{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,13]],"date-time":"2026-03-13T23:48:01Z","timestamp":1773445681814,"version":"3.50.1"},"reference-count":124,"publisher":"Wiley","license":[{"start":{"date-parts":[[2023,2,17]],"date-time":"2023-02-17T00:00:00Z","timestamp":1676592000000},"content-version":"unspecified","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/100012841","name":"Shenyang Ligong University","doi-asserted-by":"publisher","award":["1010147001017"],"award-info":[{"award-number":["1010147001017"]}],"id":[{"id":"10.13039\/100012841","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/100012841","name":"Shenyang Ligong University","doi-asserted-by":"publisher","award":["LJKMZ20220616"],"award-info":[{"award-number":["LJKMZ20220616"]}],"id":[{"id":"10.13039\/100012841","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100002858","name":"China Postdoctoral Science Foundation","doi-asserted-by":"publisher","award":["1010147001017"],"award-info":[{"award-number":["1010147001017"]}],"id":[{"id":"10.13039\/501100002858","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100002858","name":"China Postdoctoral Science Foundation","doi-asserted-by":"publisher","award":["LJKMZ20220616"],"award-info":[{"award-number":["LJKMZ20220616"]}],"id":[{"id":"10.13039\/501100002858","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100013099","name":"Scientific Research Fund of Liaoning Provincial Education Department","doi-asserted-by":"publisher","award":["1010147001017"],"award-info":[{"award-number":["1010147001017"]}],"id":[{"id":"10.13039\/501100013099","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100013099","name":"Scientific Research Fund of Liaoning Provincial Education Department","doi-asserted-by":"publisher","award":["LJKMZ20220616"],"award-info":[{"award-number":["LJKMZ20220616"]}],"id":[{"id":"10.13039\/501100013099","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Journal of Robotics"],"published-print":{"date-parts":[[2023,2,17]]},"abstract":"<jats:p>Mobile robots are widely used in medicine, agriculture, home furnishing, and industry. Simultaneous localization and mapping (SLAM) is the working basis of mobile robots, so it is extremely necessary and meaningful for making researches on SLAM technology. SLAM technology involves robot mechanism kinematics, logic, mathematics, perceptual detection, and other fields. However, it faces the problem of classifying the technical content, which leads to diverse technical frameworks of SLAM. Among all sorts of SLAM, visual SLAM (V-SLAM) has become the key academic research due to its advantages of low price, easy installation, and simple algorithm model. Firstly, we illustrate the superiority of V-SLAM by comparing it with other localization techniques. Secondly, we sort out some open-source V-SLAM algorithms and compare their real-time performance, robustness, and innovation. Then, we analyze the frameworks, mathematical models, and related basic theoretical knowledge of V-SLAM. Meanwhile, we review the related works from four aspects: visual odometry, back-end optimization, loop closure detection, and mapping. Finally, we prospect the future development trend and make a foundation for researchers to expand works in the future. All in all, this paper classifies each module of V-SLAM in detail and provides better readability to readers. This is undoubtedly the most comprehensive review of V-SLAM recently.