| 视觉SLAM与构建地图方法概述 |
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| 引用本文： | 毕浩博,谭丹丹,兰崇嘉,高丽.视觉SLAM与构建地图方法概述[J].数字社区&智能家居,2020(12):210-211,216. |
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| 作者姓名： | 毕浩博 谭丹丹 兰崇嘉 高丽 |
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| 作者单位： | 辽宁科技大学计算机与软件工程学院 |
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| 基金项目： | 辽宁科技大学2019年校级大学生创新创业训练计划项目(项目编号:201910146320)。 |
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| 摘 要： | 概述了基于视觉SLAM经典框架的五个组成部分,重点分析了特征点法的简单原理及特性、非线性系统和扩展卡尔曼滤波以及回环检测的词袋模型.最后展望了未来基于深度相机的SLAM研究和发展方向.
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| 关 键 词： | 视觉SLAM 视觉里程计 后端优化 回环检测 |
Overview of Visual SLAM and Map Building Methods |
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| BI Hao-bo,TAN Dan-dan,LAN Chong-jia,GAO Li.Overview of Visual SLAM and Map Building Methods[J].Digital Community & Smart Home,2020(12):210-211,216. |
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| Authors: | BI Hao-bo TAN Dan-dan LAN Chong-jia GAO Li |
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| Affiliation: | (Liaoning University of science and technology,College of computer and software engineering,Anshan 114051,China) |
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| Abstract: | This paper summarizes the five components of the visual slam framework,focusing on the simple principle and character istics of the feature point method,the nonlinear system,the extended Kalman filter and the word bag model of loop detection.Final ly,the future research and development of SLAM Based on depth camera are prospected. |
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| Keywords: | vision SLAM vision sensor vision odometer back end optimization loop detection |
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