期刊
EXPERT SYSTEMS WITH APPLICATIONS
卷 205, 期 -, 页码 -出版社
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.eswa.2022.117734
关键词
SLAM; Feature matching; Sensors; Robot; Deep learning
类别
资金
- European Union [847577]
- Science Foundation Ireland (SFI) [16/RC/3918]
This paper provides an overview of Visual Simultaneous Localization and Mapping (V-SLAM), covering basic concepts, state-of-the-art methods in vision and SLAM, and the use of Deep Learning techniques and datasets for Visual Odometry and Loop Closure in V-SLAM applications.
This paper is an overview to Visual Simultaneous Localization and Mapping (V-SLAM). We discuss the basic definitions in the SLAM and vision system fields and provide a review of the state-of-the-art methods utilized for mobile robot's vision and SLAM. This paper covers topics from the basic SLAM methods, vision sensors, machine vision algorithms for feature extraction and matching, Deep Learning (DL) methods and datasets for Visual Odometry (VO) and Loop Closure (LC) in V-SLAM applications. Several feature extraction and matching algorithms are simulated to show a better vision of feature-based techniques.
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