A Review of Simultaneous Localization and Mapping Algorithms Based on Lidar

摘要

Simultaneous localization and mapping (SLAM) is one of the key technologies for mobile robots to achieve autonomous driving, and the lidar SLAM algorithm is the mainstream research scheme. Firstly, this paper introduces the overall framework of lidar SLAM, elaborates on the functions of front-end scan matching, loop closure detection, back-end optimization, and map building module, and summarizes the algorithms used. Then, the classical representative SLAM algorithms are described and compared from three aspects: pure lidar SLAM algorithm, multi-sensor fusion SLAM algorithm, and deep learning lidar SLAM algorithm. Finally, the challenges faced by the lidar SLAM algorithm in practical use are discussed. The development trend of the lidar SLAM algorithm is prospected from five dimensions: lightweight, multi-sensor fusion, combination of new sensors, multi-robot collaboration, and deep learning. This paper can provide a brief guide for novices entering the field of SLAM and provide a comprehensive reference for experienced researchers and engineers to explore new research directions.