Abstract
The problems of autonomous navigation include positioning, mapping and path planning. SLAM has become one of the most popular and mature solutions for autonomous navigation of mobile robots. SLAM literally translates to locating and mapping simultaneously. In general, SLAM frameworks use cameras, IMU, wheel encoders, and a combination of light detection and ranging (lidar) sensors to provide superior accuracy for navigation systems. However, the price of mechanical lidar is exceptionally high compared to other sensors, which is the main reason for introducing a new generation of lasers called solid State Lidar (SSL)
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