Positioning and perception in LIDAR point clouds

In the last decade, Light Detection and Ranging (LIDAR) became a leading technology of detailed reliable 3D environment perception. This paper gives an overview wide applicability LIDAR sensors from perspective signal processing for autonomous driving, including dynamic static scene analysis, mapping, situation awareness which functions significantly point beyond role safe obstacle detector, was sole typical function LIDARs in pioneer years driver-less vehicles. The focuses on range data analysis applications addition to presentation state-of-the-art survey, article also summarizes some issues expected directions development this field, future perspectives systems intelligent based information processing.