An Overview of SLAM

摘要

Simultaneous localization and mapping (SLAM) is a hot issue in the field of unmanned system. It is an essential task for the development of autonomous robots. The research achievements and historical development of SLAM are reviewed in this paper. And the key technologies such as detection and matching of feature points, selection and matching of keyframes, loop closure detection are summarized. Furthermore, the advantages and disadvantages of current SLAM methods are discussed. Finally, the research hotspots and trends of advanced SLAM are summarized and prospected.