve iter=0 factorization_ok=true degenerate=false cond_full=1.037319e+03 schur_rot=3.473426e+00 schur_trans=3.043935e+00 mask=[000000] pcg_iterations=6 relative_residual=4.783171e-17 converged=true qr_fallback=false
[2026-05-28 16:39:55.678] [loc] [info] PointToPlane_OctIVOX DCReg spectrum iter=0 lambda_rot=[8.574290e+07,1.575335e+08,2.978216e+08] lambda_trans=[3.722860e+05,5.011656e+05,1.133215e+06] aligned_rot=[1.575335e+08,8.574290e+07,2.978216e+08] aligned_trans=[5.011656e+05,1.133215e+06,3.722860e+05] clamped_rot=[1.575335e+08,8.574290e+07,2.978216e+08] clamped_trans=[5.011656e+05,1.133215e+06,3.722860e+05]
[2026-05-28 16:39:55.678] [loc] [info] PointToPlane_OctIVOX DCReg dx iter=0 dx_rot=0.001900 dx_pos=0.011687
[2026-05-28 16:39:55.678] [loc] [info] PointToPlane_OctIVOX iter: 0, res: 146.67704, valid: 2923/4056, dx_rot: 0.001900, dx_pos: 0.011687
[2026-05-28 16:39:55.679] [loc] [info] PointToPlane_OctIVOX DCReg weight iter=1 input=4056 active=4036 accepted=2934 hard_rejected=1122 rejected_weight=0 weight(mean=0.957430,min=0.550081,max=0.999972) jac_scale(mean=0.914861,min=0.100162,max=0.999944) residual_abs(mean=0.047300,max=0.499910)
[2026-05-28 16:39:55.679] [loc] [info] PointToPlane_OctIVOX QR solve iter=1 dx_rot=0.001330 dx_pos=0.006243
[2026-05-28 16:39:55.679] [loc] [info] PointToPlane_OctIVOX iter: 1, res: 138.77689, valid: 2934/4056, dx_rot: 0.001330, dx_pos: 0.006243
[2026-05-28 16:39:55.679] [loc] [info] PointToPlane_OctIVOX DCReg weight iter=2 input=4056 active=4036 accepted=2941 hard_rejected=1115 rejected_weight=0 weight(mean=0.958605,min=0.548505,max=0.999975) jac_scale(mean=0.917210,min=0.097010,max=0.999950) residual_abs(mean=0.045994,max=0.501661)
[2026-05-28 16:39:55.679] [loc] [info] PointToPlane_OctIVOX QR solve iter=2 dx_rot=0.001077 dx_pos=0.005988
[2026-05-28 16:39:55.679] [loc] [info] PointToPlane_OctIVOX iter: 2, res: 135.26968, valid: 2941/4056, dx_rot: 0.001077, dx_pos: 0.005988
[2026-05-28 16:39:55.679] [loc] [info] PointToPlane_OctIVOX DCReg weight iter=3 input=4056 active=4036 accepted=2941 hard_rejected=1115 rejected_weight=0 weight(mean=0.959304,min=0.541364,max=0.999996) jac_scale(mean=0.918607,min=0.082729,max=0.999991) residual_abs(mean=0.045218,max=0.509595)
[2026-05-28 16:39:55.679] [loc] [info] PointToPlane_OctIVOX QR solve iter=3 dx_rot=0.000123 dx_pos=0.000640
[2026-05-28 16:39:55.679] [loc] [info] PointToPlane_OctIVOX iter: 3, res: 132.98697, valid: 2941/4056, dx_rot: 0.000123, dx_pos: 0.000640
[2026-05-28 16:39:55.679] [loc] [info] PointToPlane_OctIVOX unified fitness: score=0.034664, inliers=2937/4056, keep=2643/2937, ratio=0.724, mean_nn_dist=0.104821
[2026-05-28 16:39:55.679] [loc] [info] PointToPlane_OctIVOX match use time(ms): 1.748997
[2026-05-28 16:39:55.680] [loc] [info] Matched summary: ts=1779154179.173537s P=-107.134 -82.9713 -2.10435 score=0.0347 inlier_ratio=0.724 (2937/4056) dist=0.042m pred_yaw=120.196deg match_yaw=119.950deg delta_yaw=-0.246deg odom_v=0 0 0
[2026-05-28 16:39:55.680] [loc] [info] Predicted: P: -107.146 -82.9317 -2.09737, V: 1.63535 -1.62462 -0.0169192, yaw=120.196deg
[2026-05-28 16:39:55.680] [loc] [info] Matched yaw detail: pred=120.196deg match=119.950deg delta=-0.246deg
[2026-05-28 16:39:55.680] [loc] [info] Optimized: P: -107.141 -82.9482 -2.10028, V: 1.65419 -1.68552 -0.0276532
[2026-05-28 16:39:55.680] [loc] [info] IMU bias: bg: 0.00830034 -0.00232049 0.00742957, ba: 0.231272 0.16698 -0.00195506
[2026-05-28 16:39:55.680] [loc] [info] localization use time(ms): 2.240569
[2026-05-28 16:39:55.680] [loc] [info] ---------------------------------------
[2026-05-28 16:39:55.711] [loc] [info] Using FrontEnd LIO as localization registration guess: lio_ts=1779154179.272516s loc_ts=1779154179.272516s dt=0.000ms guess_t=(-107.004,-83.100,-2.100)
[2026-05-28 16:39:55.712] [loc] [info] PointToPlane_OctIVOX DCReg weight iter=0 input=3838 active=3838 accepted=2591 hard_rejected=1247 rejected_weight=0 weight(mean=0.942202,min=0.531655,max=0.999973) jac_scale(mean=0.884404,min=0.063310,max=0.999946) residual_abs(mean=0.064220,max=0.520384)
[2026-05-28 16:39:55.712] [loc] [info] PointToPlane_OctIVOX DCReg solve iter=0 factorization_ok=true degenerate=false cond_full=1.007292e+03 schur_rot=3.595943e+00 schur_trans=2.813440e+00 mask=[000000] pcg_iterations=6 relative_residual=1.462822e-17 converged=true qr_fallback=false
[2026-05-28 16:39:55.712] [loc] [info] PointToPlane_OctIVOX DCReg spectrum iter=0 lambda_rot=[6.594311e+07,1.368111e+08,2.371277e+08] lambda_trans=[3.141153e+05,4.454734e+05,8.837447e+05] aligned_rot=[1.368111e+08,6.594311e+07,2.371277e+08] aligned_trans=[4.454734e+05,8.837447e+05,3.141153e+05] clamped_rot=[1.368111e+08,6.594311e+07,2.371277e+08] clamped_trans=[4.454734e+05,8.837447e+05,3.141153e+05]
