A Survey of Simultaneous Localization and Mapping on Unstructured Lunar Complex Environment
[1]Wang Yiqiao,Zhang Wei.A Survey of Simultaneous Localization and Mapping on Unstructured Lunar Complex Environment[J].Journal of Zhengzhou University (Engineering Science),2018,39(03):45-50.[doi:10.13705/j.issn.1671-6833.2018.03.001]
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Journal of Zhengzhou University (Engineering Science)[ISSN
1671-6833/CN
41-1339/T] Volume:
39卷
Number of periods:
2018 03
Page number:
45-50
Column:
Public date:
2018-05-10
- Title:
- A Survey of Simultaneous Localization and Mapping on Unstructured Lunar Complex Environment
- Keywords:
-
simultaneous localization and mapping(SLAM); feature extraction; filter-based; graph optimization; unstructured environment
- CLC:
- -
- DOI:
- 10.13705/j.issn.1671-6833.2018.03.001
- Abstract:
- Latest research progresses of SLAM (simultaneous localization and mapping) using in the unstructured complex environment of lunar surface were summarized. In addition, we focued on summarizing and comparing the detection and matching of features of SIFT, SURF and ORB, and analyzed the three main methods: SLAM Based on Extended Kalman Filter, SLAM Based on Particle Filter and SLAM Based on Graph Optimization (EKF-SLAM, PF-SLAM and Graph-based SLAM). Furthermore, the challenge of SLAM technology was studied deeply. Finally, the future research directions of advanced SLAM were discussed. The research showed that certain research achievements were made in the study of s multi-sensor fusion SLAM, multi-robot cooperative SLAM, active SLAM and combined with artificial intelligence technology. However, there were few research in this field aiming at optimization method model, related problem branch research and semantic mapping which should be taken as the primary research direction in the next step．
- References:
- -
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Last Update:
2018-05-03