An Overview of SLAM

摘要：

　　Simultaneous localization and mapping(SLAM)is a hot issue in the field of unmanned system.It is an essential task for the development of autonomous robots.The research achievements and historical development of SLAM are reviewed in this paper.And the key technologies such as detection and matching of feature points,selection and matching of keyframes,loop closure detection are summarized.Furthermore,the advantages and disadvantages of current SLAM methods are discussed.Finally,the research hotspots and trends of advanced SLAM are summarized and prospected.

关键词： Visual SLAM Laser SLAM RGBD-SLAM Image matching Loop closure detection

作者: Feng Yang Bo Jin

作者单位: School of Automation Northwestern Polytechnical University Xi”an,China

会议类型: 国内会议

会议名称: 全球智能工业创新大会暨全球创新技术成果转移大会(GIIC2018)——2018智能无人系统大会

会议地点: 北京

会议语种:英文

页码: 1-8

在线出版日期: 2018-05-22（万方平台首次上网日期，不代表论文的发表时间）