智能系统学报2016，Vol.11Issue(6)：768-776,9.DOI:10.11992/tis.201607026
视觉SLAM综述
An overview of visual SLAM
摘要
Abstract
Visual SLAM refers to simultaneously localizing itself and reconstructing the environment map using cameras as the only external sensor.The quality of the map created by SLAM plays a decisive role in the performance of the subsequent automatic localization, path planning, and obstacle avoidance.This paper introduced the feature-based visual SLAM and direct visual SLAM methods;the major symbolic achievement of visual SLAM;the main research laboratory of SLAM;and the method of SIFT, SURF, and ORB feature detection and matching, key frame selection.In addition, this paper summarized the loop closure detection and map optimization that removed the accumulated error.In the end, the development tendency and research highlights of SLAM were discussed and the advantages and disadvantages of monocular SLAM, binocular SLAM, and RGB_D SLAM were analyzed.关键词
视觉同步定位与创建地图/单目视觉/RGB_DSLAM/特征检测与匹配/闭环检测Key words
visual simultaneous localization and mapping/monocular vision/RGB_D/feature detection and matching/loop closure detection分类
信息技术与安全科学引用本文复制引用
权美香,朴松昊,李国..视觉SLAM综述[J].智能系统学报,2016,11(6):768-776,9.基金项目
国家自然科学基金面上项目(61375081). （61375081）
