# LiDAR-based SLAM for robotic mapping: state of the art and new frontiers

arXiv: https://arxiv.org/abs/2311.00276 · HTML: https://mlsanity.com/paper/2311.00276/

## Key facts

- Cited by 2 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 1 Nov 2023.

## Built on by (most cited first, 2 of 2)

- [Is Single-View Mesh Reconstruction Ready for Robotics?](https://mlsanity.com/paper/2505.17966/) (2025)
- [DENALI: A Dataset Enabling Non-Line-of-Sight Spatial Reasoning with Low-Cost LiDARs](https://mlsanity.com/paper/2604.16201/) (2026)

## Abstract (arXiv)

In recent decades, the field of robotic mapping has witnessed widespread research and development in LiDAR (Light Detection And Ranging)-based simultaneous localization and mapping (SLAM) techniques. In this paper, we review the state-of-the-art in LiDAR-based SLAM and explore the remaining challenges that still require attention to satisfy the needs of contemporary applications. A distinctive aspect of this study lies in its literature survey, which specifically investigates the application of various types and configurations of LiDAR, setting it apart from prior reviews. Furthermore, several representative comparisons of LiDAR-based SLAM algorithms are presented, which can serve as a point of reference. Finally, the paper concludes with an insightful discussion on the emergence of new frontiers in the domain of LiDAR-based SLAM.