施俊屹, 查富生, 孙立宁, 郭伟, 王鹏飞, 李满天. 移动机器人视觉惯性SLAM研究进展[J]. 机器人, 2020, 42(6): 734-748. DOI: 10.13973/j.cnki.robot.190685
引用本文: 施俊屹, 查富生, 孙立宁, 郭伟, 王鹏飞, 李满天. 移动机器人视觉惯性SLAM研究进展[J]. 机器人, 2020, 42(6): 734-748. DOI: 10.13973/j.cnki.robot.190685
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SHI Junyi, ZHA Fusheng, SUN Lining, GUO Wei, WANG Pengfei, LI Mantian. A Survey of Visual-Inertial SLAM for Mobile Robots[J]. ROBOT, 2020, 42(6): 734-748. DOI: 10.13973/j.cnki.robot.190685
Citation: SHI Junyi, ZHA Fusheng, SUN Lining, GUO Wei, WANG Pengfei, LI Mantian. A Survey of Visual-Inertial SLAM for Mobile Robots[J]. ROBOT, 2020, 42(6): 734-748. DOI: 10.13973/j.cnki.robot.190685
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移动机器人视觉惯性SLAM研究进展

A Survey of Visual-Inertial SLAM for Mobile Robots

    摘要
  • 摘要: 在研究领域，基于滤波和基于优化是两种实现视觉惯性SLAM（同时定位与地图创建）的主导方法．本文基于这两种方法介绍视觉惯性SLAM，说明了视觉惯性SLAM的最新研究进展和关键问题，对比了几种代表性的视觉惯性SLAM框架，并对未来进行了展望．

     

    Abstract: Filtering-based and optimization-based methods are the two leading methods of VI-SLAM (visual-inertial simultaneous localization and mapping) used in the research field. Firstly, VI-SLAM based on these two methods are introduced, and its latest research progress and key issues are illustrated. Furthermore, the representative frameworks of VI-SLAM are compared. Finally, the future of visual-inertial SLAM is discussed.

     

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