Comparison of Point Cloud and Surface Based Mapping for Autonomous Vehicles

Christoph Brückner, Lucila Patino-Studencki

2025

Abstract

Mapping and localization are essential processes in robotics and autonomous systems, providing precise environmental representation and real-time positioning. Unlike Simultaneous Localization and Mapping (SLAM), which combines these tasks simultaneously, mapping and localization are often decoupled in applications that require higher accuracy and efficiency from the outset, like autonomous vehicles. This study summarizes the main families of map representations used in SLAM and investigates the applicability for standalone mapping and localization tasks. Point cloud and surfaced based Mapping Methods, namely KISS-ICP and PUMA are explored and evaluated numerically using the KITTI database. Key performance metrics accuracy, registration time during localization, and map size are analyzed to compare their effectiveness. The results provide insights into the strengths and limitations of SLAM-based techniques when applied to decoupled processes.

Paper Citation

in Harvard Style

Brückner C. and Patino-Studencki L. (2025). Comparison of Point Cloud and Surface Based Mapping for Autonomous Vehicles. In Proceedings of the 11th International Conference on Vehicle Technology and Intelligent Transport Systems - Volume 1: VEHITS; ISBN 978-989-758-745-0, SciTePress, pages 199-209. DOI: 10.5220/0013473000003941

in Bibtex Style

@conference{vehits25,
author={Christoph Brückner and Lucila Patino-Studencki},
title={Comparison of Point Cloud and Surface Based Mapping for Autonomous Vehicles},
booktitle={Proceedings of the 11th International Conference on Vehicle Technology and Intelligent Transport Systems - Volume 1: VEHITS},
year={2025},
pages={199-209},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0013473000003941},
isbn={978-989-758-745-0},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 11th International Conference on Vehicle Technology and Intelligent Transport Systems - Volume 1: VEHITS
TI - Comparison of Point Cloud and Surface Based Mapping for Autonomous Vehicles
SN - 978-989-758-745-0
AU - Brückner C.
AU - Patino-Studencki L.
PY - 2025
SP - 199
EP - 209
DO - 10.5220/0013473000003941
PB - SciTePress