多旋翼无人机单目V-SLAM研究综述

Review of Monocular V-SLAM for Multi-Rotor Unmanned Aerial Vehicle

视觉同时定位与地图构建(V-SLAM)方法是保证多旋翼无人机在环境先验信息未知情况下正常工作的有效途径,对于多旋翼无人机的定位、导航和路径规划等具有重要意义。针对多旋翼无人机V-SLAM方法的国内外最新研究成果进行综述。首先,在简述V-SLAM分类及发展历程的基础上,综述了国内外具有代表性的基于滤波、基于优化、基于直接法及融合IMU数据的单目V-SLAM系统核心思想及特点;然后,分析了单目V-SLAM系统应用于多旋翼无人机的可行性,介绍了国内外若干从事多旋翼无人机单目V-SLAM研究的团队及其主要研究成果;最后,讨论了近年来V-SLAM的研究热点和发展趋势。

The visual simultaneous localization and mapping(V-SLAM)is an effective approach to solve the problem encountered in the works of multi-rotor unmanned aerial vehicle(UAV)under unknown environment,which is very useful for the location,navigation and path planning of multi-rotor UAV.The main research achievements and the latest progresses of monocular V-SLAM for multi-rotor UAV are collected.Firstly,the classification and history of V-SLAM are briefly described,the principle and characteristics of several representative monocular V-SLAM methods based on filtering,optimization,direct method and IMU fusion are summarized.Secondly,the feasibilities of monocular V-SLAM for multi-rotor UAV are analyzed,and the overseas and domestic research teams of monocular V-SLAM for multi-rotor UAV are also summarized.Finally,several promising research directions for further investigation are discussed.