[1]ZHOU Yan,LI Yafang,WANG Dongli,et al.A survey of VSLAM[J].CAAI Transactions on Intelligent Systems,2018,13(1):97-106.[doi:10.11992/tis.201703006]
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A survey of VSLAM

CAAI Transactions on Intelligent Systems[ISSN 1673-4785/CN 23-1538/TP] Volume: 13 Number of periods: 2018 1 Page number: 97-106 Column: 综述 Public date: 2018-01-24
Title:
A survey of VSLAM
Author(s):
ZHOU Yan;  LI Yafang;  WANG Dongli;  PEI Tingrui
College of Information Engineering, Xiangtan University, Xiangtan 411105, China
Keywords:
computer vision; simultaneous localization and mapping; VSLAM; robot; filter; graph optimization; survey; deep learning
CLC:
TP24
DOI:
10.11992/tis.201703006
Abstract:
Simultaneous localization and mapping (SLAM), an essential task for an autonomy robot, has been a hot topic in the field of robotics since the concept first proposed in 1986. The purpose is to make a robot locate itself in an unknown environment while simultaneously construct a map of the environment. Visual SLAM (VSLAM) refers to that one using a camera or cameras as the sole sensor. With the development of computer vision and robotics, VSLAM has become the focus in the field of unmanned systems. In this paper, we survey the recent progress of VSLAM. After identifying the main problems in the development of VSLAM, we introduce the VSLAM methods based on both filter and graph optimizations. Finally, the further study and development directions of VSLAM are given.
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