[2026-05-28 16:39:55.712] [loc] [info] PointToPlane_OctIVOX DCReg dx iter=0 dx_rot=0.002567 dx_pos=0.014556
[2026-05-28 16:39:55.712] [loc] [info] PointToPlane_OctIVOX iter: 0, res: 166.39394, valid: 2591/3838, dx_rot: 0.002567, dx_pos: 0.014556
[2026-05-28 16:39:55.712] [loc] [info] PointToPlane_OctIVOX DCReg weight iter=1 input=3838 active=3784 accepted=2610 hard_rejected=1228 rejected_weight=0 weight(mean=0.945644,min=0.498920,max=0.999945) jac_scale(mean=0.891288,min=-0.002161,max=0.999891) residual_abs(mean=0.060396,max=0.556756)
[2026-05-28 16:39:55.712] [loc] [info] PointToPlane_OctIVOX QR solve iter=1 dx_rot=0.002142 dx_pos=0.007639
[2026-05-28 16:39:55.712] [loc] [info] PointToPlane_OctIVOX iter: 1, res: 157.63293, valid: 2610/3838, dx_rot: 0.002142, dx_pos: 0.007639
[2026-05-28 16:39:55.712] [loc] [info] PointToPlane_OctIVOX DCReg weight iter=2 input=3838 active=3784 accepted=2639 hard_rejected=1199 rejected_weight=0 weight(mean=0.948667,min=0.615596,max=0.999984) jac_scale(mean=0.897334,min=0.231192,max=0.999969) residual_abs(mean=0.057037,max=0.427116)
[2026-05-28 16:39:55.712] [loc] [info] PointToPlane_OctIVOX QR solve iter=2 dx_rot=0.001868 dx_pos=0.007280
[2026-05-28 16:39:55.712] [loc] [info] PointToPlane_OctIVOX iter: 2, res: 150.51979, valid: 2639/3838, dx_rot: 0.001868, dx_pos: 0.007280
[2026-05-28 16:39:55.712] [loc] [info] PointToPlane_OctIVOX DCReg weight iter=3 input=3838 active=3783 accepted=2638 hard_rejected=1200 rejected_weight=0 weight(mean=0.951945,min=0.641984,max=0.999961) jac_scale(mean=0.903889,min=0.283967,max=0.999923) residual_abs(mean=0.053395,max=0.397796)
[2026-05-28 16:39:55.712] [loc] [info] PointToPlane_OctIVOX QR solve iter=3 dx_rot=0.000231 dx_pos=0.001295
[2026-05-28 16:39:55.712] [loc] [info] PointToPlane_OctIVOX iter: 3, res: 140.85596, valid: 2638/3838, dx_rot: 0.000231, dx_pos: 0.001295
[2026-05-28 16:39:55.713] [loc] [info] PointToPlane_OctIVOX unified fitness: score=0.041497, inliers=2672/3838, keep=2404/2672, ratio=0.696, mean_nn_dist=0.117122
[2026-05-28 16:39:55.713] [loc] [info] PointToPlane_OctIVOX match use time(ms): 1.748998
[2026-05-28 16:39:55.713] [loc] [info] Matched summary: ts=1779154179.272516s P=-107.009 -83.1247 -2.09738 score=0.0415 inlier_ratio=0.696 (2672/3838) dist=0.053m pred_yaw=118.935deg match_yaw=118.553deg delta_yaw=-0.382deg odom_v=0 0 0
[2026-05-28 16:39:55.713] [loc] [info] Predicted: P: -107.024 -83.0742 -2.10171, V: 1.57115 -1.78184 -0.0188258, yaw=118.935deg
[2026-05-28 16:39:55.713] [loc] [info] Matched yaw detail: pred=118.935deg match=118.553deg delta=-0.382deg
[2026-05-28 16:39:55.713] [loc] [info] Optimized: P: -107.018 -83.0932 -2.10008, V: 1.59129 -1.85261 -0.0127355
[2026-05-28 16:39:55.713] [loc] [info] IMU bias: bg: 0.00823632 -0.00234601 0.00782561, ba: 0.234426 0.165989 -0.00224335
[2026-05-28 16:39:55.713] [loc] [info] localization use time(ms): 2.289252
[2026-05-28 16:39:55.713] [loc] [info] ---------------------------------------
[2026-05-28 16:39:55.745] [loc] [info] Using FrontEnd LIO as localization registration guess: lio_ts=1779154179.372160s loc_ts=1779154179.372160s dt=0.000ms guess_t=(-106.888,-83.254,-2.103)
[2026-05-28 16:39:55.745] [loc] [info] PointToPlane_OctIVOX DCReg weight iter=0 input=4089 active=4089 accepted=2692 hard_rejected=1397 rejected_weight=0 weight(mean=0.932779,min=0.416533,max=0.999853) jac_scale(mean=0.865559,min=-0.166934,max=0.999706) residual_abs(mean=0.074689,max=0.648297)
[2026-05-28 16:39:55.745] [loc] [info] PointToPlane_OctIVOX DCReg solve iter=0 factorization_ok=true degenerate=false cond_full=9.769817e+02 schur_rot=3.300660e+00 schur_trans=2.899755e+00 mask=[000000] pcg_iterations=6 relative_residual=1.656953e-17 converged=true qr_fallback=false
[2026-05-28 16:39:55.745] [loc] [info] PointToPlane_OctIVOX DCReg spectrum iter=0 lambda_rot=[6.672782e+07,1.406046e+08,2.202459e+08] lambda_trans=[3.101529e+05,4.335350e+05,8.993675e+05] aligned_rot=[1.406046e+08,6.672782e+07,2.202459e+08] aligned_trans=[4.335350e+05,8.993675e+05,3.101529e+05] clamped_rot=[1.406046e+08,6.672782e+07,2.202459e+08] clamped_trans=[4.335350e+05,8.993675e+05,3.101529e+05]
[2026-05-28 16:39:55.745] [loc] [info] PointToPlane_OctIVOX DCReg dx iter=0 dx_rot=0.002574 dx_pos=0.013522
[2026-05-28 16:39:55.745] [loc] [info] PointToPlane_OctIVOX iter: 0, res: 201.06401, valid: 2692/4089, dx_rot: 0.002574, dx_pos: 0.013522
[2026-05-28 16:39:55.746] [loc] [info] PointToPlane_OctIVOX DCReg weight iter=1 input=4089 active=4032 accepted=2713 hard_rejected=1376 rejected_weight=0 weight(mean=0.936943,min=0.424882,max=0.999930) jac_scale(mean=0.873887,min=-0.150236,max=0.999859) residual_abs(mean=0.070063,max=0.639020)
