RGB-D SLAM： a Survey

doi:10.3778/j.issn.1002-8331.1812-0148

Abstract

Abstract: RGB-D SLAM（Simultaneous Localization and Mapping） is a key technology of autonomous mobile robot, autonomous vehicles and Unmanned Aerial Vehicle. It is a research hotspot in robotics and Compute Vision（CV）. Firstly the paper summarizes the development history and current status of the prevailing SLAM technology. Then RGB-D SLAM research, including analysis and comparison of the performance of related sensors are followed. Principle, method and technical performance of state-of-art RGB-D SLAM system are analyzed. Key issues, datasets and evaluation indicators are summarized. Finally, the development trend of RGB-D SLAM is summarized and prospected.

Key words: autonomous mobile robot, Simultaneous Localization and Mapping （SLAM）, RGB-D camera, image semantic, machine learning

摘要： 视觉同时定位与地图构建（Simultaneous Localization and Mapping，SLAM）是自主移动机器人、自动驾驶车和无人机关键技术，是当前机器人和计算机视觉领域的研究热点。对当前主流的SLAM技术发展历程及研究现状进行概述。重点围绕RGB-D SLAM研究展开讨论，包括：对各类视觉传感器进行性能分析和对比；对当前具有代表性的几类RGB-D SLAM系统的原理、方法和技术性能进行详细的分析；对RGB-D SLAM的关键问题、测试数据集及评估指标进行综合性归纳。最后，对视觉SLAM的发展趋势进行展望与总结。

关键词: 自主移动机器人, 同时定位与地图构建（SLAM）, 深度相机, 图像语义, 机器学习

CHEN Shilang, WU Junjun. RGB-D SLAM： a Survey[J]. Computer Engineering and Applications, 2019, 55(7): 30-39.

陈世浪，吴俊君. 基于RGB-D相机的SLAM技术研究综述[J]. 计算机工程与应用, 2019, 55(7): 30-39.

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RGB-D SLAM： a Survey

基于RGB-D相机的SLAM技术研究综述

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