计算机工程与应用2019，Vol.55Issue(7)：30-39,126,11.DOI:10.3778/j.issn.1002-8331.1812-0148
基于RGB-D相机的SLAM技术研究综述
RGB-D SLAM:a Survey
摘要
Abstract
RGB-D SLAM(Simultaneous Localization and Mapping)is a key technology of autonomous mobile robot, autonomous vehicles and Unmanned Aerial Vehicle. It is a research hotspot in robotics and Compute Vision(CV). Firstly the paper summarizes the development history and current status of the prevailing SLAM technology. Then RGB-D SLAM research, including analysis and comparison of the performance of related sensors are followed. Principle, method and technical performance of state-of-art RGB-D SLAM system are analyzed. Key issues, datasets and evaluation indicators are summarized. Finally, the development trend of RGB-D SLAM is summarized and prospected.关键词
自主移动机器人/同时定位与地图构建(SLAM)/深度相机/图像语义/机器学习Key words
autonomous mobile robot/Simultaneous Localization and Mapping(SLAM)/RGB-D camera/image semantic/machine learning分类
信息技术与安全科学引用本文复制引用
陈世浪,吴俊君..基于RGB-D相机的SLAM技术研究综述[J].计算机工程与应用,2019,55(7):30-39,126,11.基金项目
河北省科技厅互联网的创新软件设计及公共应用服务平台项目(No.15240118D). （No.15240118D）