[2026-05-28 16:39:55.746] [loc] [info] PointToPlane_OctIVOX QR solve iter=1 dx_rot=0.002387 dx_pos=0.007693
[2026-05-28 16:39:55.746] [loc] [info] PointToPlane_OctIVOX iter: 1, res: 190.08055, valid: 2713/4089, dx_rot: 0.002387, dx_pos: 0.007693
[2026-05-28 16:39:55.746] [loc] [info] PointToPlane_OctIVOX DCReg weight iter=2 input=4089 active=4030 accepted=2761 hard_rejected=1328 rejected_weight=0 weight(mean=0.939171,min=0.492632,max=0.999970) jac_scale(mean=0.878343,min=-0.014736,max=0.999941) residual_abs(mean=0.067587,max=0.563742)
[2026-05-28 16:39:55.746] [loc] [info] PointToPlane_OctIVOX QR solve iter=2 dx_rot=0.002194 dx_pos=0.006500
[2026-05-28 16:39:55.746] [loc] [info] PointToPlane_OctIVOX iter: 2, res: 186.60869, valid: 2761/4089, dx_rot: 0.002194, dx_pos: 0.006500
[2026-05-28 16:39:55.746] [loc] [info] PointToPlane_OctIVOX DCReg weight iter=3 input=4089 active=4029 accepted=2760 hard_rejected=1329 rejected_weight=0 weight(mean=0.941988,min=0.536711,max=0.999984) jac_scale(mean=0.883975,min=0.073422,max=0.999968) residual_abs(mean=0.064458,max=0.514766)
[2026-05-28 16:39:55.746] [loc] [info] PointToPlane_OctIVOX QR solve iter=3 dx_rot=0.000441 dx_pos=0.002403
[2026-05-28 16:39:55.746] [loc] [info] PointToPlane_OctIVOX iter: 3, res: 177.90446, valid: 2760/4089, dx_rot: 0.000441, dx_pos: 0.002403
[2026-05-28 16:39:55.746] [loc] [info] PointToPlane_OctIVOX unified fitness: score=0.047986, inliers=2814/4089, keep=2532/2814, ratio=0.688, mean_nn_dist=0.132537
[2026-05-28 16:39:55.746] [loc] [info] PointToPlane_OctIVOX match use time(ms): 1.834488
[2026-05-28 16:39:55.746] [loc] [info] Matched summary: ts=1779154179.372160s P=-106.903 -83.2787 -2.10212 score=0.0480 inlier_ratio=0.688 (2814/4089) dist=0.052m pred_yaw=117.636deg match_yaw=117.209deg delta_yaw=-0.427deg odom_v=0 0 0
[2026-05-28 16:39:55.746] [loc] [info] Predicted: P: -106.904 -83.2268 -2.10227, V: 1.58177 -1.84118 -0.0366664, yaw=117.636deg
[2026-05-28 16:39:55.746] [loc] [info] Matched yaw detail: pred=117.636deg match=117.209deg delta=-0.427deg
[2026-05-28 16:39:55.747] [loc] [info] Optimized: P: -106.904 -83.2455 -2.10222, V: 1.58368 -1.91025 -0.0364685
[2026-05-28 16:39:55.747] [loc] [info] IMU bias: bg: 0.0082332 -0.00233896 0.00848443, ba: 0.237079 0.16441 -0.00229133
[2026-05-28 16:39:55.747] [loc] [info] localization use time(ms): 2.2785650000000004
[2026-05-28 16:39:55.747] [loc] [info] ---------------------------------------
[2026-05-28 16:39:55.778] [loc] [info] Using FrontEnd LIO as localization registration guess: lio_ts=1779154179.472140s loc_ts=1779154179.472140s dt=0.000ms guess_t=(-106.776,-83.410,-2.106)
[2026-05-28 16:39:55.779] [loc] [info] PointToPlane_OctIVOX DCReg weight iter=0 input=3989 active=3989 accepted=2527 hard_rejected=1462 rejected_weight=0 weight(mean=0.929181,min=0.317559,max=0.999984) jac_scale(mean=0.858362,min=-0.364882,max=0.999968) residual_abs(mean=0.078688,max=0.758268)
[2026-05-28 16:39:55.779] [loc] [info] PointToPlane_OctIVOX DCReg solve iter=0 factorization_ok=true degenerate=false cond_full=9.634608e+02 schur_rot=3.436978e+00 schur_trans=2.764974e+00 mask=[000000] pcg_iterations=6 relative_residual=1.117419e-17 converged=true qr_fallback=false
[2026-05-28 16:39:55.779] [loc] [info] PointToPlane_OctIVOX DCReg spectrum iter=0 lambda_rot=[6.145827e+07,1.393102e+08,2.112307e+08] lambda_trans=[3.005659e+05,4.059403e+05,8.310569e+05] aligned_rot=[1.393102e+08,6.145827e+07,2.112307e+08] aligned_trans=[4.059403e+05,8.310569e+05,3.005659e+05] clamped_rot=[1.393102e+08,6.145827e+07,2.112307e+08] clamped_trans=[4.059403e+05,8.310569e+05,3.005659e+05]
[2026-05-28 16:39:55.779] [loc] [info] PointToPlane_OctIVOX DCReg dx iter=0 dx_rot=0.003082 dx_pos=0.016262
[2026-05-28 16:39:55.779] [loc] [info] PointToPlane_OctIVOX iter: 0, res: 198.84404, valid: 2527/3989, dx_rot: 0.003082, dx_pos: 0.016262
[2026-05-28 16:39:55.779] [loc] [info] PointToPlane_OctIVOX DCReg weight iter=1 input=3989 active=3910 accepted=2545 hard_rejected=1444 rejected_weight=0 weight(mean=0.939315,min=0.462970,max=0.999948) jac_scale(mean=0.878630,min=-0.074060,max=0.999896) residual_abs(mean=0.067428,max=0.596700)
[2026-05-28 16:39:55.779] [loc] [info] PointToPlane_OctIVOX QR solve iter=1 dx_rot=0.001962 dx_pos=0.006816
[2026-05-28 16:39:55.779] [loc] [info] PointToPlane_OctIVOX iter: 1, res: 171.60315, valid: 2545/3989, dx_rot: 0.001962, dx_pos: 0.006816
