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Advances in monocular ORB-SLAM system: a review
- 1 School of Advanced Manufacturing, Guangdong University of Technology, Guangzhou, China
* Author to whom correspondence should be addressed.
Abstract
Perception and localization are the main factors to determine the success of unmanned vehicles. Therefore, researchers have conducted substantial studies, which made unmanned driving not only to perceive and comprehend the around environments but also refer to the detail about the environments by constructing 3D map. While there is still a lack of uniform explanation of Oriented Fast and Rotated Brief - Simultaneous Localization and Mapping (ORB-SLAM) for monoculars. By selecting and collecting the combination and application of the recent four types of monocular ORB-SLAM in unmanned driving scenarios, this paper discusses the question of how to decrease cumulative error and ensure accuracy and robustness in dynamic environments. It is revealed that after comparing the recent four types of ORB-SLAM systems with conventional ORB-SLAM systems, the fusion system’s robustness and accuracy have been improved. Combining visual SLAM sensors with different algorithms and studying in different complex environments will be mainstream in future research.
Keywords
Localization, monocular vision, simultaneous localization and mapping.
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Cite this article
Yuan,Z. (2024). Advances in monocular ORB-SLAM system: a review. Theoretical and Natural Science,41,72-77.
Data availability
The datasets used and/or analyzed during the current study will be available from the authors upon reasonable request.
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Volume title: Proceedings of the 2nd International Conference on Mathematical Physics and Computational Simulation
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