*Review* **Simultaneous Localization and Mapping (SLAM) for Autonomous Driving: Concept and Analysis**

**Shuran Zheng 1,\*, Jinling Wang 1, Chris Rizos 1, Weidong Ding <sup>1</sup> and Ahmed El-Mowafy <sup>2</sup>**


**\*** Correspondence: shuran.zheng@unsw.edu.au

**Abstract:** The Simultaneous Localization and Mapping (SLAM) technique has achieved astonishing progress over the last few decades and has generated considerable interest in the autonomous driving community. With its conceptual roots in navigation and mapping, SLAM outperforms some traditional positioning and localization techniques since it can support more reliable and robust localization, planning, and controlling to meet some key criteria for autonomous driving. In this study the authors first give an overview of the different SLAM implementation approaches and then discuss the applications of SLAM for autonomous driving with respect to different driving scenarios, vehicle system components and the characteristics of the SLAM approaches. The authors then discuss some challenging issues and current solutions when applying SLAM for autonomous driving. Some quantitative quality analysis means to evaluate the characteristics and performance of SLAM systems and to monitor the risk in SLAM estimation are reviewed. In addition, this study describes a real-world road test to demonstrate a multi-sensor-based modernized SLAM procedure for autonomous driving. The numerical results show that a high-precision 3D point cloud map can be generated by the SLAM procedure with the integration of Lidar and GNSS/INS. Online four–five cm accuracy localization solution can be achieved based on this pre-generated map and online Lidar scan matching with a tightly fused inertial system.

**Keywords:** Simultaneous Localization and Mapping; autonomous driving; localization; high definition map
