[1]GU Zhaopeng,LIU Hong.A survey of monocular simultaneous localization and mapping[J].CAAI Transactions on Intelligent Systems,2015,10(4):499-507.[doi:10.3969/j.issn.1673-4785.201503003]
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A survey of monocular simultaneous localization and mapping

CAAI Transactions on Intelligent Systems[ISSN 1673-4785/CN 23-1538/TP] Volume: 10 Number of periods: 2015 4 Page number: 499-507 Column: 综述 Public date: 2015-08-25
Title:
A survey of monocular simultaneous localization and mapping
Author(s):
GU Zhaopeng1;  LIU Hong1; 2
1. Engineering Lab on Intelligent Perception for Internet of Things (ELIP), Shenzhen Graduate School, Peking University, Shenzhen 518055, China;
2. Key Laboratory of Machine Perception, Peking University, Beijing 100871, China
Keywords:
monocular vision; simultaneous localization and mapping; extended Kalman filter; computer vision; feature detection and matching
CLC:
TP391
DOI:
10.3969/j.issn.1673-4785.201503003
Abstract:
With the development of computer vision technology, monocular simultaneous localization and mapping (monocular SLAM) has gradually become one of the hot issues in the field of computer vision. This paper introduces the monocular vision SLAM classification that relates to the present status of research in monocular SLAM methods from several aspects, including visual feature detection and matching, optimization of data association, depth acquisition of feature points, and map scale control. Monocular SLAM methods combining with other sensors are reviewed and significant issues needing further study are discussed.
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