A Survey of Visual-Inertial SLAM for Mobile Robots

被引：0
作者：
Shi J. [1 ]
Zha F. [1 ,2 ]
Sun L. [1 ]
Guo W. [1 ]
Wang P. [1 ]
Li M. [1 ]
机构：
[1] State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin
[2] Shenzhen Academy of Aerospace Technology, Shenzhen
来源：
Jiqiren/Robot | 2020年 / 42卷 / 06期
关键词：
Filtering; Mobile robot; Optimization; State estimation; Visual-inertial SLAM (simultaneous localization and mapping);
D O I：
10.13973/j.cnki.robot.190685
中图分类号：
学科分类号：
摘要：
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. © 2020, Science Press. All right reserved.
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收藏
页码：734 / 748
页数：14
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