移动机器人视觉惯性SLAM 研究进展

Junyi Shi; Fusheng Zha; Lining Sun; Wei Guo; Pengfei Wang; Mantian Li

doi:10.13973/j.cnki.robot.190685

移动机器人视觉惯性SLAM 研究进展

Translated title of the contribution: A Survey of Visual-Inertial SLAM for Mobile Robots

Junyi Shi
, Fusheng Zha
, Lining Sun^*
, Wei Guo
, Pengfei Wang
, Mantian Li

^*Corresponding author for this work

School of Mechatronics Engineering

Harbin Institute of Technology
Shenzhen Academy of Aerospace Technology

Research output: Contribution to journal › Review article › peer-review

22 Scopus citations

Abstract

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.

Translated title of the contribution	A Survey of Visual-Inertial SLAM for Mobile Robots
Original language	Chinese (Traditional)
Pages (from-to)	734-748
Number of pages	15
Journal	Jiqiren/Robot
Volume	42
Issue number	6
DOIs	https://doi.org/10.13973/j.cnki.robot.190685
State	Published - Nov 2020

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10.13973/j.cnki.robot.190685

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title = "移动机器人视觉惯性SLAM 研究进展",

abstract = "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.",

keywords = "Filtering, Mobile robot, Optimization, State estimation, Visual-inertial SLAM (simultaneous localization and mapping)",

author = "Junyi Shi and Fusheng Zha and Lining Sun and Wei Guo and Pengfei Wang and Mantian Li",

year = "2020",

month = nov,

doi = "10.13973/j.cnki.robot.190685",

language = "繁体中文",

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T1 - 移动机器人视觉惯性SLAM 研究进展

AU - Shi, Junyi

AU - Zha, Fusheng

AU - Sun, Lining

AU - Guo, Wei

AU - Wang, Pengfei

AU - Li, Mantian

PY - 2020/11

Y1 - 2020/11

N2 - 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.

AB - 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.

KW - Filtering

KW - Mobile robot

KW - Optimization

KW - State estimation

KW - Visual-inertial SLAM (simultaneous localization and mapping)

UR - https://www.scopus.com/pages/publications/85098244227

U2 - 10.13973/j.cnki.robot.190685

DO - 10.13973/j.cnki.robot.190685

M3 - 文献综述

AN - SCOPUS:85098244227

SN - 1002-0446

VL - 42

SP - 734

EP - 748

JO - Jiqiren/Robot

JF - Jiqiren/Robot

IS - 6

ER -

移动机器人视觉惯性SLAM 研究进展

Abstract

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