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Open Access

Camera, LiDAR, and IMU Based Multi-Sensor Fusion SLAM: A Survey

Department of Automation, Tsinghua University, Beijing 100084, China
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Abstract

In recent years, Simultaneous Localization And Mapping (SLAM) technology has prevailed in a wide range of applications, such as autonomous driving, intelligent robots, Augmented Reality (AR), and Virtual Reality (VR). Multi-sensor fusion using the most popular three types of sensors (e.g., visual sensor, LiDAR sensor, and IMU) is becoming ubiquitous in SLAM, in part because of the complementary sensing capabilities and the inevitable shortages (e.g., low precision and long-term drift) of the stand-alone sensor in challenging environments. In this article, we survey thoroughly the research efforts taken in this field and strive to provide a concise but complete review of the related work. Firstly, a brief introduction of the state estimator formation in SLAM is presented. Secondly, the state-of-the-art algorithms of different multi-sensor fusion algorithms are given. Then we analyze the deficiencies associated with the reviewed approaches and formulate some future research considerations. This paper can be considered as a brief guide to newcomers and a comprehensive reference for experienced researchers and engineers to explore new interesting orientations.

Keywords

navigationlocalizationSimultaneous Localization And Mapping (SLAM)multi-sensor fusion

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Tsinghua Science and Technology
Volume 29 Issue 2,
April 2024
Pages 415-429
DOI: 10.26599/TST.2023.9010010
Cite this article:
Zhu J, Li H, Zhang T. Camera, LiDAR, and IMU Based Multi-Sensor Fusion SLAM: A Survey. Tsinghua Science and Technology, 2024, 29(2): 415-429. https://doi.org/10.26599/TST.2023.9010010

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Received: 17 September 2022
Revised: 18 December 2022
Accepted: 21 February 2023
Published: 22 September 2023
© The author(s) 2024.

The articles published in this open access journal are distributed under the terms of the Creative Commons Attribution 4.0 International License (http://creativecommons.org/licenses/by/4.0/).
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