[1]QUAN Meixiang,PIAO Songhao,LI Guo.An overview of visual SLAM[J].CAAI Transactions on Intelligent Systems,2016,11(6):768-776.[doi:10.11992/tis.201607026]
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An overview of visual SLAM

CAAI Transactions on Intelligent Systems[ISSN 1673-4785/CN 23-1538/TP] Volume: 11 Number of periods: 2016 6 Page number: 768-776 Column: 综述 Public date: 2017-01-20
Title:
An overview of visual SLAM
Author(s):
QUAN Meixiang1;  PIAO Songhao1; 2;  LI Guo1
1. Multi-agent Robot Research Center, Harbin Institute of Technology, Harbin 150000, China;
2. Multi-agent Robot Research Center, Harbin Institute of Technology, Harbin 150000, China
Keywords:
visual simultaneous localization and mapping; monocular vision; RGB_D; feature detection and matching; loop closure detection
CLC:
TP391
DOI:
10.11992/tis.201607026
Abstract:
Visual SLAM refers to simultaneously localizing itself and reconstructing the environment map using cameras as the only external sensor. The quality of the map created by SLAM plays a decisive role in the performance of the subsequent automatic localization, path planning, and obstacle avoidance. This paper introduced the feature-based visual SLAM and direct visual SLAM methods; the major symbolic achievement of visual SLAM; the main research laboratory of SLAM; and the method of SIFT, SURF, and ORB feature detection and matching, key frame selection. In addition, this paper summarized the loop closure detection and map optimization that removed the accumulated error. In the end, the development tendency and research highlights of SLAM were discussed and the advantages and disadvantages of monocular SLAM, binocular SLAM, and RGB_D SLAM were analyzed.
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