A Comparative Survey of LiDAR-SLAM and LiDAR based Sensor Technologies

摘要

Simultaneous Localization and Mapping (SLAM) accomplishes the goal of concurrent localization and map creation based on self-recognition. LiDAR-based SLAM technology has advanced exponentially as a result of the widespread use of LiDAR sensors in a variety of technological sectors. This paper begins with a brief comparison of the different sensor technologies such as Radar, Ultrawideband positioning, Wi-Fi with LiDAR, and its functional importance in automation, robotics, and other fields. Classification of LiDAR sensors is also briefly discussed in tabular form. Then, a LiDAR-based SLAM is introduced by discussing its general graphical and mathematical modeling. After it three main features of LiDAR SLAM i.e., mapping, localization, and navigation are discussed. Finally, the comparison of LiDAR SLAM is discussed with other SLAM technologies and the challenges faced during its implementation.