Innovations and Refinements in LiDAR Odometry and Mapping: A Comprehensive Review

摘要

Since its introduction in 2014, the LiDAR odometry and mapping (LOAM) algorithm has become a cornerstone in the fields of autonomous driving and intelligent robotics. LOAM provides robust support for autonomous navigation in complex dynamic environments through precise localization and environmental mapping. This paper offers a comprehensive review of the innovations and optimizations made to the LOAM algorithm, covering advancements in multi-sensor fusion technology, frontend processing optimization, backend optimization, and loop closure detection. These improvements have significantly enhanced LOAM's performance in various scenarios, including urban, agricultural, and underground environments. However, challenges remain in areas such as data synchronization, real-time processing, computational complexity, and environmental adaptability. Looking ahead, future developments are expected to focus on creating more efficient multi-sensor fusion algorithms, expanding application domains, and building more robust systems, thereby driving continued progress in autonomous driving, intelligent robotics, and autonomous unmanned systems.