计算机工程与应用2018，Vol.54Issue(7)：20-28,55,10.DOI:10.3778/j.issn.1002-8331.1712-0279
单目视觉里程计研究综述
Survey of monocular Visual Odometry
摘要
Abstract
Monocular Visual Odometry can not only provide functions such as navigation and obstacle avoidance for mobile robots,but also can be applied to the current hot autopilot and other fields.This paper analyzes the basic principle of Visual Odometry,and studies the research status of monocular Visual Odometry technology at home and abroad.At the same time,the classical monocular Visual Odometries are analyzed and compared in detail,such as ORB-SLAM2,DSO and so on.Aiming at the issues of robustness and real-time which are generally concerned in the current visual odometry research,the development directions and trend of the next research work are discussed.关键词
视觉里程计/特征点法/直接法/视觉SLAMKey words
monocular Visual Odometry/feature method/direct method/visual SLAM分类
信息技术与安全科学引用本文复制引用
祝朝政,何明,杨晟,吴春晓,刘斌..单目视觉里程计研究综述[J].计算机工程与应用,2018,54(7):20-28,55,10.基金项目
江苏省自然科学基金(No.BK20150721,No.BK20161469) （No.BK20150721,No.BK20161469）
中国博士后基金(No.2015M582786,No.2016T91017) （No.2015M582786,No.2016T91017）
江苏省重点研发计划(No.BE2015728,No.BE2016904) （No.BE2015728,No.BE2016904）
江苏省科技基础设施建设计划(No.BM2014391) （No.BM2014391）
国家重点研发计划(No.2016YFC0800606) （No.2016YFC0800606）
中国工程院重点咨询课题(No.2017-XZ-05). （No.2017-XZ-05）