[2026-05-28 16:39:55.780] [loc] [info] PointToPlane_OctIVOX DCReg weight iter=2 input=3989 active=3909 accepted=2579 hard_rejected=1410 rejected_weight=0 weight(mean=0.942733,min=0.523387,max=0.999986) jac_scale(mean=0.885466,min=0.046775,max=0.999972) residual_abs(mean=0.063630,max=0.529570)
[2026-05-28 16:39:55.780] [loc] [info] PointToPlane_OctIVOX QR solve iter=2 dx_rot=0.001472 dx_pos=0.009368
[2026-05-28 16:39:55.780] [loc] [info] PointToPlane_OctIVOX iter: 2, res: 164.10156, valid: 2579/3989, dx_rot: 0.001472, dx_pos: 0.009368
[2026-05-28 16:39:55.780] [loc] [info] PointToPlane_OctIVOX DCReg weight iter=3 input=3989 active=3908 accepted=2579 hard_rejected=1410 rejected_weight=0 weight(mean=0.944745,min=0.533064,max=0.999981) jac_scale(mean=0.889491,min=0.066128,max=0.999961) residual_abs(mean=0.061394,max=0.518818)
[2026-05-28 16:39:55.780] [loc] [info] PointToPlane_OctIVOX QR solve iter=3 dx_rot=0.000286 dx_pos=0.002007
[2026-05-28 16:39:55.780] [loc] [info] PointToPlane_OctIVOX iter: 3, res: 158.33551, valid: 2579/3989, dx_rot: 0.000286, dx_pos: 0.002007
[2026-05-28 16:39:55.780] [loc] [info] PointToPlane_OctIVOX unified fitness: score=0.045477, inliers=2601/3989, keep=2340/2601, ratio=0.652, mean_nn_dist=0.120026
[2026-05-28 16:39:55.780] [loc] [info] PointToPlane_OctIVOX match use time(ms): 1.757309
[2026-05-28 16:39:55.780] [loc] [info] Matched summary: ts=1779154179.472140s P=-106.765 -83.4124 -2.09694 score=0.0455 inlier_ratio=0.652 (2601/3989) dist=0.037m pred_yaw=116.334deg match_yaw=115.958deg delta_yaw=-0.376deg odom_v=0 0 0
[2026-05-28 16:39:55.780] [loc] [info] Predicted: P: -106.789 -83.3858 -2.10375, V: 1.57906 -1.98845 -0.022337, yaw=116.334deg
[2026-05-28 16:39:55.780] [loc] [info] Matched yaw detail: pred=116.334deg match=115.958deg delta=-0.376deg
[2026-05-28 16:39:55.780] [loc] [info] Optimized: P: -106.779 -83.3962 -2.10108, V: 1.61303 -2.02606 -0.0127108
[2026-05-28 16:39:55.780] [loc] [info] IMU bias: bg: 0.00825075 -0.00239067 0.00893349, ba: 0.239316 0.164854 -0.00270014
[2026-05-28 16:39:55.780] [loc] [info] localization use time(ms): 2.199011
[2026-05-28 16:39:55.780] [loc] [info] ---------------------------------------
[2026-05-28 16:39:55.812] [loc] [info] Using FrontEnd LIO as localization registration guess: lio_ts=1779154179.576216s loc_ts=1779154179.576216s dt=0.000ms guess_t=(-106.652,-83.573,-2.101)
[2026-05-28 16:39:55.812] [loc] [info] PointToPlane_OctIVOX DCReg weight iter=0 input=3923 active=3923 accepted=2575 hard_rejected=1348 rejected_weight=0 weight(mean=0.904265,min=0.386750,max=0.999911) jac_scale(mean=0.808530,min=-0.226501,max=0.999823) residual_abs(mean=0.106372,max=0.681389)
[2026-05-28 16:39:55.812] [loc] [info] PointToPlane_OctIVOX DCReg solve iter=0 factorization_ok=true degenerate=false cond_full=1.046173e+03 schur_rot=3.907700e+00 schur_trans=3.103690e+00 mask=[000000] pcg_iterations=6 relative_residual=1.495980e-18 converged=true qr_fallback=false
[2026-05-28 16:39:55.812] [loc] [info] PointToPlane_OctIVOX DCReg spectrum iter=0 lambda_rot=[5.516288e+07,1.158799e+08,2.155600e+08] lambda_trans=[2.651939e+05,3.737310e+05,8.230797e+05] aligned_rot=[1.158799e+08,5.516288e+07,2.155600e+08] aligned_trans=[3.737310e+05,8.230797e+05,2.651939e+05] clamped_rot=[1.158799e+08,5.516288e+07,2.155600e+08] clamped_trans=[3.737310e+05,8.230797e+05,2.651939e+05]
[2026-05-28 16:39:55.812] [loc] [info] PointToPlane_OctIVOX DCReg dx iter=0 dx_rot=0.003727 dx_pos=0.025752
[2026-05-28 16:39:55.812] [loc] [info] PointToPlane_OctIVOX iter: 0, res: 273.90890, valid: 2575/3923, dx_rot: 0.003727, dx_pos: 0.025752
[2026-05-28 16:39:55.813] [loc] [info] PointToPlane_OctIVOX DCReg weight iter=1 input=3923 active=3780 accepted=2526 hard_rejected=1397 rejected_weight=0 weight(mean=0.913614,min=0.319217,max=0.999972) jac_scale(mean=0.827227,min=-0.361566,max=0.999945) residual_abs(mean=0.095985,max=0.756425)
[2026-05-28 16:39:55.813] [loc] [info] PointToPlane_OctIVOX QR solve iter=1 dx_rot=0.003122 dx_pos=0.010267
[2026-05-28 16:39:55.813] [loc] [info] PointToPlane_OctIVOX iter: 1, res: 242.45803, valid: 2526/3923, dx_rot: 0.003122, dx_pos: 0.010267
[2026-05-28 16:39:55.813] [loc] [info] PointToPlane_OctIVOX DCReg weight iter=2 input=3923 active=3779 accepted=2514 hard_rejected=1409 rejected_weight=0 weight(mean=0.922688,min=0.497988,max=0.999984) jac_scale(mean=0.845377,min=-0.004023,max=0.999967) residual_abs(mean=0.085902,max=0.557791)
[2026-05-28 16:39:55.813] [loc] [info] PointToPlane_OctIVOX QR solve iter=2 dx_rot=0.002749 dx_pos=0.003618
[2026-05-28 16:39:55.813] [loc] [info] PointToPlane_OctIVOX iter: 2, res: 215.95707, valid: 2514/3923, dx_rot: 0.002749, dx_pos: 0.003618
[2026-05-28 16:39:55.813] [loc] [info] PointToPlane_OctIVOX unified fitness: score=0.058480, inliers=2582/3923, keep=2323/2582, ratio=0.658, mean_nn_dist=0.150924
