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LiDAR Localization and Mapping for Autonomous Vehicles: Recent Solutions and Trends

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Automation 2021: Recent Achievements in Automation, Robotics and Measurement Techniques (AUTOMATION 2021)

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Abstract

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 diversified semantics. Some of these issues are illustrated by preliminary results of our recent research in LiDAR SLAM.

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Author information

Authors and Affiliations

  1. Institute of Robotics and Machine Intelligence, Poznań University of Technology, ul. Piotrowo 3A, 60-965, Poznań, Poland

    Piotr Skrzypczyński

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  1. Piotr Skrzypczyński
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Correspondence to Piotr Skrzypczyński .

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Editors and Affiliations

  1. ŁUKASIEWICZ Research Network, Industrial Research Institute for Automation and Measurements PIAP, Warsaw, Poland

    Roman Szewczyk

  2. ŁUKASIEWICZ Research Network, Industrial Research Institute for Automation and Measurements PIAP, Warsaw, Poland

    Cezary Zieliński

  3. ŁUKASIEWICZ Research Network, Industrial Research Institute for Automation and Measurements PIAP, Warsaw, Poland

    Małgorzata Kaliczyńska

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Skrzypczyński, P. (2021). LiDAR Localization and Mapping for Autonomous Vehicles: Recent Solutions and Trends. In: Szewczyk, R., Zieliński, C., Kaliczyńska, M. (eds) Automation 2021: Recent Achievements in Automation, Robotics and Measurement Techniques. AUTOMATION 2021. Advances in Intelligent Systems and Computing, vol 1390. Springer, Cham. https://doi.org/10.1007/978-3-030-74893-7_24

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