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

Northwestern Polytechnical University Xian
Embotech AG
University of Oxford
NIO
Czech Technical University in Prague
University Bourgogne Franche-Comté

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
Article number	2530001
Journal	Unmanned Systems
DOIs	https://doi.org/10.1142/S230138502530001X
State	Accepted/In press - 2024

UN SDGs

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

SDG 3 Good Health and Well-being

Keywords

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

Access to Document

10.1142/S230138502530001X

Cite this

@article{afab9e5c32a746ceb1aeb4b7cf428664,

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.",

keywords = "3D ToF LiDAR, autonomous navigation, harsh environments, mobile robotics, object detection",

author = "Tao Yang and Jinwen Hu and You Li and Cheng Zhao and Li Sun and Tomas Krajnik and Zhi Yan",

note = "Publisher Copyright: {\textcopyright} 2025 World Scientific Publishing Company.",

year = "2024",

doi = "10.1142/S230138502530001X",

language = "英语",

journal = "Unmanned Systems",

issn = "2301-3850",

publisher = "World Scientific",

}

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 - 2024

Y1 - 2024

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

UR - https://www.scopus.com/pages/publications/85197945567

U2 - 10.1142/S230138502530001X

DO - 10.1142/S230138502530001X

M3 - 文献综述

AN - SCOPUS:85197945567

SN - 2301-3850

JO - Unmanned Systems

JF - Unmanned Systems

M1 - 2530001

ER -

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

Abstract

UN SDGs

Keywords

Access to Document

Other files and links

Fingerprint

Cite this