A Survey of SLAM based on Submap Strategies

摘要

Simultaneous localization and mapping (SLAM) is a technology used to assess the state of robots and build maps.SLAM technology has made amazing progress in the past 30 years and has achieved large-scale real-world applications.It has been widely studied and applied in various industries, such as autonomous driving, the medical field, unmanned aerial vehicles, etc.With the wide application of SLAM technology, SLAM based on sub-map strategy has become a research direction that has attracted much attention.This paper first summarizes the submap-based SLAM technology and emphasizes the research purpose of submap application in SLAM technology.Then, this paper introduces the research status of SLAM based on the sub-map strategy.After that, the advantages and limitations of SLAM systems based on submap strategies are evaluated.Finally, the research results are summarized, the possible improvement direction in the future is suggested, and the practical application direction of the SLAM system based on the sub-map strategy is discussed.