視覺和激光SLAM發(fā)展綜述與展望

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中圖分類號(hào)：TB9;TB3 文獻(xiàn)標(biāo)志碼：A 文章編號(hào)：1674-5124（2025）06-0001-16

Overview prospect vision lidar SLAM

CHENG Liang12， LUO Zhoul2， HE Yunze3， CHEN Yongcan3

（1. School ， ， 2. ， 519085， 3. ， University， Changsha 41oo82， China）

Abstract： Simultaneous localization mapping （SLAM） technology has a wide range applications in unmanned equipment， which can achieve indoor or outdoor autonomous localization mapping tasks. In this paper， the basic framework vision SLAM laser SLAM is introduced， the functions algorithms front-end odometer，back-end optimization，loop detection map construction are described indetail. After this，theclasic algorithms in the development visual/laser SLAMare summarized their advantages disadvantages areanalyzedas wellas the excelent improvement schemes after this.Inaddition，the typical application scenarios SLAM technology in life are listed， the important role SLAM technology in the fields automatic driving unmanned equipment is shown. Finally， the curent development trends research progress SLAM systems are discussed，as well as challenges issues to be considered in future applications， including multi-type sensor fusion， integration with deep learning technologies， the key role interdisciplinary collaboration. Through the comprehensive analysis discussion SLAM technology， it provides pround theoretical guidance practical reference for further promoting the development application SLAM technology.

Keywords：SLAM; camera; lidar;multi-sensor fusion

0 引言

近些年來隨著人工智能的迅速發(fā)展，人們對(duì)便捷的生活以及智能化生產(chǎn)的需求越來越高，在這種需求的驅(qū)使下，機(jī)器人行業(yè)快速發(fā)展，而移動(dòng)機(jī)器人是眾多機(jī)器人種類中的一種，是許多企業(yè)與高校的研究熱點(diǎn)[1]。（剩余32860字）