机器人2017，Vol.39Issue(6)：889-896,8.DOI:10.13973/j.cnki.robot.2017.0889
基于深度学习的视觉SLAM综述
A Survey of Visual SLAM Based on Deep Learning
摘要
Abstract
Latest research progresses of deep learning techniques applied to SLAM (simultaneous localization and map-ping) are summarized. In addition, the prominent achievements on inter-frame motion estimation, loop closure detection and semantic SLAM incorporated with deep learning are introduced. Furthermore, the deep learning based SLAM is compared with the traditional ones in detail. Finally, the future research directions of advanced SLAM based on deep learning are discussed.关键词
深度学习/视觉SLAM/帧间估计/视觉里程计/闭环检测/语义SLAMKey words
deep learning/visual SLAM (simultaneous localization and mapping)/inter-frame motion estimation/visual odometry/loop closure detection/semantic SLAM分类
信息技术与安全科学引用本文复制引用
赵洋,刘国良,田国会,罗勇,王梓任,张威,李军伟..基于深度学习的视觉SLAM综述[J].机器人,2017,39(6):889-896,8.基金项目
国家自然科学基金(61603213) （61603213）
中国博士后科学基金(2016M590635) （2016M590635）
山东省优秀中青年科学家科研奖励基金(BS2014DX010) （BS2014DX010）
山东大学人才引进与培养类专项基金(2015TB009) （2015TB009）
山东省泰山学者工程. （）