<\/jats:p>","DOI":"10.1155\/2023\/8872822","type":"journal-article","created":{"date-parts":[[2023,2,17]],"date-time":"2023-02-17T19:35:14Z","timestamp":1676662514000},"page":"1-21","source":"Crossref","is-referenced-by-count":13,"title":["A Review of Common Techniques for Visual Simultaneous Localization and Mapping"],"prefix":"10.1155","volume":"2023","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-1804-1778","authenticated-orcid":true,"given":"Yong","family":"Dai","sequence":"first","affiliation":[{"name":"School of Automation and Electrical Engineering, Shenyang Ligong University, Shenyang 110159, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-5663-9773","authenticated-orcid":true,"given":"Jiaxin","family":"Wu","sequence":"additional","affiliation":[{"name":"School of Automation and Electrical Engineering, Shenyang Ligong University, Shenyang 110159, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Duo","family":"Wang","sequence":"additional","affiliation":[{"name":"School of Automation and Electrical Engineering, Shenyang Ligong University, Shenyang 110159, China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"311","reference":[{"key":"1","volume-title":"Guide to Gps Positioning","author":"D. Wells","year":"1987"},{"issue":"9","key":"2","first-page":"70","article-title":"Rtk gps","volume":"9","author":"R. B. Langley","year":"1998","journal-title":"GPS World"},{"key":"3","doi-asserted-by":"crossref","DOI":"10.1002\/0470869194","volume-title":"UWB: Theory and Applications","author":"Ian Oppermann","year":"2004"},{"key":"4","doi-asserted-by":"publisher","DOI":"10.1177\/027836498600500404"},{"key":"5","doi-asserted-by":"publisher","DOI":"10.1177\/027836498800700605"},{"key":"6","first-page":"674","article-title":"World modeling and position estimation for a mobile robot using ultrasonic ranging","volume":"89","author":"L. Crowley","year":"1989","journal-title":"ICRA"},{"key":"7","first-page":"138","article-title":"Position referencing and consistent world modeling for mobile robots","author":"R. Chatila"},{"key":"8","doi-asserted-by":"crossref","first-page":"167","DOI":"10.1007\/978-1-4613-8997-2_14","article-title":"Estimating uncertain spatial relationships in robotics","volume-title":"Autonomous Robot Vehicles","author":"R. Smith","year":"1990"},{"key":"9","first-page":"92","article-title":"Dynamic localisation of autonomous guided vehicles","author":"S. Borthwick"},{"key":"10","article-title":"Collaborative mapping of archaeological sites using multiple uavs","author":"M. Patel","year":"2021"},{"key":"11","first-page":"390","article-title":"Human-robot slam in industrial environments","author":"E. Guerra"},{"key":"12","doi-asserted-by":"publisher","DOI":"10.1016\/j.patcog.2021.107822"},{"key":"13","first-page":"9631","article-title":"Simple but effective redundant odometry for autonomous vehicles","author":"Andrzej Reinke"},{"key":"14","first-page":"1","article-title":"Loam: lidar odometry and mapping in real-time","volume-title":"Robotics: Science and Systems","author":"Ji Zhang","year":"2014"},{"key":"15","first-page":"1271","article-title":"Real-time loop closure in 2d lidar slam","author":"W. Hess"},{"key":"16","first-page":"5692","article-title":"Lvi-sam: tightly-coupled lidar-visual-inertial odometry via smoothing and mapping","author":"T. Shan"},{"key":"17","first-page":"223","article-title":"Design of household cleaning robot based on low-cost 2d lidar slam","author":"L. Sui"},{"key":"18","doi-asserted-by":"publisher","DOI":"10.1007\/s10462-012-9365-8"},{"key":"19","doi-asserted-by":"publisher","DOI":"10.1080\/01691864.2015.1057616"},{"key":"20","doi-asserted-by":"publisher","DOI":"10.1186\/s41074-017-0027-2"},{"key":"21","doi-asserted-by":"publisher","DOI":"10.1007\/s12559-018-9591-8"},{"key":"22","doi-asserted-by":"publisher","DOI":"10.3390\/rs14133010"},{"key":"23","doi-asserted-by":"publisher","DOI":"10.3390\/robotics11010024"},{"key":"24","doi-asserted-by":"publisher","DOI":"10.1109\/tro.2016.2624754"},{"key":"25","article-title":"A survey on non-filter-based monocular visual slam systems","author":"G. Younes","year":"2016"},{"key":"26","first-page":"85","article-title":"An evaluation of deep learning in loop closure detection for visual slam","author":"Y. Xia"},{"key":"27","doi-asserted-by":"publisher","DOI":"10.14419\/ijet.v7i4.27.22477"},{"key":"28","doi-asserted-by":"publisher","DOI":"10.3390\/robotics7030045"},{"key":"29","doi-asserted-by":"publisher","DOI":"10.1145\/3177853"},{"key":"30","doi-asserted-by":"publisher","DOI":"10.1093\/tse\/tdz019"},{"key":"31","first-page":"2385","article-title":"Visual