Computer Engineering and Applications ›› 2019, Vol. 55 ›› Issue (14): 8-14.DOI: 10.3778/j.issn.1002-8331.1903-0115

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Survey of vSLAM Based on UAVs

WANG Guanzheng1, WANG Haiyang2, CHENG Zhiwei1, WAN Ziyan1, WEN Xue1, HE Jianhua1   

  1. 1.School of Electronics and Information, Northwestern Polytechnical University, Xi’an 710129, China
    2.School of Automation, Northwestern Polytechnical University, Xi’an 710129, China
  • Online:2019-07-15 Published:2019-07-11


王冠政1,汪海洋2,程志伟1,万紫嫣1,文  雪1,何建华1   

  1. 1.西北工业大学 电子信息学院,西安 710129
    2.西北工业大学 自动化学院,西安 710129

Abstract: This paper addresses research into the application of vSLAM(visual Simultaneous Localization and Mapping)within UAVs. The research reviews related work, covering a broad set of topics including IMU-aided vSLAM and the combination optical flow sensor, and discusses their advantages and disadvantages. As a conclusion, combined with classical theory and the latest research trends, future extensions and applications are briefly discussed.

Key words: visual Simultaneous Localization and Mapping(vSLAM), Unmanned Aerial Vehicle(UAV), sensor fusion

摘要: vSLAM(visual Simultaneous Localization and Mapping)是一种基于视觉传感器实现同时定位与建图的技术,不仅可为地面机器人提供服务,同时在无人机的定位导航中也有着非常重要的应用。对基于无人机的vSLAM发展概况进行整理研究,就其中几大关键方向的研究现状予以介绍,主要包括结合IMU、结合光流传感器的vSLAM,同时总结目前研究中仍存在的一些问题和不足之处。结合经典理论与最新研究动态,对基于无人机的vSLAM重点研究内容和未来发展方向提出了新的展望。

关键词: 基于视觉的同时定位与建图技术(vSLAM), 无人机, 传感器融合