| Title: |
Simultaneous Localization And Mapping: A Survey of Current Trends in Autonomous Driving |
| Authors: |
Bresson, Guillaume; Alsayed, Zayed; Yu, Li; Glaser, Sébastien |
| Contributors: |
VEhicule DEcarboné et COmmuniquant et sa Mobilité (VeDeCom); Robotics & Intelligent Transportation Systems (RITS); Centre Inria de Paris; Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria); Centre de Robotique (CAOR); Mines Paris - PSL (École nationale supérieure des mines de Paris); Université Paris Sciences et Lettres (PSL)-Université Paris Sciences et Lettres (PSL); Laboratoire sur les Interactions Véhicules-Infrastructure-Conducteurs (LIVIC); Laboratoire Central des Ponts et Chaussées (LCPC)-Institut National de Recherche sur les Transports et leur Sécurité (INRETS) |
| Source: |
ISSN: 2379-8858. |
| Publisher Information: |
CCSD; Institute of Electrical and Electronics Engineers |
| Publication Year: |
2017 |
| Collection: |
MINES ParisTech: Archive ouverte / Open Archive (HAL) |
| Subject Terms: |
SLAM; place recognition; localization; mapping; autonomous ve- hicle; drift; survey; multi-vehicle; [SPI.AUTO]Engineering Sciences [physics]/Automatic; [SPI.SIGNAL]Engineering Sciences [physics]/Signal and Image processing |
| Description: |
International audience ; —In this article, we propose a survey of the Simultaneous Localization And Mapping field when considering the recent evolution of autonomous driving. The growing interest regarding self-driving cars has given new directions to localization and mapping techniques. In this survey, we give an overview of the different branches of SLAM before going into the details of specific trends that are of interest when considered with autonomous applications in mind. We first present the limits of classical approaches for autonomous driving and discuss the criteria that are essential for this kind of application. We then review the methods where the identified challenges are tackled. We mostly focus on approaches building and reusing long-term maps in various conditions (weather, season, etc.). We also go through the emerging domain of multi-vehicle SLAM and its link with self-driving cars. We survey the different paradigms of that field (centralized and distributed) and the existing solutions. Finally, we conclude by giving an overview of the various large-scale experiments that have been carried out until now and discuss the remaining challenges and future orientations. |
| Document Type: |
article in journal/newspaper |
| Language: |
English |
| DOI: |
10.1109/TIV.2017.2749181 |
| Availability: |
https://hal.science/hal-01615897; https://hal.science/hal-01615897v1/document; https://hal.science/hal-01615897v1/file/2017-simultaneous_localization_and_mapping_a_survey_of_current_trends_in_autonomous_driving.pdf; https://doi.org/10.1109/TIV.2017.2749181 |
| Rights: |
info:eu-repo/semantics/OpenAccess |
| Accession Number: |
edsbas.F9143D65 |
| Database: |
BASE |