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

在过去十年中，光检测和测距 (LIDAR) 成为详细可靠的 3D 环境感知的领先技术。本文从自动驾驶信号处理的角度概述了激光雷达传感器的广泛适用性，包括动态和静态场景分析、映射、态势感知，其功能明显超出了安全障碍检测器的作用，这是唯一的在无人驾驶汽车的先驱年代，激光雷达的典型功能。论文重点介绍了近十年来广泛的激光雷达数据分析应用，除了介绍了最新的调查之外，文章还总结了该领域的一些问题和预期发展方向，