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
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
A Survey of Visual-Inertial SLAM for Mobile Robots
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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