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Survey of 3D Map in SLAM: Localization and Navigation

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Advanced Computational Methods in Life System Modeling and Simulation (ICSEE 2017, LSMS 2017)

Part of the book series: Communications in Computer and Information Science ((CCIS,volume 761))

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Abstract

3D mapping is a difficult problem due to real-world places whose appearance and scale can be various. Owing to the rapid development of computer and robot system, remarkable improvements of performance are achieved in 3D map technology, which in turn contribute to the significant advances in SLAM. This paper presents the state-of-the-art 3D map technology and system, which is classified into topological maps, metric maps and semantic maps. Additionally, the advantages and disadvantages of various 3D map technologies are analyzed in different aspects, including navigation performance, localization performance, visual perception, scalability, computation cost and mapping difficulty. In order to better understand them, the key performance parameters of the 3D map technologies are compared in a table. Finally, the paper ends with a discussion on the open problems and future of 3D map technology.

L. Chen—This work was supported by Natural Science Foundation of China (61403244), Science and Technology Commission of Shanghai Municipality under “Yangfan Program” (14YF1408600, 16YF1403700), Key Project of Science and Technology Commission of Shanghai Municipality (15411953502).

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Authors and Affiliations

  1. Shanghai Key Laboratory of Power Station Automation Technology, School of Mechatronic Engineering and Automation, Shanghai University, Shanghai, 200072, China

    Aolei Yang, Yu Luo, Ling Chen & Yulin Xu

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  1. Aolei Yang
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  2. Yu Luo
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  3. Ling Chen
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  4. Yulin Xu
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Corresponding author

Correspondence to Ling Chen .

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Editors and Affiliations

  1. Shanghai University, Shanghai, China

    Minrui Fei

  2. Shanghai University, Shanghai, China

    Shiwei Ma

  3. Shanghai University, Shanghai, China

    Xin Li

  4. Shanghai University, Shanghai, China

    Xin Sun

  5. Shanghai University, Shanghai, China

    Li Jia

  6. Shanghai University, Shanghai, China

    Zhou Su

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Yang, A., Luo, Y., Chen, L., Xu, Y. (2017). Survey of 3D Map in SLAM: Localization and Navigation. In: Fei, M., Ma, S., Li, X., Sun, X., Jia, L., Su, Z. (eds) Advanced Computational Methods in Life System Modeling and Simulation. ICSEE LSMS 2017 2017. Communications in Computer and Information Science, vol 761. Springer, Singapore. https://doi.org/10.1007/978-981-10-6370-1_41

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  • DOI: https://doi.org/10.1007/978-981-10-6370-1_41

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