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Research of feature-based and direct methods VSLAM

Zou Xiong1
Xiao Changshi1,2
Wen Yuanqiao1,2,3
Yuan Haiwen1
1. School of Navigation, Wuhan University of Technology, Wuhan 430063, China
2. Hubei Key Laboratory of Inland Shipping Technology, Wuhan 430063, China
3. National Engineering Research Center for Water Transport Safety, Wuhan 430063, China

Abstract

VSLAM is divided into front-end and back-end. The front-end includes visual odometry and loop detection, and the back-end includes back-end optimization and mapping. This paper divided VSLAM into feature-based method and direct method according to different ways of estimating camera motion. Firstly, it summarized the front-end from these two aspects, elaborated the key technologies and the latest research progress, compared and analyzed the different methods. Then, it analyzed the differences between the optimize back-end and the filter back-end in detail, and compared the advantages and disadvantages of several open source codes and their applicable occasions. Further, it introduced the research progress of deep learning, semantic mapping and multi-robots in VSLAM, and discussed the combination of related technologies with VSLAM and its prospects. Finally, it prospected the future of VSLAM.

Foundation Support

国家自然科学基金资助项目(51579204,51679180)
武汉理工大学自主创新研究基金资助项目(2016IVA064,2016-YB-029)

Publish Information

DOI: 10.19734/j.issn.1001-3695.2018.11.0789
Publish at: Application Research of Computers Printed Article, Vol. 37, 2020 No. 5
Section: Survey
Pages: 1281-1291
Serial Number: 1001-3695(2020)05-001-1281-11

Publish History

[2020-05-05] Printed Article

Cite This Article

邹雄, 肖长诗, 文元桥, 等. 基于特征点法和直接法VSLAM的研究 [J]. 计算机应用研究, 2020, 37 (5): 1281-1291. (Zou Xiong, Xiao Changshi, Wen Yuanqiao, et al. Research of feature-based and direct methods VSLAM [J]. Application Research of Computers, 2020, 37 (5): 1281-1291. )

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.

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