[2026-05-28 16:39:55.813] [loc] [info] PointToPlane_OctIVOX match use time(ms): 1.781056
[2026-05-28 16:39:55.813] [loc] [warning] Lidar registration failed or score(0.0585) > 0.0500! inlier_ratio=0.658 inliers=2582/3923 pred_yaw=115.019deg match_yaw=114.475deg delta_yaw=-0.544deg fallback uncertainty: 1.0
[2026-05-28 16:39:55.813] [loc] [warning] =========================================================================
[2026-05-28 16:39:55.813] [loc] [warning] [Lidar Odometry Fallback] FrontEnd odometry found! Taking over localization temporarily. frontend_ts=1779154179.576216s loc_ts=1779154179.576216s dt=0.000ms
[2026-05-28 16:39:55.813] [loc] [warning] [Lidar Odometry Fallback] FrontEnd delta pose translation (x,y,z): -0.2151, -0.0356, -0.0020
[2026-05-28 16:39:55.813] [loc] [warning] [Lidar Odometry Fallback] FrontEnd delta pose rotation (Yaw,Pitch,Roll deg): 178.5562, 179.9896, 179.9246
[2026-05-28 16:39:55.813] [loc] [warning] [Lidar Odometry Fallback] Extrapolated global pose translation (x,y,z): -106.6515, -83.5729, -2.1014
[2026-05-28 16:39:55.813] [loc] [warning] [Lidar Odometry Fallback] Extrapolated global pose rotation (Yaw,Pitch,Roll deg): 115.0195, 0.0941, -1.9076
[2026-05-28 16:39:55.813] [loc] [warning] =========================================================================
[2026-05-28 16:39:55.813] [loc] [warning] RTK fallback skipped: no stable RTK near lidar_time=1779154179.576s query_time=1779154179.576s tolerance=0.500s nearest_dt=0.561s
[2026-05-28 16:39:55.814] [loc] [info] Predict: P: -106.659 -83.5533 -2.10205, V: 1.54644 -2.07187 0.00101922, Odom V: 0 0 0
[2026-05-28 16:39:55.814] [loc] [info] Optimized: P: -106.656 -83.5619 -2.10179, V: 1.55794 -2.10205 0.00194579, Score: 0.0585
[2026-05-28 16:39:55.814] [loc] [info] IMU bias: bg: 0.00824676 -0.00241648 0.00925649, ba: 0.24074 0.164624 -0.00274446
[2026-05-28 16:39:55.814] [loc] [info] localization use time(ms): 2.229882
[2026-05-28 16:39:55.814] [loc] [info] ---------------------------------------
[2026-05-28 16:39:55.844] [loc] [info] Using FrontEnd LIO as localization registration guess: lio_ts=1779154179.676143s loc_ts=1779154179.676143s dt=0.000ms guess_t=(-106.529,-83.739,-2.094)
[2026-05-28 16:39:55.845] [loc] [info] PointToPlane_OctIVOX DCReg weight iter=0 input=3884 active=3884 accepted=2450 hard_rejected=1434 rejected_weight=0 weight(mean=0.887097,min=0.397210,max=0.999955) jac_scale(mean=0.774194,min=-0.205581,max=0.999911) residual_abs(mean=0.125448,max=0.669767)
[2026-05-28 16:39:55.845] [loc] [info] PointToPlane_OctIVOX DCReg solve iter=0 factorization_ok=true degenerate=false cond_full=9.489300e+02 schur_rot=3.668892e+00 schur_trans=2.937015e+00 mask=[000000] pcg_iterations=5 relative_residual=8.078916e-07 converged=true qr_fallback=false
[2026-05-28 16:39:55.845] [loc] [info] PointToPlane_OctIVOX DCReg spectrum iter=0 lambda_rot=[4.495770e+07,1.057209e+08,1.649449e+08] lambda_trans=[2.323267e+05,3.411668e+05,6.823471e+05] aligned_rot=[1.057209e+08,4.495770e+07,1.649449e+08] aligned_trans=[3.411668e+05,6.823471e+05,2.323267e+05] clamped_rot=[1.057209e+08,4.495770e+07,1.649449e+08] clamped_trans=[3.411668e+05,6.823471e+05,2.323267e+05]
[2026-05-28 16:39:55.845] [loc] [info] PointToPlane_OctIVOX DCReg dx iter=0 dx_rot=0.005110 dx_pos=0.035737
[2026-05-28 16:39:55.845] [loc] [info] PointToPlane_OctIVOX iter: 0, res: 307.34768, valid: 2450/3884, dx_rot: 0.005110, dx_pos: 0.035737
[2026-05-28 16:39:55.845] [loc] [info] PointToPlane_OctIVOX DCReg weight iter=1 input=3884 active=3655 accepted=2488 hard_rejected=1396 rejected_weight=0 weight(mean=0.908943,min=0.405319,max=0.999917) jac_scale(mean=0.817887,min=-0.189363,max=0.999834) residual_abs(mean=0.101174,max=0.660757)
[2026-05-28 16:39:55.845] [loc] [info] PointToPlane_OctIVOX QR solve iter=1 dx_rot=0.003968 dx_pos=0.019815
[2026-05-28 16:39:55.845] [loc] [info] PointToPlane_OctIVOX iter: 1, res: 251.72075, valid: 2488/3884, dx_rot: 0.003968, dx_pos: 0.019815
[2026-05-28 16:39:55.846] [loc] [info] PointToPlane_OctIVOX DCReg weight iter=2 input=3884 active=3651 accepted=2442 hard_rejected=1442 rejected_weight=0 weight(mean=0.920970,min=0.502672,max=0.999977) jac_scale(mean=0.841939,min=0.005344,max=0.999955) residual_abs(mean=0.087811,max=0.552587)
[2026-05-28 16:39:55.846] [loc] [info] PointToPlane_OctIVOX QR solve iter=2 dx_rot=0.003200 dx_pos=0.007760
[2026-05-28 16:39:55.846] [loc] [info] PointToPlane_OctIVOX iter: 2, res: 214.43548, valid: 2442/3884, dx_rot: 0.003200, dx_pos: 0.007760
