Academic Journal
Camera, LiDAR and Multi-modal SLAM Systems for Autonomous Ground Vehicles: a Survey
| العنوان: | Camera, LiDAR and Multi-modal SLAM Systems for Autonomous Ground Vehicles: a Survey |
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| المؤلفون: | Chghaf, Mohammed, Rodriguez Florez, Sergio Alberto, Ouardi, Abdelhafid El |
| المساهمون: | Systèmes et Applications des Technologies de l'Information et de l'Energie (SATIE), École normale supérieure - Rennes (ENS Rennes)-Conservatoire National des Arts et Métiers CNAM (CNAM)-Université Paris-Saclay-Centre National de la Recherche Scientifique (CNRS)-Ecole Normale Supérieure Paris-Saclay (ENS Paris Saclay)-Université Gustave Eiffel-CY Cergy Paris Université (CY), Université Paris-Saclay |
| المصدر: | ISSN: 0921-0296. |
| بيانات النشر: | HAL CCSD Springer Verlag |
| سنة النشر: | 2022 |
| المجموعة: | Université Paris Seine: ComUE (HAL) |
| مصطلحات موضوعية: | [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO] |
| الوصف: | International audience ; Simultaneous Localization and Mapping (SLAM) have been widely studied over the last years for autonomous vehicles. SLAM achieves its purpose by constructing a map of the unknown environment while keeping track of the location. A major challenge, which is paramount during the design of SLAM systems, lies in the efficient use of onboard sensors to perceive the environment. The most widely applied algorithms are camera-based SLAM and LiDAR-based SLAM. Recent research focuses on the fusion of camera-based and LiDAR-based frameworks that show promising results. In this paper, we present a study of commonly used sensors and the fundamental theories behind SLAM algorithms. The study then presents the hardware architectures used to process these algorithms and the performance obtained when possible. Secondly, we highlight state-of-the-art methodologies in each modality and in the multi-modal framework. A brief comparison followed by future challenges is then underlined. Additionally, we provide insights to possible fusion approaches that can increase the robustness and accuracy of modern SLAM algorithms; hence allowing the hardware-software co-design of embedded systems taking into account the algorithmic complexity and the embedded architectures and real-time constraints. |
| نوع الوثيقة: | article in journal/newspaper |
| اللغة: | English |
| Relation: | hal-03647769; https://hal.science/hal-03647769 |
| DOI: | 10.1007/s10846-022-01582-8 |
| الاتاحة: | https://hal.science/hal-03647769 https://doi.org/10.1007/s10846-022-01582-8 |
| رقم الانضمام: | edsbas.1E587219 |
| قاعدة البيانات: | BASE |
| DOI: | 10.1007/s10846-022-01582-8 |
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