汽车工程学报2024，Vol.14Issue(1)：1-13,13.DOI:10.3969/j.issn.2095‒1469.2024.01.01
基于激光雷达的自动驾驶同步定位与建图方法综述
A Review of LiDAR-Based Simultaneous Localization and Mapping Methods for Autonomous Driving
摘要
Abstract
Simultaneous localization and mapping(SLAM)technology enables autonomous vehicles to estimate their own poses and establish the map of an unknown environment according to the data collected by onboard sensors.SLAM can provide localization information to the decision-making module for vehicle planning,and has become one of the research hotspots of autonomous driving technology in recent years.Based on the point cloud data collected by LiDAR,this paper focuses on the SLAM technology applied in autonomous driving.The related research at home and abroad has been reviewed including the front-end odometry,the back-end optimization and loop closure detection.Due to the limitations of a single sensor,the opportunities and challenges of multi-sensor fusion SLAM technology for autonomous driving are discussed based on the research hotspots and difficulties in the field of multi-sensor fusion.关键词
自动驾驶/同步定位与建图/激光雷达/前端里程计/后端优化/回环检测Key words
autonomous driving/SLAM/LiDAR/front-end odometry/back-end optimization/loop closure detection分类
信息技术与安全科学引用本文复制引用
张庚,杨超,王伟达,李颖..基于激光雷达的自动驾驶同步定位与建图方法综述[J].汽车工程学报,2024,14(1):1-13,13.基金项目
国家自然科学基金项目(52102449) （52102449）
中国博士后科学基金项目(2021M690394) （2021M690394）
