[1]周彦,李雅芳,王冬丽,等.视觉同时定位与地图创建综述[J].智能系统学报,2018,13(1):97-106.[doi:10.11992/tis.201703006]
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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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]
视觉同时定位与地图创建综述
《智能系统学报》[ISSN 1673-4785/CN 23-1538/TP] 卷:
13
期数:
2018年第1期
页码:
97-106
栏目:
综述
出版日期:
2018-01-24
- Title:
- A survey of VSLAM
- Keywords:
- computer vision; simultaneous localization and mapping; VSLAM; robot; filter; graph optimization; survey; deep learning
- 分类号:
- TP24
- 摘要:
- 同时定位与地图创建 （simultaneous localization and mapping，SLAM）自1986年提出以来一直是机器人领域的热点问题，被认为是实现真正全自主移动机器人的关键。其目的是让机器人在未知环境下实现自身定位同时创建出环境地图。视觉SLAM （visual simultaneous localization and mapping，VSLAM）是仅用相机作为传感器的定位与制图。随着计算机视觉和机器人技术的发展，VSLAM已成为无人系统领域的研究焦点。本文对VSLAM的最新研究现状进行总结，阐述了VSLAM中的主要问题，分别介绍了VSLAM基于滤波和图优化的实现方法，并探讨了VSLAM 的研究与发展方向。
- 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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备注/Memo
收稿日期:2017-03-03。
基金项目:国家自然科学基金项目（61773330, 61372049, 61100140, 61104210）；湖南省自然科学基金项目（2017JJ2253）；湖南省教育厅优秀青年基金项目（17B259）.
作者简介:周彦,男,1978年生,副教授,博士,主要研究方向为多传感器信息融合、图像处理与机器视觉。发表学术论文40余篇,其中被SCI收录10余篇。目前主持国家自然科学基金项目1项,参与国家自然科学基金项目4项;曾参与及主持“973”、国家自然科学基金等项目15项。;李雅芳,女,1993年生,硕士研究生。主要研究方向为图像处理与机器视觉;王冬丽,女,1980年生,副教授,博士,主要研究方向为模式识别与机器视觉。发表学术论文30余篇。目前主持国家自然科学基金项目1项。曾参与国家自然科学基金、上海市自然科学基金等项目。
通讯作者:周彦.E-mail:yanzhou@xtu.edu.cn.
更新日期/Last Update:
2018-02-01