Fig. 11From: Short-range Lidar SLAM utilizing localization data of monocular localizationTransition of the degeneracy detection index and transformation parameters in case of simulation dealing with degeneracy in the direction of rotation. a Degeneracy detection index, b, e Parameter transition of \(T_x^{lm}\) and \(T_y^{lm}\), c, f Parameter transition of \(S_x^{lm}\) and \(S_y^{lm}\), d, g Parameter transition of \(\theta ^{lm}\)Back to article page