Visual and light detection and ranging-based simultaneous localization and mapping for self-driving cars

El Farnane Abdelhafid (Hassan First University of Settat)
Youssefi My Abdelkader (Hassan First University of Settat)
Mouhsen Ahmed (Hassan First University of Settat)
Dakir Rachid (Hassan First University of Settat)
El Ihyaoui Abdelilah (Hassan First University of Settat)

International Journal of Electrical and Computer Engineering
Vol 12, No 6: December 2022

In recent years, there has been a strong demand for self-driving cars. For safe navigation, self-driving cars need both precise localization and robust mapping. While global navigation satellite system (GNSS) can be used to locate vehicles, it has some limitations, such as satellite signal absence (tunnels and caves), which restrict its use in urban scenarios. Simultaneous localization and mapping (SLAM) are an excellent solution for identifying a vehicle’s position while at the same time constructing a representation of the environment. SLAM-based visual and light detection and ranging (LIDAR) refer to using cameras and LIDAR as source of external information. This paper presents an implementation of SLAM algorithm for building a map of environment and obtaining car’s trajectory using LIDAR scans. A detailed overview of current visual and LIDAR SLAM approaches has also been provided and discussed. Simulation results referred to LIDAR scans indicate that SLAM is convenient and helpful in localization and mapping.