基于视觉的同时定位和构图关键技术综述  

Critical Technologies of Visual Simultaneous Localization and Mapping: A survey

作　　者：吴修振[1] 周绍磊[1] 刘刚[1] 公维思 Wu Xiuzhen Zhou Shaolei Liu Gang Gong Weisi(Department of Control Engineering, Naval Aeronautical and Astronautical Universtity, Yantai 264001, China)

机构地区：[1]海军航空工程学院控制工程系,烟台264001

出　　处：《战术导弹技术》2017年第3期85-91,103,共8页Tactical Missile Technology

基　　金：国家自然科学基金(61004002)

摘　　要：总结了基于视觉的同时定位和构图技术(VSLAM)的发展历程、分类以及最新研究成果,从图像预处理、前端图构建、后端图优化三个方面详细阐述了基于关键帧的稀疏VSLAM关键技术,展望了VSLAM的未来发展方向,提出了复杂动态环境下VSLAM与惯性导航两种无源定位方法组成组合导航系统的实现框架,为基于视觉的同时定位和构图技术提供了参考。The development,classification and the latest research results of visual simultaneous localization and mapping（ VSLAM） are summarized. Critical technologies of key-frame based sparse VSLAM are elaborated from three aspects including image preprocessing. Front-end graph construction and back-end graph optimization,the future development directions of VSLAM are discussed,the implementation framework of the integrated navigation system composed of two passive location methods of VSLAM and inertial navigation in complex dynamic environment are proposed.

关 键 词：视觉导航 同时定位与构图 关键帧 组合导航 

分 类 号：V249.329[航空宇航科学与技术—飞行器设计]