A Comprehensive Survey of Visual SLAM Algorithms

Abstract

Simultaneous localization and mapping (SLAM) techniques are widely researched, since they allow the simultaneous creation of a map and the sensors’ pose estimation in an unknown environment. Visual-based SLAM techniques play a significant role in this field, as they are based on a low-cost and small sensor system, which guarantees those advantages compared to other sensor-based SLAM techniques. The literature presents different approaches and methods to implement visual-based SLAM systems. Among this variety of publications, a beginner in this domain may find problems with identifying and analyzing the main algorithms and selecting the most appropriate one according to his or her project constraints. Therefore, we present the three main visual-based SLAM approaches (visual-only, visual-inertial, and RGB-D SLAM), providing a review of the main algorithms of each approach through diagrams and flowcharts, and highlighting the main advantages and disadvantages of each technique. Furthermore, we propose six criteria that ease the SLAM algorithm’s analysis and consider both the software and hardware levels. In addition, we present some major issues and future directions on visual-SLAM field, and provide a general overview of some of the existing benchmark datasets. This work aims to be the first step for those initiating a SLAM project to have a good perspective of SLAM techniques’ main elements and characteristics.

Keywords

• embedded SLAM
• evaluation criteria
• RGB-D SLAM
• visual-inertial SLAM
• visual-SLAM
• 3D reconstruction