heavily on planar environment assumptions.

[Zoujingliang]

Dear Professor,

Greetings! After reviewing extensive literature on LiDAR-based SLAM, I noticed that most prevailing methods rely heavily on planar environment assumptions. While these approaches demonstrate excellent performance in structured outdoor environments, they encounter significant challenges in unstructured scenarios like boardwalk trails in scenic areas.

Specifically, when the environment is dominated by dense foliage with only the walkway providing reliable planar features, the system tends to suffer from degeneration issues. Our empirical tests on multiple datasets have shown unsatisfactory results in both localization accuracy and mapping quality.

I would be truly grateful if you could enlighten me on:

1. Are there more robust SLAM solutions for such planar-feature-deficient environments?
2. What improvements would you recommend regarding feature extraction or optimization strategies?

Your expert insights would be greatly appreciated. Thank you very much for your time and consideration!

Best regards,
[Your Name]