Simultaneous Localization and Mapping: A Survey of Current Trends in Autonomous Driving

In this paper, the authors propose a survey of the Simultaneous Localization And Mapping (SLAM) 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, the authors 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. The authors first present the limits of classical approaches for autonomous driving and discuss the criteria that are essential for this kind of application. The authors then review the methods where the identified challenges are tackled. The authors mostly focus on approaches building and reusing long-term maps in various conditions (weather, season, etc.). The authors also go through the emerging domain of multivehicle SLAM and its link with self-driving cars. The authors survey the different paradigms of that field (centralized and distributed) and the existing solutions. Finally, the authors 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.

• Record URL:
  https://doi.org/10.1109/TIV.2017.2749181
• Availability:
  • Find a library where document is available. Order URL: http://worldcat.org/issn/23798858
• Supplemental Notes:
  • Copyright © 2017, IEEE.
• Authors:
  • Bresson, Guillaume
  • Alsayed, Zayed
  • Yu, Li
  • Glaser, Sebastien
• Publication Date: 2017-9

Language

• English

Media Info

• Media Type: Web
• Features: References;
• Pagination: pp 194-220
• Serial:
  • IEEE Transactions on Intelligent Vehicles
  • Volume: 2
  • Issue Number: 3
  • Publisher: Institute of Electrical and Electronics Engineers (IEEE)
  • ISSN: 2379-8858
  • Serial URL: http://ieeexplore.ieee.org/xpl/RecentIssue.jsp?punumber=7274857

Subject/Index Terms

• TRT Terms: Autonomous vehicle guidance; Driving; Intelligent vehicles; Mapping; Surveys
• Uncontrolled Terms: Simultaneous localization and mapping (SLAM)
• Subject Areas: Data and Information Technology; Highways; Vehicles and Equipment;

Filing Info

• Accession Number: 01651326
• Record Type: Publication
• Files: TRIS
• Created Date: Nov 20 2017 5:09PM