移动机器人视觉SLAM的闭环检测综述

Review of Closed Loop Detection Based on Mobile Robot Visual SLAM

同时定位与地图创建(SLAM)是当前机器人领域的研究热点,针对移动机器人视觉SLAM的闭环检测问题,介绍常用的解决方法,阐述其优缺点,介绍最新研究进展,并探讨相关难点问题及解决思路。最后,对基于深度学习的同时定位与地图创建的发展作出展望。

Simultaneous Localization and Mapping(SLAM)are a research hotspot in the field of robotics.The commonly used solutions are introduced for the closed loop detection problem of mobile robot vision SLAM.The advantages and disadvantages are described,the latest research progress is introduced,and the related difficulties and solutions are discussed.Finally,we look forward to the development of simultaneous positioning based on deep learning and the development of map creation.