A comparison of SLAM methods
Contents
| Method | Year | Loosely coupled | Tightly coupled filter | IMU | ICP | NDT | Features | Loop closure (pose-graph optimization) | Single session | Multi-session | Georeferencing | Open source | Open source LiDAR interface | Real-time |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| Zhang et al. | 2014 | Yes | Yes | Yes | Yes | Yes | Yes | Yes | ||||||
| LOAM | 2014 | Yes | Yes | planar, edge | Yes | Yes | Yes | Yes | Yes | |||||
| LeGO-LOAM | 2018 | Yes | Yes | planar, edge | Yes | Yes | Yes | Yes | Yes | |||||
| LIO-SAM | 2020 | Yes | EKF | Yes | planar, edge | Yes | Yes | Yes | Yes | Yes | ||||
| FAST-LIO | 2020 | ESKF | Yes | Yes | Yes | Yes | Yes | Yes | ||||||
| FAST-LIO2 | 2021 | ESKF | Yes | planar, edge | Yes | Yes | Yes | Yes | Yes | |||||
| FAST-LIO3 | 2022 | ESKF | Yes | planar, edge, planes | Yes | Yes | Yes | Yes | Yes | Yes | Yes | |||
| LINS | 2021 | Midpoint | Yes | Yes | Yes | Yes | Yes | |||||||
| R-LIO | 2022 | ESKF | Yes | Yes | Yes | Yes | Yes | Yes | Yes |
Notes
- Loosely coupled vs. tightly coupled filter:
- The distinction between loosely and tightly coupled systems is important. Loosely coupled systems process LiDAR and IMU data separately, while tightly coupled systems fuse them in a single estimation framework (e.g., EKF, ESKF, Gauss-Newton).
- ICP (Iterative Closest Point):
- ICP is rarely used in modern real-time LiDAR SLAM due to its computational cost. Most systems rely on feature-based or direct methods.
References
- Modified table from Redovniković, L., Jakopec, A., Będkowski J., Jagetić, J., 2024. The affordable DIY Mandeye LiDAR system for surveying caves, and how to convert 3D clouds into traditional cave ground plans and extended profiles. International Journal of Speleology, 53(3), ijs2535. https://doi.org/10.5038/1827-806X.53.3.2535
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