RGB-D SLAM综述

An Overview of RGB-D SLAM

RGB-D SLAM是指使用RGB-D相机作为视觉传感器,进行同时定位与地图构建(SLAM)的技术。RGB-D相机是近几年推出的能够同时采集环境RGB图像和深度图像的视觉传感器。首先对主流RGB-D相机,RGB-D SLAM算法框架流程做了介绍,然后对RGB-D SLAM算法的国内外主要标志性成果,以及RGB-D SLAM的研究现状进行介绍,并对RGB-D SLAM方法前端视觉里程计中特征检测与匹配、后端位姿图优化、回环检测等关键技术进行介绍总结。最后,对RGB-D SLAM算法的优缺点进行了分析,并对RGB-D SLAM算法的研究热点及发展趋势进行了讨论。

RGB-D SLAM refers to Simultaneous Localization and Mapping（SLAM）using RGB-D camera as a visual sensor.RGB-D camera is a kind of vision sensor which can be used to capture RGB images and depth images of environment.Firstly,this paper introduced the RGB-D camera used frequently and the RGB-D SLAM algorithm framework.Then the main achievements of RGB-D SLAM method at home and abroad,research status of RGB-D SLAM and the key technologies of the RGB-D SLAM method,such as feature detection and matching,the pose graph optimization of the back end and the loop closure detection were introduced and summarized.Finally,the advantages and disadvantages of the RGB-D SLAM method were analyzed,and the research hotspot and development trend of the RGB-D SLAM method were discussed.