Questions Regarding the Applicability of a LiDAR-Based SLAM Method

This article provides an overview of different approaches to SLAM (Simultaneous Localization and Mapping) methods, with a focus on LiDAR-based SLAM. The article discusses the practical applicability of a simple and easy-to-use LiDAR SLAM method called Direct LiDAR Odometry, which was tested with different sensor mount configurations and with and without the additional input of an IMU. The results were evaluated based on Relative Pose Error based on Ground Truth information gained from GNSS receiver data. The tests were carried out using sensor data acquisitioned using a custom test vehicle.