视觉SLAM环境感知技术现状与智能化测绘应用展望  

Review of visual SLAM environment perception technology and intelligent surveying and mapping application

作　　者：张继贤[1] 刘飞 ZHANG Jixian;LIU Fei(National Quality Inspection and Testing Center for Surveying and Mapping Products,Beijing 100830,China;School of Geomatics and Urban Spatial Informatics,Beijing University of Civil Engineering and Architecture,Beijing 102616,China)

机构地区：[1]国家测绘产品质量检验测试中心,北京100830 [2]北京建筑大学测绘与城市空间信息学院,北京102616

出　　处：《测绘学报》2023年第10期1617-1630,共14页Acta Geodaetica et Cartographica Sinica

基　　金：国家自然科学基金青年基金项目(42104017);北京建筑大学“双塔计划”项目(JDYC20220825);北京建筑大学青年教师科研能力提升计划(X21021)。

摘　　要：视觉SLAM技术是现代智能装备环境感知的核心技术之一,是驱动测绘向智能化方向发展的重要因素。本文围绕视觉SLAM环境感知技术,从特征点法、直接法、视觉指纹库、语义和类脑SLAM 5个方面,梳理了30多年来典型视觉SLAM环境感知技术框架、重要算法基础和测绘应用方式;总结分析了智能化时代视觉SLAM环境感知技术在智能化环境交互感知、即时众包化信息处理和多样化感知数据服务3个方面的发展趋势;探讨了视觉SLAM环境感知技术在交互式导航定位、数字孪生城市建设、实时地表监测解译、众包地图POI生产、无人值守地质灾害监测和自主交互能力支持的深度空间探测应用模式。当前,测绘行业正处于重大发展变革时期,视觉SLAM环境感知技术与人工智能技术的结合,将会进一步赋能测绘生产方式的转变,提升智能化测绘生产和服务水平。Visual SLAM(simultaneous localization and mapping)technology is one of the core technologies of modern intelligent equipment environment perception.It is an important factor driving the development of modern surveying and mapping production mode to intelligent surveying and mapping.Focusing on the visual SLAM environment perception technology,this paper combs the brief technical framework,important algorithms and mapping application mode of typical visual SLAM environment perception in the past 30 years according to the five aspects of feature method,direct method,visual fingerprint database,semantic SLAM and brain-like SLAM;summarizes and analyzes the development trend of visual SLAM environment perception technology in intelligent environment interaction perception,crowdsourcing instant information processing,and diversified perception data service;discusses the application mode of visual SLAM environment perception technology in interactive navigation and positioning,digital twin city construction,real-time surface monitoring and interpretation,crowdsourcing map POI production,unattended geological disaster monitoring and deep space exploration supported by independent interactive ability.At present,the surveying and mapping industry is in a period of major development and transformation.With the rapid combination of visual SLAM environment perception technology and artificial intelligence technology,it will further enable the transformation of surveying and mapping production mode and improve the level of intelligent production and service.

关 键 词：视觉SLAM SLAM技术框架 环境感知 智能化测绘 

分 类 号：P237[天文地球—摄影测量与遥感]