Method and system for simultaneous localization and mapping based on 2d lidar and a camera with different viewing ranges

A system for simultaneous localization and mapping (SLAM), the system comprising:

• a light detection and ranging (Lidar) sensor configured to detect a feature point in front of a vehicle;
• a camera configured to acquire a front image of the vehicle;
• and
• a controller configured to
• receive data on the feature point in front of the vehicle from the Lidar sensor,
• receive the front image of the vehicle from the camera,
• search for the feature point from the front image,
• set the feature point received from the Lidar sensor and the feature point searched from the front image as a point cloud (PCL),
• perform SLAM based on the feature point in the PCL,
• remove a feature point satisfying a removal condition from the PCL in response to an arrival of an object search cycle, wherein the feature point that satisfies the removal condition is a feature point whose distance to the vehicle is greater than a first set distance, and
• add a newly searched feature point after a previous object search cycle to the PCL.