Overview of Visual SLAM for Mobile Robots

摘要

Simultaneous Localization and Mapping (Simultaneous Localization and Mapping) technology refers to the technology of self-localization and construction of environmental maps based on visual sensors. It plays an important role in the field of autonomous mobile robots and autonomous vehicle navigation. This article introduces the classic framework and basic theory of visual SLAM, as well as the common methods and research progress of each part, enumerates the landmark achievements in the visual SLAM research process, and introduces the latest ORB-SLAM3. Finally, the current problems and future research directions of visual SLAM are proposed.