{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,20]],"date-time":"2026-05-20T15:54:17Z","timestamp":1779292457563,"version":"3.51.4"},"reference-count":132,"publisher":"MDPI AG","issue":"3","license":[{"start":{"date-parts":[[2018,8,15]],"date-time":"2018-08-15T00:00:00Z","timestamp":1534291200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"the National 863 Program of China","award":["no. 2012AA041504"],"award-info":[{"award-number":["no. 2012AA041504"]}]},{"name":"the Priority Academic Program Development of Jiangsu Higher Education Institutions","award":["(PAPD)"],"award-info":[{"award-number":["(PAPD)"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotics"],"abstract":"<jats:p>Visual-inertial simultaneous localization and mapping (VI-SLAM) is popular research topic in robotics. Because of its advantages in terms of robustness, VI-SLAM enjoys wide applications in the field of localization and mapping, including in mobile robotics, self-driving cars, unmanned aerial vehicles, and autonomous underwater vehicles. This study provides a comprehensive survey on VI-SLAM. Following a short introduction, this study is the first to review VI-SLAM techniques from filtering-based and optimization-based perspectives. It summarizes state-of-the-art studies over the last 10 years based on the back-end approach, camera type, and sensor fusion type. Key VI-SLAM technologies are also introduced such as feature extraction and tracking, core theory, and loop closure. The performance of representative VI-SLAM methods and famous VI-SLAM datasets are also surveyed. Finally, this study contributes to the comparison of filtering-based and optimization-based methods through experiments. A comparative study of VI-SLAM methods helps understand the differences in their operating principles. Optimization-based methods achieve excellent localization accuracy and lower memory utilization, while filtering-based methods have advantages in terms of computing resources. Furthermore, this study proposes future development trends and research directions for VI-SLAM. It provides a detailed survey of VI-SLAM techniques and can serve as a brief guide to newcomers in the field of SLAM and experienced researchers looking for possible directions for future work.<\/jats:p>","DOI":"10.3390\/robotics7030045","type":"journal-article","created":{"date-parts":[[2018,8,16]],"date-time":"2018-08-16T11:39:08Z","timestamp":1534419548000},"page":"45","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":105,"title":["A Review of Visual-Inertial Simultaneous Localization and Mapping from Filtering-Based and Optimization-Based Perspectives"],"prefix":"10.3390","volume":"7","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-7124-7869","authenticated-orcid":false,"given":"Chang","family":"Chen","sequence":"first","affiliation":[{"name":"University School of Mechatronic Engineering, China University of Mining and Technology, Xuzhou 221700, China"},{"name":"Jiangsu Collaborative Innovation Center of Intelligent Mining Equipment, Xuzhou 221700, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Hua","family":"Zhu","sequence":"additional","affiliation":[{"name":"University School of Mechatronic Engineering, China University of Mining and Technology, Xuzhou 221700, China"},{"name":"Jiangsu Collaborative Innovation Center of Intelligent Mining Equipment, Xuzhou 221700, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Menggang","family":"Li","sequence":"additional","affiliation":[{"name":"University School of Mechatronic Engineering, China University of Mining and Technology, Xuzhou 221700, China"},{"name":"Jiangsu Collaborative Innovation Center of Intelligent Mining Equipment, Xuzhou 221700, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Shaoze","family":"You","sequence":"additional","affiliation":[{"name":"University School of Mechatronic Engineering, China University of Mining and Technology, Xuzhou 221700, China"},{"name":"Jiangsu Collaborative Innovation Center of Intelligent Mining Equipment, Xuzhou 221700, China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2018,8,15]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"56","DOI":"10.1177\/027836498600500404","article-title":"On the Representation and Estimation of Spatial Uncertainly","volume":"5","author":"Smith","year":"1986","journal-title":"Int. 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