Progress and Applications of Visual SLAM
作者：Kaichang DI,Wenhui WAN,Hongying ZHAO,Zhaoqin LIU,Runzhi WANG,Feizhou ZHANG
摘要：Visual simultaneous localization and mapping (SLAM) provides mapping and self-localization results for a robot in an unknown environment based on visual sensors, that have the advantages of small volume, low power consumption, and richness of information acquisition. Visual SLAM is essential and plays a significant role in supporting automated and intelligent applications of robots. This paper presents the key techniques of visual SLAM, summarizes the current research status, and analyses the new trends of visual SLAM research and development. Finally, specific applications of visual SLAM in restricted environments, including deep space and indoor scenarios, are discussed.
发文机构：State Key Laboratory of Remote Sensing Science Institute of Remote Sensing and Geographic Information System
关键词：visualSLAMFEATUREextractionKALMANfilterGRAPHbasedoptimizationLOOPCLOSUREdetection
分类号： P[天文地球]
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