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《Acta Geodaetica et Cartographica Sinica》 2018-06
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Progress and Applications of Visual SLAM

DI Kaichang;WAN Wenhui;ZHAO Hongying;LIU Zhaoqin;WANG Runzhi;ZHANG Feizhou;State Key Laboratory of Remote Sensing Science,Institute of Remote Sensing and Digital Earth,Chinese Academy of Sciences;Institute of Remote Sensing and Geographic Information System,Peking University;  
Visual SLAM provides mapping and self-localization results of a robot in an unknown environment based on visual sensor,which has the advantages of small volume,low power consumption,and richness of information acquisition.Visual SLAM is critical and significant in supporting of robots' automated and intelligent applications.This paper presents the key techniques of visual SLAM,summarizes the current status of visual SLAM research,and analyzes the new trends of visual SLAM research and development.Finally,status and prospect of visual SLAM application in restricted environments,such as deep space,indoor scene and so on,are discussed.
【Fund】: 国家重点研发计划(2016YFB0502102);; 国家自然科学基金面上项目(41471388)~~
【CateGory Index】: TP242;TP391.41
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