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Survey on direct-method visual simultaneous localization and mapping

Pan Linhao1
Tian Fuqing1
Ying Wenjian1
Qiu Qianjun2
1. College of Weapon, Naval Engineering University, Wuhan 430033, China
2. Naval Representative Office in the 2nd Academy of CASA, Beijing 100854, China

Abstract

Visual simultaneous localization and mapping has a wide range of research in the fields of robot, unmanned aerial vehicle navigation, automatic driving, et al. Direct-method V-SLAM, based on the assuption of photometric consistency, tracks the camera's position and orientation and builds an environment map. For the direct-method V-SLAM, this paper summarized the basic principles, and introduced some state-of-art direct-method V-SLAM systems with analysis and comparison. Finally, it discussed the advantages and disadvantages of direct-method V-SLAM and some research tendency, as well as making conclusion.

Foundation Support

海军工程大学自主立项基金资助项目

Publish Information

DOI: 10.19734/j.issn.1001-3695.2018.01.0123
Publish at: Application Research of Computers Printed Article, Vol. 36, 2019 No. 4
Section: Survey
Pages: 961-966
Serial Number: 1001-3695(2019)04-001-0961-06

Publish History

[2019-04-05] Printed Article

Cite This Article

潘林豪, 田福庆, 应文健, 等. 基于直接法的视觉同时定位与地图构建技术综述 [J]. 计算机应用研究, 2019, 36 (4): 961-966. (Pan Linhao, Tian Fuqing, Ying Wenjian, et al. Survey on direct-method visual simultaneous localization and mapping [J]. Application Research of Computers, 2019, 36 (4): 961-966. )

About the Journal

  • Application Research of Computers Monthly Journal
  • Journal ID ISSN 1001-3695
    CN  51-1196/TP

Application Research of Computers, founded in 1984, is an academic journal of computing technology sponsored by Sichuan Institute of Computer Sciences under the Science and Technology Department of Sichuan Province.

Aiming at the urgently needed cutting-edge technology in this discipline, Application Research of Computers reflects the mainstream technology, hot technology and the latest development trend of computer application research at home and abroad in a timely manner. The main contents of the journal include high-level academic papers in this discipline, the latest scientific research results and major application results. The contents of the columns involve new theories of computer discipline, basic computer theory, algorithm theory research, algorithm design and analysis, blockchain technology, system software and software engineering technology, pattern recognition and artificial intelligence, architecture, advanced computing, parallel processing, database technology, computer network and communication technology, information security technology, computer image graphics and its latest hot application technology.

Application Research of Computers has many high-level readers and authors, and its readers are mainly senior and middle-level researchers and engineers engaged in the field of computer science, as well as teachers and students majoring in computer science and related majors in colleges and universities. Over the years, the total citation frequency and Web download rate of Application Research of Computers have been ranked among the top of similar academic journals in this discipline, and the academic papers published are highly popular among the readers for their novelty, academics, foresight, orientation and practicality.


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