LiDAR localization and mapping for autonomous vehicles: recent solutions and trends
[ 1 ] Instytut Robotyki i Inteligencji Maszynowej, Wydział Automatyki, Robotyki i Elektrotechniki, Politechnika Poznańska | [ P ] employee
2021
chapter in monograph / paper
english
- SLAM
- LiDAR
- autonomous cars
- machine learning
EN This paper presents a brief survey of the current achievements in LiDAR SLAM and discusses some recent trends and new ideas in this area. The focus is on LiDAR SLAM applied to autonomous vehicles, which still strugle with real-world complexity. We identify the challenges in efficient environment representation, robust estimation over large state spaces, and real-time handling of the scene dynamics and diversi ed semantics. Some of these issues are illustrated by preliminary results of our recent research in LiDAR SLAM.
251 - 261
other
20