智能系统学报
智能繫統學報
지능계통학보
CAAI TRANSACTIONS ON INTELLIGENT SYSTEMS
2015年
4期
499-507
,共9页
单目视觉%同步定位与地图创建%扩展卡尔曼滤波器%计算机视觉%特征检测与匹配
單目視覺%同步定位與地圖創建%擴展卡爾曼濾波器%計算機視覺%特徵檢測與匹配
단목시각%동보정위여지도창건%확전잡이만려파기%계산궤시각%특정검측여필배
monocular vision%simultaneous localization and mapping%extended Kalman filter%computer vision%feature detection and matching
随着计算机视觉技术的发展，基于单目视觉的同步定位与地图创建（ monocular SLAM）逐渐成为计算机视觉领域的热点问题之一。介绍了单目视觉SLAM方法的分类，从视觉特征检测与匹配、数据关联的优化、特征点深度的获取、地图的尺度控制几个方面阐述了单目视觉SLAM研究的发展现状。最后，介绍了常见的单目视觉与其他传感器结合的SLAM方法，并探讨了单目视觉SLAM未来的研究方向。
隨著計算機視覺技術的髮展，基于單目視覺的同步定位與地圖創建（ monocular SLAM）逐漸成為計算機視覺領域的熱點問題之一。介紹瞭單目視覺SLAM方法的分類，從視覺特徵檢測與匹配、數據關聯的優化、特徵點深度的穫取、地圖的呎度控製幾箇方麵闡述瞭單目視覺SLAM研究的髮展現狀。最後，介紹瞭常見的單目視覺與其他傳感器結閤的SLAM方法，併探討瞭單目視覺SLAM未來的研究方嚮。
수착계산궤시각기술적발전，기우단목시각적동보정위여지도창건（ monocular SLAM）축점성위계산궤시각영역적열점문제지일。개소료단목시각SLAM방법적분류，종시각특정검측여필배、수거관련적우화、특정점심도적획취、지도적척도공제궤개방면천술료단목시각SLAM연구적발전현상。최후，개소료상견적단목시각여기타전감기결합적SLAM방법，병탐토료단목시각SLAM미래적연구방향。
With the development of computer vision technology, monocular simultaneous localization and mapping ( monocular SLAM) has gradually become one of the hot issues in the field of computer vision.This paper intro-duces the monocular vision SLAM classification that relates to the present status of research in monocular SLAM methods from several aspects, including visual feature detection and matching, optimization of data association, depth acquisition of feature points, and map scale control.Monocular SLAM methods combining with other sensors are reviewed and significant issues needing further study are discussed.
