The accuracy analysis of the Visual-SLAM and LiDAR-SLAM methods: A case study

Abstract. Simultaneous Localisation and Mapping (SLAM) is a technique that allows a vehicle to determine its location and map its surroundings simultaneously. This study was carried out to produce a 3-dimensional (3D) model of the environment using the SLAM technique by processing the data obtained from Light Detection and Ranging (LiDAR) and stereo camera sensors mounted on an Unmanned Ground Vehicle (UGV) capable of operating in an indoor-outdoor area. The environment was modelled using LiDAR-SLAM and Visual Simultaneous Localisation and Mapping (VSLAM) methods, using the LiDAR sensor and the stereo camera integrated into the UGV. The accuracy assessment of the produced models was made by comparing the real sizes of the objects in the environment with the sizes in the produced model. In addition, the model’s surface accuracies were tested by examining the linearity of flat surfaces selected from the study area.