关键词: 视觉里程计, 特征点法, 直接法, 视觉SLAM

Abstract: Monocular Visual Odometry can not only provide functions such as navigation and obstacle avoidance for mobile robots, but also can be applied to the current hot autopilot and other fields. This paper analyzes the basic principle of Visual Odometry, and studies the research status of monocular Visual Odometry technology at home and abroad. At the same time, the classical monocular Visual Odometries are analyzed and compared in detail, such as ORB-SLAM2, DSO and so on. Aiming at the issues of robustness and real-time which are generally concerned in the current visual odometry research, the development directions and trend of the next research work are discussed.

Key words: monocular Visual Odometry, feature method, direct method, visual SLAM