slam: why bundle adjust?","author":"A. Parra Bustos"},{"key":"32","doi-asserted-by":"publisher","DOI":"10.1109\/access.2020.3011438"},{"key":"33","doi-asserted-by":"publisher","DOI":"10.1007\/s42452-020-2001-3"},{"key":"34","doi-asserted-by":"publisher","DOI":"10.3390\/s21041243"},{"key":"35","doi-asserted-by":"publisher","DOI":"10.1109\/tits.2022.3175656"},{"key":"36","article-title":"Visual slam: what are the current trends and what to expect?","author":"T. Ali","year":"2022"},{"key":"37","article-title":"Evaluation of the robustness of visual slam methods in different environments","author":"J. Lomps","year":"2020"},{"key":"38","article-title":"Comparison of modern open-source visual slam approaches","author":"D. Sharafutdinov","year":"2021"},{"key":"39","doi-asserted-by":"publisher","DOI":"10.1109\/tpami.2007.1049"},{"key":"40","first-page":"225","article-title":"Parallel tracking and mapping for small ar workspaces","author":"G. Klein"},{"key":"41","first-page":"834","article-title":"Lsd-slam: large-scale direct monocular slam","volume-title":"European Conference on Computer Vision","author":"J. Engel","year":"2014"},{"key":"42","first-page":"15","article-title":"Svo: fast semi-direct monocular visual odometry","author":"C. Forster"},{"key":"43","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2017.03.019"},{"key":"44","first-page":"2198","article-title":"Direct sparse odometry with loop closure","author":"X. Gao"},{"key":"45","doi-asserted-by":"publisher","DOI":"10.1109\/lra.2018.2889156"},{"key":"46","doi-asserted-by":"publisher","DOI":"10.1109\/lra.2018.2800113"},{"key":"47","first-page":"154","article-title":"Reslam: a real-time robust edge-based slam system","author":"F. Schenk"},{"key":"48","doi-asserted-by":"publisher","DOI":"10.1002\/rob.21854"},{"key":"49","doi-asserted-by":"publisher","DOI":"10.1109\/tro.2021.3075644"},{"key":"50","first-page":"7672","article-title":"Vins-motion: tightly-coupled fusion of vins and motion constraint","author":"Z. Yu"},{"key":"51","article-title":"Voldor-slam: for the times when feature-based or direct methods are not good enough","author":"Z. Min","year":"2021"},{"key":"52","doi-asserted-by":"publisher","DOI":"10.1109\/tro.2021.3062252"},{"key":"53","first-page":"134","article-title":"Bad slam: bundle adjusted direct rgb-d slam","author":"T. Schops"},{"key":"54","article-title":"Edge-direct visual odometry","author":"K. Christensen","year":"2019"},{"key":"55","first-page":"133","article-title":"Fmd stereo slam: fusing mvg and direct formulation towards accurate and fast stereo slam","author":"F. Tang"},{"key":"56","first-page":"7322","article-title":"Flowfusion: dynamic dense rgb-d slam based on optical flow","author":"T. Zhang"},{"key":"57","volume-title":"A Variational Approach to Mapping: An Exploration of Map Representation for SLAM","author":"S. R. Khattak","year":"2012"},{"key":"58","first-page":"127","article-title":"Kinectfusion: real-time dense surface mapping and tracking","author":"R. A. Newcombe"},{"key":"59","first-page":"2320","article-title":"Dtam: dense tracking and mapping in real-time","author":"R. A. Newcombe"},{"key":"60","doi-asserted-by":"publisher","DOI":"10.1109\/tro.2017.2705103"},{"key":"61","doi-asserted-by":"publisher","DOI":"10.1109\/tpami.2017.2658577"},{"key":"62","first-page":"34","article-title":"Tandem: tracking and dense mapping in real-time using deep multi-view stereo","author":"L. Koestler"},{"key":"63","doi-asserted-by":"crossref","DOI":"10.4249\/scholarpedia.10491","article-title":"Scale invariant feature transform","author":"T. Lindeberg","year":"2012"},{"key":"64","first-page":"886","article-title":"Histograms of oriented gradients for human detection","author":"N. Dalal"},{"key":"65","first-page":"404","article-title":"Surf: speeded up robust features","author":"B. Herbert"},{"key":"66","first-page":"2564","article-title":"Orb: