Simultaneous Localization and Mapping in the Epoch of Semantics: A Survey

作     者：Sualeh, Muhammad Kim, Gon-Woo 

作者机构：Chungbuk Natl Univ Intelligent Robot Lab Control & Robot Engn Dept Cheongju Chungbuk South Korea 

出 版 物：《INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS》 (国际控制与自动化系统杂志)

年 卷 期：2019年第17卷第3期

页      面：729-742页

核心收录：

学科分类：12[管理学] 1201[管理学-管理科学与工程(可授管理学、工学学位)] 08[工学] 0811[工学-控制科学与工程] 

基　　金：Institute for Information & communications Technology Promotion(IITP) grant - Korea government(MSIT) [R7117-16-0164] National Research Foundation of Korea(NRF) grant - Korea government(MSIT) 

主　　题：Bundle adjustment deep learning pose graph optimization semantics SLAM 

摘      要：Simultaneous Localization and Mapping (SLAM) with an astonishing research history of over three decades has brought the concept to the door step of truly autonomous robotic systems. The concept has advanced beyond the map building and self-localization of robot on the map. On the other hand, the long-standing challenges pertaining to the provision of out of the box solution for range of conditions still needs to be addressed. However, the technological advancements in the area is steadily making its ways into industry. This paper surveys state-of-the-art SLAM and discuss the insights of existing methods. Starting with a classical definition of SLAM, a brief conceptual overview, and formulation of a standard SLAM system is carried out. While discussing the auxiliaries for solving SLAM, the influx of machine learning into SLAM is also addressed. Moreover, recent SLAM algorithms have been reviewed with a focus on emerging concept of semantics to augment the system. In this paper a taxonomy of recently developed SLAM algorithms with a detailed comparison metrics, is presented. Furthermore, open challenges, future directions and emerging research issues have also been laid down.