基于图优化的同时定位与地图创建综述

Graph-based SLAM: A Survey

  • 摘要: 基于图优化的同时定位与地图创建(SLAM)是当前机器人领域的研究热点.从帧间配准、环形闭合检测以及优化技术3个主要方面对基于图优化的同时定位与地图创建进行综述.对每一个方面,阐述其关键技术,介绍最新研究进展,并探讨相关难点问题及解决思路.最后,对基于图优化的同时定位与地图创建的发展作出展望.

     

    Abstract: Graph-based simultaneous localization and mapping (SLAM) is currently a hot research topic in the field of robotics. Frame-to-frame alignment, loop closure detection and graph optimization are three main aspects in graph-based SLAM. For each aspect, the key techniques and current progress are discussed, and the difficult problems and the possible solutions are also analyzed. Finally, the potential future issues and research trends are explored.

     

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