an efficient alternative to sift or surf","author":"E. Rublee"},{"key":"67","first-page":"778","article-title":"Brief: binary robust independent elementary features","author":"M. Calonder"},{"key":"68","article-title":"Features from accelerated segment test (fast)","author":"G. V. Deepak"},{"key":"69","doi-asserted-by":"crossref","article-title":"Comparison of speeded-up robust feature (surf) and oriented fast and rotated brief (orb) methods in identifying museum objects using low light intensity images","author":"A. Setiawan","DOI":"10.1088\/1755-1315\/537\/1\/012025"},{"key":"70","doi-asserted-by":"publisher","DOI":"10.1109\/lra.2017.2653359"},{"key":"71","doi-asserted-by":"publisher","DOI":"10.1109\/tpami.2003.1217599"},{"key":"72","first-page":"586","article-title":"Method for registration of 3-d shapes","volume":"1611","author":"P. J. Besl","year":"1992","journal-title":"Sensor fusion IV: Control Paradigms and Data Structures"},{"key":"73","doi-asserted-by":"publisher","DOI":"10.1145\/358669.358692"},{"key":"74","first-page":"127","article-title":"Upnp: an optimal o (n) solution to the absolute pose problem with universal applicability","author":"L. Kneip"},{"key":"75","doi-asserted-by":"publisher","DOI":"10.1007\/s11263-008-0152-6"},{"key":"76","doi-asserted-by":"publisher","DOI":"10.14358\/pers.81.2.103"},{"key":"77","volume-title":"Singular Value Decomposition and its Applications","author":"S. S. Chow","year":"1980"},{"key":"78","doi-asserted-by":"publisher","DOI":"10.1109\/tro.2016.2623335"},{"key":"79","article-title":"Semi-direct monocular slam for deformable and intracorporeal scenes","author":"J. J. G. . Rodr\u00edguez","year":"2020"},{"key":"80","volume-title":"Modern information retrieval","author":"R. Baeza-Yates","year":"1999"},{"key":"81","first-page":"2161","article-title":"Scalable recognition with a vocabulary tree","author":"D. Nister"},{"key":"82","doi-asserted-by":"publisher","DOI":"10.1109\/tro.2008.2004514"},{"key":"83","doi-asserted-by":"publisher","DOI":"10.1177\/0278364908090961"},{"key":"84","doi-asserted-by":"publisher","DOI":"10.1109\/tro.2011.2174493"},{"key":"85","article-title":"Training a convolutional neural network for appearance-invariant place recognition","author":"R. Gomez-Ojeda","year":"2015"},{"key":"86","doi-asserted-by":"publisher","DOI":"10.1109\/tro.2015.2496823"},{"key":"87","article-title":"Convolutional neural network-based place recognition","author":"Z. Chen","year":"2014"},{"key":"88","doi-asserted-by":"publisher","DOI":"10.1007\/s10514-015-9516-2"},{"key":"89","doi-asserted-by":"publisher","DOI":"10.1109\/tro.2019.2956352"},{"key":"90","doi-asserted-by":"publisher","DOI":"10.1155\/2021\/9978022"},{"key":"91","first-page":"10664","article-title":"Airloop: lifelong loop closure detection","author":"D. Gao"},{"key":"92","doi-asserted-by":"publisher","DOI":"10.3390\/s18041159"},{"key":"93","doi-asserted-by":"publisher","DOI":"10.1109\/tro.2019.2915140"},{"key":"94","article-title":"Leveraging structural information to improve point line visual-inertial odometry","author":"Bo Xu","year":"2021"},{"key":"95","doi-asserted-by":"publisher","DOI":"10.1002\/rob.21992"},{"key":"96","doi-asserted-by":"publisher","DOI":"10.1109\/lra.2016.2530164"},{"key":"97","doi-asserted-by":"crossref","DOI":"10.5244\/C.30.35","volume-title":"Edge Enhanced Direct Visual Odometry","author":"X. Wang","year":"2016"},{"key":"98","first-page":"1828","article-title":"Edge assisted mobile semantic visual slam","author":"J. Xu"},{"key":"99","first-page":"702","article-title":"Realtime edge-based visual odometry for a monocular camera","author":"J. Jose Tarrio"},{"key":"100","first-page":"1","article-title":"Edge-based robust rgb-d visual odometry using 2-d edge divergence minimization","author":"C. Kim"},{"key":"101","first-page":"325","article-title":"Edge-slam: edge-assisted visual simultaneous localization and