Optical Sensors Fusion Approaches for Map Construction: A Review of Recent Studies

Abstract

Map construction, or mapping, plays an important role in robotic applications. Mapping relies on inherently noisy sensor measurements to construct an accurate representation of a surrounding environment. Generally, individual sensors suffer from performance degradation issues under certain conditions in the environment. Sensor fusion enables to obtain statistically more accurate perception and to cope with performance degradation issues by combining data from multiple sensors of different modalities. This paper describes the latest developments in data fusion and state-of-the-art mapping methods using data fusion.