Mapping Technology in Visual SLAM

摘要

Simultaneous localization and mapping (SLAM) is a major challenge in the field of robotics. Existing literature reviews are classified according to the localization technology or sensors. However, there are no reviews based on the map construction technology in SLAM currently. As another goal of SLAM, map construction is also very important and is the main resource that can provide significant information for applications in upper layers. This paper summarizes fundamentals of map construction technology involved in Visual SLAM (V-SLAM). In addition, this paper reviews state-of-the-art typical visual SLAM systems, with a major focus on the mapping. Various issues and applications based on SLAM are discussed.