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    Simultaneous Localization and Mapping (SLAM) for Autonomous Driving

    Access Status
    Fulltext not available
    Authors
    Zheng, Shuran
    Wang, Jinling
    Rizos, Chris
    El-Mowafy, Ahmed
    Date
    2020
    Type
    Conference Paper
    
    Metadata
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    Citation
    Zheng, S. and Wang, J. and Rizos, C. and El-Mowafy, A. 2020. Simultaneous Localization and Mapping (SLAM) for Autonomous Driving. In International Global Navigation Satellite Systems (IGNS) Symposium 2020, 5-7 Feb 2020, Sydney, Australia.
    Source Conference
    IGNSS Conference
    Faculty
    Faculty of Science and Engineering
    School
    School of Earth and Planetary Sciences (EPS)
    URI
    http://hdl.handle.net/20.500.11937/79692
    Collection
    • Curtin Research Publications
    Abstract

    Simultaneous Localization and Mapping (SLAM) techniques have achieved astonishing evolution over the last few decades and are of growing interest to the autonomous driving community. SLAM has advantages over some traditional vehicle positioning and localization techniques since SLAM can support more reliable and robust localization, planning and controlling to meet some key criteria of autonomous driving. However, there are still some issues that adversely affect the behaviour of the classical SLAM techniques for autonomous driving applications. The fundamental properties of SLAM still need to better understood and appropriate quality analysis methods are required so as to improve the performance of SLAM. This study will review SLAM techniques in the context of autonomous driving. First, we give an overview of the different SLAM techniques and then discuss the possible applications of SLAM for autonomous deriving with respect to different driving scenarios, vehicle system parts and the characteristics of the SLAM techniques. We then focus on some challenging issues and potential solutions for the application of SLAM for autonomous driving. We also summarise some quality analysis algorithms that can be used to evaluate the characteristics and performance of SLAM system. Finally, we conclude with remarks on further challenges and future orientation of research.

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