郑州大学学报（工学版）2018，Vol.39Issue(3)：45-50,6.DOI:10.13705/j.issn.1671-6833.2018.03.001
基于非结构化月面复杂环境下SLAM技术研究进展
A Survey of Simultaneous Localization and Mapping on Unstructured Lunar Complex Environment
摘要
Abstract
Latest research progresses of SLAM (simultaneous localization and mapping) using in the unstructured complex environment of lunar surface were summarized.In addition,we focued on summarizing and comparing the detection and matching of features of SIFT,SURF and ORB,and analyzed the three main methods:SLAM Based on Extended Kalman Filter,SLAM Based on Particle Filter and SLAM Based on Graph Optimization (EKF-SLAM,PF-SLAM and Graph-based SLAM).Furthermore,the challenge of SLAM technology was studied deeply.Finally,the future research directions of advanced SLAM were discussed.The research showed that certain research achievements were made in the study of s multi-sensor fusion SLAM,multi-robot cooperative SLAM,active SLAM and combined with artificial intelligence technology.However,there were few research in this field aiming at optimization method model,related problem branch research and semantic mapping which should be taken as the primary research direction in the next step.关键词
同时定位与建图构建/特征提取/基于滤波器/图优化/非结构化环境Key words
simultaneous localization and mapping(SLAM)/feature extraction/filter-based/graph optimization/unstructured environment分类
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王依乔,张伟..基于非结构化月面复杂环境下SLAM技术研究进展[J].郑州大学学报（工学版）,2018,39(3):45-50,6.基金项目
国家自然科学基金资助项目(11603057) （11603057）
