Review on the achievements in simultaneous localization and mapping for mobile robot based on vision sensor
基于视觉的移动机器人同时定位与建图研究进展

Simultaneous localization and mapping (SLAM) are necessary prerequisites to make mobile robot truly autonomous. The vision sensor attracts more and more attention in the SLAM research for its rich information of the environment. This paper summarizes the state of the art in the vision- based SLAM from the aspects such as the deployment of vision sensors, the extraction of visual features, the implementation mechanism of visual SLAM, the representation of the map and the effect of environ-ment on visual SLAM. Some classical visual SLAM methods are compared and analyzed. The research prospects are described.