计算机应用研究2018，Vol.35Issue(3)：641-647,7.DOI:10.3969/j.issn.1001-3695.2018.03.001
基于视觉的同时定位与地图构建的研究进展
Survey on vision-based simultaneous localization and mapping
摘要
Abstract
Vision-based simultaneous location and mapping(VSLAM)is a popular research topic in robot positioning area.It plays a significant role in robot positioning and scene recognition,task execution,path planning.This paper summarized the application areas and development trends of VSLAM,and analyzed the fundamental principle of VSLAM.On this basis,it surveyed the key technologies and latest research progress of VSLAM from indirect and direct methods,and discussed the comparative advantages and the implementation difficulties of different methods.Finally,it prospected the future development trend and research direction of VSLAM.关键词
同时定位与地图构建/特征匹配/闭环检测/机器人/计算机视觉/多视图几何Key words
simultaneous localization and mapping/feature alignment/loop detection/robot/computer vision/multiple view geometry分类
信息技术与安全科学引用本文复制引用
陈常,朱华,由韶泽..基于视觉的同时定位与地图构建的研究进展[J].计算机应用研究,2018,35(3):641-647,7.基金项目
国家“863”计划资助项目(2012AA041504) （2012AA041504）
