3D ToF LiDAR for Mobile Robotics in Harsh Environments: A Review

Tao Yang; Jinwen Hu; You Li; Cheng Zhao; Li Sun; Tomas Krajnik; Zhi Yan

doi:10.1142/S230138502530001X

3D ToF LiDAR for Mobile Robotics in Harsh Environments: A Review

Tao Yang, Jinwen Hu, You Li, Cheng Zhao, Li Sun, Tomas Krajnik, Zhi Yan

School of Mechanical Engineering

Research output: Contribution to journal › Review article › peer-review

2 Scopus citations

Abstract

Over the past decade, the use of 3D Time-of-Flight (ToF) LiDARs in mobile robotics has grown rapidly. Based on our accumulation of relevant research, this paper systematically reviews and analyzes the use of 3D ToF LiDARs for mobile robotics under harsh conditions such as adverse weather, GPS-denied, and highly dynamic environments for both research and industrial applications. The former include LiDAR data processing in adverse weather, object detection, and autonomous navigation. The latter encompasses autonomous driving, service robotics, and public health crises applications. We hope that our efforts can effectively provide readers with a reference based on our hands-on experiences and promote the deployment of existing mature technologies in real-world systems.

Original language	English
Pages (from-to)	309-331
Number of pages	23
Journal	Unmanned Systems
Volume	13
Issue number	2
DOIs	https://doi.org/10.1142/S230138502530001X
State	Published - 1 Mar 2025

Keywords

3D ToF LiDAR
autonomous navigation
harsh environments
mobile robotics
object detection

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

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10.1142/S230138502530001X

Cite this

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title = "3D ToF LiDAR for Mobile Robotics in Harsh Environments: A Review",

abstract = "Over the past decade, the use of 3D Time-of-Flight (ToF) LiDARs in mobile robotics has grown rapidly. Based on our accumulation of relevant research, this paper systematically reviews and analyzes the use of 3D ToF LiDARs for mobile robotics under harsh conditions such as adverse weather, GPS-denied, and highly dynamic environments for both research and industrial applications. The former include LiDAR data processing in adverse weather, object detection, and autonomous navigation. The latter encompasses autonomous driving, service robotics, and public health crises applications. We hope that our efforts can effectively provide readers with a reference based on our hands-on experiences and promote the deployment of existing mature technologies in real-world systems.",

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TY - JOUR

T1 - 3D ToF LiDAR for Mobile Robotics in Harsh Environments

T2 - A Review

AU - Yang, Tao

AU - Hu, Jinwen

AU - Li, You

AU - Zhao, Cheng

AU - Sun, Li

AU - Krajnik, Tomas

AU - Yan, Zhi

PY - 2025/3/1

Y1 - 2025/3/1

N2 - Over the past decade, the use of 3D Time-of-Flight (ToF) LiDARs in mobile robotics has grown rapidly. Based on our accumulation of relevant research, this paper systematically reviews and analyzes the use of 3D ToF LiDARs for mobile robotics under harsh conditions such as adverse weather, GPS-denied, and highly dynamic environments for both research and industrial applications. The former include LiDAR data processing in adverse weather, object detection, and autonomous navigation. The latter encompasses autonomous driving, service robotics, and public health crises applications. We hope that our efforts can effectively provide readers with a reference based on our hands-on experiences and promote the deployment of existing mature technologies in real-world systems.

AB - Over the past decade, the use of 3D Time-of-Flight (ToF) LiDARs in mobile robotics has grown rapidly. Based on our accumulation of relevant research, this paper systematically reviews and analyzes the use of 3D ToF LiDARs for mobile robotics under harsh conditions such as adverse weather, GPS-denied, and highly dynamic environments for both research and industrial applications. The former include LiDAR data processing in adverse weather, object detection, and autonomous navigation. The latter encompasses autonomous driving, service robotics, and public health crises applications. We hope that our efforts can effectively provide readers with a reference based on our hands-on experiences and promote the deployment of existing mature technologies in real-world systems.

KW - 3D ToF LiDAR

KW - autonomous navigation

KW - harsh environments

KW - mobile robotics

KW - object detection

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M3 - 文献综述

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JO - Unmanned Systems

JF - Unmanned Systems

IS - 2

ER -

3D ToF LiDAR for Mobile Robotics in Harsh Environments: A Review

Abstract

Keywords

UN SDGs

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