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In recent decades, the field of robotic mapping has witnessed widespreadresearch and development in LiDAR (Light Detection And Ranging)-basedsimultaneous localization and mapping (SLAM) techniques. In this paper, wereview the state-of-the-art in LiDAR-based SLAM and explore the remainingchallenges that still require attention to satisfy the needs of contemporaryapplications. A distinctive aspect of this study lies in its literature survey,which specifically investigates the application of various types andconfigurations of LiDAR, setting it apart from prior reviews. Furthermore,several representative comparisons of LiDAR-based SLAM algorithms arepresented, which can serve as a point of reference. Finally, the paperconcludes with an insightful discussion on the emergence of new frontiers inthe domain of LiDAR-based SLAM.

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