A Comparative Assesment of Lidar Slam Accuracy Using TLS Data

LiDAR SLAM (Light Detection and Ranging based Simultaneous Localization and Mapping) serves a critical role in enabling various 3D mapping applications where both localization and precise mapping of the physical environment are needed. The rapid advancements in embedded systems that utilize LiDAR SLAM have increased the interest of the scientific and industrial communities in 3D mapping and model reconstruction applications. This paper presents a comparative assessment of several open-source LiDARbased SLAM algorithms in outdoor settings. To evaluate the accuracy of each algorithm we assess its results against a ground truth point cloud dataset acquired by a high accuracy TLS (Terrestrial Laser Scanner). While most prior research on LiDAR-SLAM has mainly focused on its navigation capabilities, our objective is to demonstrate its accuracy and robustness concerning high-quality 3D reconstruction results.