[2026-05-28 16:39:55.846] [loc] [info] PointToPlane_OctIVOX DCReg weight iter=3 input=3884 active=3646 accepted=2442 hard_rejected=1442 rejected_weight=0 weight(mean=0.927503,min=0.573914,max=0.999951) jac_scale(mean=0.855005,min=0.147828,max=0.999902) residual_abs(mean=0.080553,max=0.473429)
[2026-05-28 16:39:55.846] [loc] [info] PointToPlane_OctIVOX QR solve iter=3 dx_rot=0.000716 dx_pos=0.001945
[2026-05-28 16:39:55.846] [loc] [info] PointToPlane_OctIVOX iter: 3, res: 196.70938, valid: 2442/3884, dx_rot: 0.000716, dx_pos: 0.001945
[2026-05-28 16:39:55.846] [loc] [info] PointToPlane_OctIVOX unified fitness: score=0.062728, inliers=2467/3884, keep=2220/2467, ratio=0.635, mean_nn_dist=0.155020
[2026-05-28 16:39:55.846] [loc] [info] PointToPlane_OctIVOX match use time(ms): 1.8582349999999999
[2026-05-28 16:39:55.846] [loc] [warning] Lidar registration failed or score(0.0627) > 0.0500! inlier_ratio=0.635 inliers=2467/3884 pred_yaw=113.763deg match_yaw=113.019deg delta_yaw=-0.744deg fallback uncertainty: 2.0
[2026-05-28 16:39:55.846] [loc] [warning] =========================================================================
[2026-05-28 16:39:55.846] [loc] [warning] [Lidar Odometry Fallback] FrontEnd odometry found! Taking over localization temporarily. frontend_ts=1779154179.676143s loc_ts=1779154179.676143s dt=0.000ms
[2026-05-28 16:39:55.846] [loc] [warning] [Lidar Odometry Fallback] FrontEnd delta pose translation (x,y,z): -0.2140, -0.0390, 0.0057
[2026-05-28 16:39:55.846] [loc] [warning] [Lidar Odometry Fallback] FrontEnd delta pose rotation (Yaw,Pitch,Roll deg): 178.5417, 179.8835, 179.9654
[2026-05-28 16:39:55.846] [loc] [warning] [Lidar Odometry Fallback] Extrapolated global pose translation (x,y,z): -106.5295, -83.7390, -2.0945
[2026-05-28 16:39:55.846] [loc] [warning] [Lidar Odometry Fallback] Extrapolated global pose rotation (Yaw,Pitch,Roll deg): 113.7626, 0.1639, -1.9434
[2026-05-28 16:39:55.846] [loc] [warning] =========================================================================
[2026-05-28 16:39:55.847] [loc] [info] Predict: P: -106.538 -83.7218 -2.10291, V: 1.53923 -2.14518 -0.0326122, Odom V: 0 0 0
[2026-05-28 16:39:55.847] [loc] [info] Optimized: P: -106.533 -83.7315 -2.09815, V: 1.55388 -2.17622 -0.017335, Score: 0.0627
[2026-05-28 16:39:55.847] [loc] [info] IMU bias: bg: 0.00825258 -0.00243956 0.00943812, ba: 0.24227 0.164541 -0.00342439
[2026-05-28 16:39:55.847] [loc] [info] localization use time(ms): 2.3533690000000003
[2026-05-28 16:39:55.847] [loc] [info] ---------------------------------------
[2026-05-28 16:39:55.878] [loc] [info] Using FrontEnd LIO as localization registration guess: lio_ts=1779154179.775772s loc_ts=1779154179.775772s dt=0.000ms guess_t=(-106.417,-83.915,-2.093)
[2026-05-28 16:39:55.879] [loc] [info] PointToPlane_OctIVOX DCReg weight iter=0 input=4145 active=4145 accepted=2594 hard_rejected=1551 rejected_weight=0 weight(mean=0.875290,min=0.317892,max=0.999880) jac_scale(mean=0.750581,min=-0.364215,max=0.999760) residual_abs(mean=0.138566,max=0.757897)
[2026-05-28 16:39:55.879] [loc] [info] PointToPlane_OctIVOX DCReg solve iter=0 factorization_ok=true degenerate=false cond_full=9.333493e+02 schur_rot=3.831850e+00 schur_trans=3.046022e+00 mask=[000000] pcg_iterations=6 relative_residual=1.227276e-17 converged=true qr_fallback=false
[2026-05-28 16:39:55.879] [loc] [info] PointToPlane_OctIVOX DCReg spectrum iter=0 lambda_rot=[4.258962e+07,1.043168e+08,1.631970e+08] lambda_trans=[2.329286e+05,3.392300e+05,7.095055e+05] aligned_rot=[1.043168e+08,4.258962e+07,1.631970e+08] aligned_trans=[3.392300e+05,7.095055e+05,2.329286e+05] clamped_rot=[1.043168e+08,4.258962e+07,1.631970e+08] clamped_trans=[3.392300e+05,7.095055e+05,2.329286e+05]
[2026-05-28 16:39:55.879] [loc] [info] PointToPlane_OctIVOX DCReg dx iter=0 dx_rot=0.006418 dx_pos=0.043771
[2026-05-28 16:39:55.879] [loc] [info] PointToPlane_OctIVOX iter: 0, res: 359.44111, valid: 2594/4145, dx_rot: 0.006418, dx_pos: 0.043771
[2026-05-28 16:39:55.879] [loc] [info] PointToPlane_OctIVOX DCReg weight iter=1 input=4145 active=3845 accepted=2561 hard_rejected=1584 rejected_weight=0 weight(mean=0.901659,min=0.398491,max=0.999951) jac_scale(mean=0.803318,min=-0.203018,max=0.999902) residual_abs(mean=0.109268,max=0.668343)
[2026-05-28 16:39:55.879] [loc] [info] PointToPlane_OctIVOX QR solve iter=1 dx_rot=0.005088 dx_pos=0.019820
[2026-05-28 16:39:55.879] [loc] [info] PointToPlane_OctIVOX iter: 1, res: 279.83514, valid: 2561/4145, dx_rot: 0.005088, dx_pos: 0.019820
[2026-05-28 16:39:55.880] [loc] [info] PointToPlane_OctIVOX DCReg weight iter=2 input=4145 active=3844 accepted=2514 hard_rejected=1631 rejected_weight=0 weight(mean=0.919403,min=0.438348,max=0.999979) jac_scale(mean=0.838805,min=-0.123304,max=0.999958) residual_abs(mean=0.089553,max=0.624058)
