A Survey of LiDAR-Based 3D SLAM in Indoor Degraded Scenarios

This review paper investigates LiDAR odometry technologies adapted for indoor environments. Localization challenges arise primarily from reduced environmental constraints, particularly in confined spaces like narrow corridors or tunnels where homogeneous conditions make it challenging to discern the robot's position from LiDAR data. The paper provides a comprehensive analysis of algorithms and methodologies aimed at enhancing the robustness and precision of LiDAR odometry in these complex scenarios. It also explores the synergistic combination of LiDAR with other sensors, such as cameras and Inertial Measurement Units (IMUs), to refine the SLAM process. Moreover, the paper highlights recent progress in data processing techniques, with a specific emphasis on LiDAR intensity processing, which is crucial for accurate indoor navigation. In conclusion, the paper identifies current limitations and outlines a path for future research, emphasizing the need for the development of adaptive, intelligent systems that can reliably operate across various indoor environments.