Abstract:

Starting from the main input sensor signals, the current single robot SLAM technology is divided into two categories based on distance sensors and vision sensors. The development history of these two types of SLAM technologies is analyzed from the origin, development, latest technology and application. The research framework of the existing mainstream technologies is summarized. This paper introduces the research contents of the mainstream technologies based on distance sensors EKF-SLAM, PF-SLAM, Fast SLAM, and the research contents of the mainstream technology feature methods, direct methods, and RGB-D SLAM based on visual sensors. The advantages and disadvantages of each technology and the suitable scenarios are reviewed. The key technologies of visual SLAM are analyzed, such as visual odometer, loop detection, and map optimization, and the future development of SLAM technology is predicted.

Key words: Simultaneous Localization And Mapping（SLAM） technology, single robot, distance sensor, vision sensor

摘要：

从主要依据的输入传感器信号入手，将目前单机器人SLAM技术分为基于距离传感器和基于视觉传感器两大类，从起源、发展、最新技术及应用分别对这两类SLAM技术做了发展历程分析。总结了现有主流技术的研究框架，对基于距离传感器的主流技术EKF-SLAM、PF-SLAM、Fast SLAM的研究内容，基于视觉传感器的主流技术特征法、直接法、RGB-D SLAM、深度学习SLAM的研究内容进行综述，总结了每种技术的运行机制、优缺点和适宜场景，并预测SLAM技术的未来发展方向。

关键词: SLAM技术, 单机器人, 距离传感器, 视觉传感器