[2026-05-28 16:39:55.880] [loc] [info] PointToPlane_OctIVOX QR solve iter=2 dx_rot=0.003239 dx_pos=0.019148
[2026-05-28 16:39:55.880] [loc] [info] PointToPlane_OctIVOX iter: 2, res: 225.13509, valid: 2514/4145, dx_rot: 0.003239, dx_pos: 0.019148
[2026-05-28 16:39:55.880] [loc] [info] PointToPlane_OctIVOX DCReg weight iter=3 input=4145 active=3841 accepted=2514 hard_rejected=1631 rejected_weight=0 weight(mean=0.929342,min=0.355753,max=0.999942) jac_scale(mean=0.858684,min=-0.288495,max=0.999883) residual_abs(mean=0.078509,max=0.715830)
[2026-05-28 16:39:55.880] [loc] [info] PointToPlane_OctIVOX QR solve iter=3 dx_rot=0.000562 dx_pos=0.001870
[2026-05-28 16:39:55.880] [loc] [info] PointToPlane_OctIVOX iter: 3, res: 197.37182, valid: 2514/4145, dx_rot: 0.000562, dx_pos: 0.001870
[2026-05-28 16:39:55.880] [loc] [info] PointToPlane_OctIVOX unified fitness: score=0.056886, inliers=2655/4145, keep=2389/2655, ratio=0.641, mean_nn_dist=0.138583
[2026-05-28 16:39:55.880] [loc] [info] PointToPlane_OctIVOX match use time(ms): 1.979348
[2026-05-28 16:39:55.880] [loc] [warning] Lidar registration failed or score(0.0569) > 0.0500! inlier_ratio=0.641 inliers=2655/4145 pred_yaw=112.524deg match_yaw=111.662deg delta_yaw=-0.862deg fallback uncertainty: 3.0
[2026-05-28 16:39:55.880] [loc] [warning] =========================================================================
[2026-05-28 16:39:55.880] [loc] [warning] [Lidar Odometry Fallback] FrontEnd odometry found! Taking over localization temporarily. frontend_ts=1779154179.775772s loc_ts=1779154179.775772s dt=0.000ms
[2026-05-28 16:39:55.880] [loc] [warning] [Lidar Odometry Fallback] FrontEnd delta pose translation (x,y,z): -0.2150, -0.0316, 0.0031
[2026-05-28 16:39:55.880] [loc] [warning] [Lidar Odometry Fallback] FrontEnd delta pose rotation (Yaw,Pitch,Roll deg): 178.5472, -179.9993, 179.9396
[2026-05-28 16:39:55.880] [loc] [warning] [Lidar Odometry Fallback] Extrapolated global pose translation (x,y,z): -106.4169, -83.9152, -2.0934
[2026-05-28 16:39:55.880] [loc] [warning] [Lidar Odometry Fallback] Extrapolated global pose rotation (Yaw,Pitch,Roll deg): 112.5237, 0.1133, -1.9989
[2026-05-28 16:39:55.880] [loc] [warning] =========================================================================
[2026-05-28 16:39:55.881] [loc] [info] Predict: P: -106.416 -83.9003 -2.09769, V: 1.54099 -2.25059 0.0280142, Odom V: 0 0 0
[2026-05-28 16:39:55.881] [loc] [info] Optimized: P: -106.416 -83.9103 -2.0948, V: 1.53831 -2.27912 0.0362953, Score: 0.0569
[2026-05-28 16:39:55.881] [loc] [info] IMU bias: bg: 0.00825889 -0.00246153 0.00978581, ba: 0.243329 0.163842 -0.0038127
[2026-05-28 16:39:55.881] [loc] [info] localization use time(ms): 2.46617
[2026-05-28 16:39:55.881] [loc] [info] ---------------------------------------
[2026-05-28 16:39:55.912] [loc] [info] Using FrontEnd LIO as localization registration guess: lio_ts=1779154179.875650s loc_ts=1779154179.875650s dt=0.000ms guess_t=(-106.305,-84.094,-2.094)
[2026-05-28 16:39:55.912] [loc] [info] PointToPlane_OctIVOX DCReg weight iter=0 input=4067 active=4067 accepted=2476 hard_rejected=1591 rejected_weight=0 weight(mean=0.855588,min=0.327154,max=0.999754) jac_scale(mean=0.711177,min=-0.345693,max=0.999508) residual_abs(mean=0.160457,max=0.747607)
[2026-05-28 16:39:55.912] [loc] [info] PointToPlane_OctIVOX DCReg solve iter=0 factorization_ok=true degenerate=false cond_full=9.969595e+02 schur_rot=4.505565e+00 schur_trans=3.158412e+00 mask=[000000] pcg_iterations=6 relative_residual=3.622642e-17 converged=true qr_fallback=false
[2026-05-28 16:39:55.912] [loc] [info] PointToPlane_OctIVOX DCReg spectrum iter=0 lambda_rot=[3.407069e+07,1.052963e+08,1.535077e+08] lambda_trans=[2.003551e+05,2.994596e+05,6.328040e+05] aligned_rot=[1.052963e+08,3.407069e+07,1.535077e+08] aligned_trans=[2.994596e+05,6.328040e+05,2.003551e+05] clamped_rot=[1.052963e+08,3.407069e+07,1.535077e+08] clamped_trans=[2.994596e+05,6.328040e+05,2.003551e+05]
[2026-05-28 16:39:55.912] [loc] [info] PointToPlane_OctIVOX DCReg dx iter=0 dx_rot=0.005022 dx_pos=0.020137
[2026-05-28 16:39:55.912] [loc] [info] PointToPlane_OctIVOX iter: 0, res: 397.29230, valid: 2476/4067, dx_rot: 0.005022, dx_pos: 0.020137
[2026-05-28 16:39:55.913] [loc] [info] PointToPlane_OctIVOX DCReg weight iter=1 input=4067 active=3573 accepted=2413 hard_rejected=1654 rejected_weight=0 weight(mean=0.875372,min=0.408551,max=0.999942) jac_scale(mean=0.750744,min=-0.182897,max=0.999883) residual_abs(mean=0.138476,max=0.657165)
[2026-05-28 16:39:55.913] [loc] [info] PointToPlane_OctIVOX QR solve iter=1 dx_rot=0.005811 dx_pos=0.027948
