# 3D ToF LiDAR in Mobile Robotics: A Review

**Authors:** Tao Yang, You Li, Cheng Zhao, Dexin Yao, Guanyin Chen, Li Sun, Tomas Krajnik, Zhi Yan  
**arXiv:** [2202.11025](https://arxiv.org/abs/2202.11025)  
**Date:** 2022-02-22  
**Summary page:** https://www.summarizepaper.com/en/arxiv-id/2202.11025v1/

## Key points

- Significant increase in the use of 3D Time-of-Flight (ToF) LiDARs in mobile robotics over the past ten years
- Comprehensive review and analysis of applications of 3D ToF LiDARs in research and industrial settings
- Research applications include object detection, robot localization, long-term autonomy, LiDAR data processing under adverse weather conditions, and sensor fusion
- Industrial applications include service robots, assisted and autonomous driving systems
- Recent applications developed in response to public health crises highlight versatility and adaptability of 3D ToF LiDAR technology
- Goal of the article is to provide a comprehensive overview and promote deployment of mature technologies in practical systems
- Review offers relevant references and insights into potential uses of 3D ToF LiDARs in different domains to facilitate further advancements and adoption

## Summary

In the past ten years, there has been a significant increase in the use of 3D Time-of-Flight (ToF) LiDARs in mobile robotics. This article, authored by Tao Yang, You Li, Cheng Zhao, Dexin Yao, Guanyin Chen, Li Sun, Tomas Krajnik and Zhi Yan provides a comprehensive review and analysis of the applications of 3D ToF LiDARs in both research and industrial settings. The authors have accumulated relevant research to systematically examine the various uses of 3D ToF LiDARs. In terms of research applications, these LiDARs have been utilized for object detection, robot localization, long-term autonomy, LiDAR data processing under adverse weather conditions and sensor fusion. These capabilities have proven to be crucial for enhancing the performance and capabilities of mobile robots. On the industrial side, 3D ToF LiDARs have found application in service robots as well as assisted and autonomous driving systems. The authors also highlight recent applications that were developed in response to public health crises. These real-world examples demonstrate the versatility and adaptability of 3D ToF LiDAR technology. The goal of this article is not only to provide readers with a comprehensive overview but also to promote the deployment of existing mature technologies in practical systems. By offering relevant references and insights into the potential uses of 3D ToF LiDARs in different domains, this review aims to facilitate further advancements and adoption of this technology. Overall, this detailed summary highlights how the use of 3D ToF LiDARs has rapidly grown over the past decade in mobile robotics. It emphasizes their diverse range of applications across research and industry while emphasizing their potential for real-world implementation.