王柯赛, 姚锡凡, 黄宇, 刘敏, 陆玉前. 动态环境下的视觉SLAM研究评述[J]. 机器人, 2021, 43(6): 715-732. DOI: 10.13973/j.cnki.robot.200468
引用本文: 王柯赛, 姚锡凡, 黄宇, 刘敏, 陆玉前. 动态环境下的视觉SLAM研究评述[J]. 机器人, 2021, 43(6): 715-732. DOI: 10.13973/j.cnki.robot.200468
WANG Kesai, YAO Xifan, HUANG Yu, LIU Min, LU Yuqian. Review of Visual SLAM in Dynamic Environment[J]. ROBOT, 2021, 43(6): 715-732. DOI: 10.13973/j.cnki.robot.200468
Citation: WANG Kesai, YAO Xifan, HUANG Yu, LIU Min, LU Yuqian. Review of Visual SLAM in Dynamic Environment[J]. ROBOT, 2021, 43(6): 715-732. DOI: 10.13973/j.cnki.robot.200468

动态环境下的视觉SLAM研究评述

Review of Visual SLAM in Dynamic Environment

  • 摘要: 针对动态环境下的视觉SLAM(同时定位与地图构建)系统,首先分析了环境中动态目标对经典视觉SLAM系统的危害性,并以一种新颖的方式将当前动态视觉SLAM系统分为基于相机自身运动的系统和不依赖于相机自身运动的系统两大类.随后分析总结了当前动态环境下视觉SLAM的研究进展.最后对动态环境下的视觉SLAM处理手段及未来发展趋势进行讨论与展望.

     

    Abstract: For visual SLAM (simultaneous localization and mapping) systems in dynamic environments, the harmfulness of dynamic objects in the environment to the classic visual SLAM system is analyzed firstly, and the existing dynamic visual SLAM systems are divided into two categories according to whether the system is based on camera ego-motion or not. Then, the current research status of visual SLAM in dynamic environment is summarized and analyzed. Finally, the processing method and future trend of visual SLAM in dynamic environment are discussed and prospected.

     

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