[2026-05-28 16:39:55.913] [loc] [info] PointToPlane_OctIVOX iter: 1, res: 334.14192, valid: 2413/4067, dx_rot: 0.005811, dx_pos: 0.027948
[2026-05-28 16:39:55.913] [loc] [info] PointToPlane_OctIVOX DCReg weight iter=2 input=4067 active=3561 accepted=2388 hard_rejected=1679 rejected_weight=0 weight(mean=0.893854,min=0.438095,max=0.999948) jac_scale(mean=0.787707,min=-0.123810,max=0.999896) residual_abs(mean=0.117940,max=0.624339)
[2026-05-28 16:39:55.913] [loc] [info] PointToPlane_OctIVOX QR solve iter=2 dx_rot=0.004497 dx_pos=0.009353
[2026-05-28 16:39:55.913] [loc] [info] PointToPlane_OctIVOX iter: 2, res: 281.64150, valid: 2388/4067, dx_rot: 0.004497, dx_pos: 0.009353
[2026-05-28 16:39:55.913] [loc] [info] PointToPlane_OctIVOX DCReg weight iter=3 input=4067 active=3554 accepted=2384 hard_rejected=1683 rejected_weight=0 weight(mean=0.905313,min=0.416969,max=0.999889) jac_scale(mean=0.810626,min=-0.166062,max=0.999778) residual_abs(mean=0.105208,max=0.647812)
[2026-05-28 16:39:55.913] [loc] [info] PointToPlane_OctIVOX QR solve iter=3 dx_rot=0.001501 dx_pos=0.006456
[2026-05-28 16:39:55.913] [loc] [info] PointToPlane_OctIVOX iter: 3, res: 250.81554, valid: 2384/4067, dx_rot: 0.001501, dx_pos: 0.006456
[2026-05-28 16:39:55.913] [loc] [info] PointToPlane_OctIVOX DCReg weight iter=4 input=4067 active=3554 accepted=2382 hard_rejected=1685 rejected_weight=0 weight(mean=0.906170,min=0.357000,max=0.999931) jac_scale(mean=0.812340,min=-0.286000,max=0.999862) residual_abs(mean=0.104255,max=0.714444)
[2026-05-28 16:39:55.913] [loc] [info] PointToPlane_OctIVOX QR solve iter=4 dx_rot=0.000554 dx_pos=0.003241
[2026-05-28 16:39:55.913] [loc] [info] PointToPlane_OctIVOX iter: 4, res: 248.33629, valid: 2382/4067, dx_rot: 0.000554, dx_pos: 0.003241
[2026-05-28 16:39:55.914] [loc] [info] PointToPlane_OctIVOX unified fitness: score=0.081661, inliers=2570/4067, keep=2313/2570, ratio=0.632, mean_nn_dist=0.183395
[2026-05-28 16:39:55.914] [loc] [info] PointToPlane_OctIVOX match use time(ms): 2.0149679999999996
[2026-05-28 16:39:55.914] [loc] [warning] Lidar registration failed or score(0.0817) > 0.0500! inlier_ratio=0.632 inliers=2570/4067 pred_yaw=111.271deg match_yaw=110.314deg delta_yaw=-0.957deg fallback uncertainty: 4.0
[2026-05-28 16:39:55.914] [loc] [warning] =========================================================================
[2026-05-28 16:39:55.914] [loc] [warning] [Lidar Odometry Fallback] FrontEnd odometry found! Taking over localization temporarily. frontend_ts=1779154179.875650s loc_ts=1779154179.875650s dt=0.000ms
[2026-05-28 16:39:55.914] [loc] [warning] [Lidar Odometry Fallback] FrontEnd delta pose translation (x,y,z): -0.2120, -0.0318, -0.0010
[2026-05-28 16:39:55.914] [loc] [warning] [Lidar Odometry Fallback] FrontEnd delta pose rotation (Yaw,Pitch,Roll deg): 178.5294, 179.9043, 179.9825
[2026-05-28 16:39:55.914] [loc] [warning] [Lidar Odometry Fallback] Extrapolated global pose translation (x,y,z): -106.3052, -84.0935, -2.0942
[2026-05-28 16:39:55.914] [loc] [warning] [Lidar Odometry Fallback] Extrapolated global pose rotation (Yaw,Pitch,Roll deg): 111.2710, 0.1583, -2.0090
[2026-05-28 16:39:55.914] [loc] [warning] =========================================================================
[2026-05-28 16:39:55.914] [loc] [info] Predict: P: -106.3 -84.0833 -2.09397, V: 1.52701 -2.29644 -0.00836115, Odom V: 0 0 0
[2026-05-28 16:39:55.914] [loc] [info] Optimized: P: -106.304 -84.091 -2.09418, V: 1.51787 -2.31618 -0.00887969, Score: 0.0817
[2026-05-28 16:39:55.914] [loc] [info] IMU bias: bg: 0.0082546 -0.00247741 0.00997056, ba: 0.243912 0.163071 -0.00381292
[2026-05-28 16:39:55.914] [loc] [info] localization use time(ms): 2.499416 这是详细信息，目前没分析出问题，融合方式和胡博你的源码一致

[JokerJohn]

取了几个log看了下比如：“[2026-05-28 16:39:55.745] [loc] [info] PointToPlane_OctIVOX DCReg solve iter=0 factorization_ok=true degenerate=false cond_full=9.769817e+02 schur_rot=3.300660e+00 schur_trans=2.899755e+00 mask=[000000] pcg_iterations=6 relative_residual=1.656953e-17 converged=true qr_fallback=false”

这个显示当前约束良好，都没有检测到退化。DCreg是针对退化的框架，环境没退化就不会处理，也没有后续的退化缓解（clamp + pcg），变成普通的icp。单看后续pcg_iterations之类的，怎么又执行了pcg算法？这块需要检查下

[number93soccerplayer]

取了几个log看了下比如：“[2026-05-28 16:39:55.745] [loc] [info] PointToPlane_OctIVOX DCReg solve iter=0 factorization_ok=true degenerate=false cond_full=9.769817e+02 schur_rot=3.300660e+00 schur_trans=2.899755e+00 mask=[000000] pcg_iterations=6 relative_residual=1.656953e-17 converged=true qr_fallback=false”

这个显示当前约束良好，都没有检测到退化。DCreg是针对退化的框架，环境没退化就不会处理，也没有后续的退化缓解（clamp + pcg），变成普通的icp。单看后续pcg_iterations之类的，怎么又执行了pcg算法？这块需要检查下

好的胡博，这里具体原因只有逐帧分析了，感谢你的耐心指导😉