mapping","author":"A. J. B. Ali"},{"key":"102","first-page":"941","article-title":"Manhattan world: compass direction from a single image by bayesian inference","author":"M. Coughlan"},{"key":"103","article-title":"Homography based visual odometry with known vertical direction and weak manhattan world assumption","author":"O. Saurer"},{"key":"104","first-page":"1222","article-title":"Pop-up slam: semantic monocular plane slam for low-texture environments","author":"S. Yang"},{"key":"105","volume-title":"Jorb-slam: A Jointly Optimized Multi-Robot Visual Slam","author":"K. Chakraborty","year":"2022"},{"key":"106","doi-asserted-by":"publisher","DOI":"10.1109\/lra.2020.2967681"},{"key":"107","doi-asserted-by":"publisher","DOI":"10.1109\/tcyb.2020.3027307"},{"key":"108","first-page":"8714","article-title":"Distributed visual-inertial cooperative localization","author":"P. Zhu"},{"key":"109","first-page":"11573","article-title":"Multi-robot joint visual-inertial localization and 3-d moving object tracking","author":"P. Zhu"},{"key":"110","volume-title":"Real-time Pose Estimation by Fusing Visual and Inertial Sensors for Autonomous Driving","author":"R. You","year":"2020"},{"key":"111","first-page":"5112","article-title":"Lic-fusion 2.0: lidar-inertial-camera odometry with sliding-window plane-feature tracking","author":"X. Zuo"},{"key":"112","first-page":"5848","article-title":"Lic-fusion: lidar-inertial-camera odometry","author":"X. Zuo"},{"key":"113","doi-asserted-by":"publisher","DOI":"10.1109\/lra.2018.2866205"},{"key":"114","first-page":"2758","article-title":"Flownet: learning optical flow with convolutional networks","author":"Alexey Dosovitskiy"},{"key":"115","first-page":"75","article-title":"Incremental dense semantic stereo fusion for large-scale semantic scene reconstruction","author":"V. Vineet"},{"key":"116","doi-asserted-by":"publisher","DOI":"10.1109\/lra.2018.2860039"},{"key":"117","doi-asserted-by":"publisher","DOI":"10.1007\/s10514-021-09979-4"},{"key":"118","doi-asserted-by":"publisher","DOI":"10.1109\/access.2020.2983121"},{"key":"119","doi-asserted-by":"publisher","DOI":"10.1109\/tpami.2020.3008413"},{"key":"120","first-page":"349","article-title":"Real-time 3d reconstruction and 6-dof tracking with an event camera","author":"H. Kim"},{"key":"121","doi-asserted-by":"crossref","article-title":"Ced: color event camera dataset","author":"C. Scheerlinck","DOI":"10.1109\/CVPRW.2019.00215"},{"key":"122","first-page":"13813","article-title":"Voldor+ slam: for the times when feature-based or direct methods are not good enough","author":"Z. Min"},{"key":"123","first-page":"710","article-title":"Learning monocular visual odometry via self-supervised long-term modeling","author":"Y. Zou"},{"key":"124","first-page":"11210","article-title":"Kimera-multi: a system for distributed multi-robot metric-semantic simultaneous localization and mapping","author":"Y. Chang"}],"container-title":["Journal of Robotics"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/downloads.hindawi.com\/journals\/jr\/2023\/8872822.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/downloads.hindawi.com\/journals\/jr\/2023\/8872822.xml","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/downloads.hindawi.com\/journals\/jr\/2023\/8872822.pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2023,2,17]],"date-time":"2023-02-17T19:35:27Z","timestamp":1676662527000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.hindawi.com\/journals\/jr\/2023\/8872822\/"}},"subtitle":[],"editor":[{"given":"Keigo","family":"Watanabe","sequence":"additional","affiliation":[],"role":[{"role":"editor","vocabulary":"crossref"}]}],"short-title":[],"issued":{"date-parts":[[2023,2,17]]},"references-count":124,"alternative-id":["8872822","8872822"],"URL":"https:\/\/doi.org\/10.1155\/2023\/8872822","relation":{},"ISSN":["1687-9619","1687-9600"],"issn-type":[{"value":"1687-9619","type":"electronic"},{"value":"1687-9600","type":"print"}],"subject":[],"published":{"date-parts":[[2023,2,17]]}}}