Single-sensor-based and multi-sensor fusion SLAM: a survey

Wenqing Deng; Zhiyan Dong; Lihua Zhang

doi:10.1117/12.3014821

4 March 2024 Single-sensor-based and multi-sensor fusion SLAM: a survey

Wenqing Deng, Zhiyan Dong, Lihua Zhang

Proceedings Volume 12981, Ninth International Symposium on Sensors, Mechatronics, and Automation System (ISSMAS 2023); 129810U (2024) https://doi.org/10.1117/12.3014821
Event: 9th International Symposium on Sensors, Mechatronics, and Automation (ISSMAS 2023), 2023, Nanjing, China

Abstract

Simultaneous Localization and Mapping (SLAM) has attracted considerable attention, focusing on autonomous driving and mobile robot in recent years. And it brings lots of different solutions and approaches to this field. With the development of technology, the single-sensor-based SLAM gradually reaches the limit to solve complex problems, which means multi-sensor fusion SLAM is the future. This article begins with a brief overview of the development, advantages, and disadvantages of single-sensor-based SLAM based on Lidar, Camera, and IMU respectively. From a historical perspective, we survey the famous and state-of-the-art works by taking a widely in-depth look at the developing process of Lidar SLAM and Visual SLAM that still require attention to meet the needs of modern applications. Moreover, an analysis is executed from two opposing approaches based on filter and optimization. Then makes a review of the current trends of multi-sensor fusion SLAM divided into Visual-Inertial, Lidar-Inertial, and Visual-Lidar-Inertial subcategories. At last, introducing some future challenges about dense 3D reconstruction, SLAM combined with Deep Learning, and developments of mapping.

(2024) Published by SPIE. Downloading of the abstract is permitted for personal use only.

Citation Download Citation

Wenqing Deng, Zhiyan Dong, and Lihua Zhang "Single-sensor-based and multi-sensor fusion SLAM: a survey", Proc. SPIE 12981, Ninth International Symposium on Sensors, Mechatronics, and Automation System (ISSMAS 2023), 129810U (4 March 2024); https://doi.org/10.1117/12.3014821

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available