基于直接法的视觉同时定位与地图构建技术综述

Visual simultaneous localization and mapping has a wide range of research in the fields of robot, unmanned aerial vehicle navigation, automatic driving, et al. Direct-method V-SLAM, based on the assuption of photometric consistency, tracks the cameras position and orientation and builds an environment map. This paper, for the direct-method V-SLAM, summarizes the basic principles , and introduces some state-of-art direct-method V-SLAM systems with analysis and comparison. Finally, it discusses the advantages and disadvantages of direct-method V-SLAM and some research tendency, as well as making conclusion.