Solving the classic warehouse hallway failure mode where repetitive racking triggers longitudinal localization drift.
Eigenvalue analysis of the LiDAR geometric Hessian matrix identifies when environment geometry lacks constraints along the corridor axis, automatically falling back to wheel odometry and downward visual markers.
Upward-facing high-dynamic-range cameras track structural steel roof trusses and overhead lighting fixtures, providing absolute heading references immune to floor clutter.
Across a 1,200-meter straight hallway in a logistics depot, multi-sensor fusion sustained longitudinal localization accuracy within ±8 mm, eliminating historical corridor drift failures.