{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,25]],"date-time":"2026-06-25T16:19:21Z","timestamp":1782404361036,"version":"3.54.5"},"reference-count":295,"publisher":"MDPI AG","issue":"13","license":[{"start":{"date-parts":[[2022,6,23]],"date-time":"2022-06-23T00:00:00Z","timestamp":1655942400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"National Key R&amp;D programme of China","award":["2019YFB1309600"],"award-info":[{"award-number":["2019YFB1309600"]}]},{"name":"National Key R&amp;D programme of China","award":["51875281"],"award-info":[{"award-number":["51875281"]}]},{"name":"National Key R&amp;D programme of China","award":["51861135306"],"award-info":[{"award-number":["51861135306"]}]},{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["2019YFB1309600"],"award-info":[{"award-number":["2019YFB1309600"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["51875281"],"award-info":[{"award-number":["51875281"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["51861135306"],"award-info":[{"award-number":["51861135306"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Remote Sensing"],"abstract":"<jats:p>Visual SLAM (VSLAM) has been developing rapidly due to its advantages of low-cost sensors, the easy fusion of other sensors, and richer environmental information. Traditional visionbased SLAM research has made many achievements, but it may fail to achieve wished results in challenging environments. Deep learning has promoted the development of computer vision, and the combination of deep learning and SLAM has attracted more and more attention. Semantic information, as high-level environmental information, can enable robots to better understand the surrounding environment. This paper introduces the development of VSLAM technology from two aspects: traditional VSLAM and semantic VSLAM combined with deep learning. For traditional VSLAM, we summarize the advantages and disadvantages of indirect and direct methods in detail and give some classical VSLAM open-source algorithms. In addition, we focus on the development of semantic VSLAM based on deep learning. Starting with typical neural networks CNN and RNN, we summarize the improvement of neural networks for the VSLAM system in detail. Later, we focus on the help of target detection and semantic segmentation for VSLAM semantic information introduction. We believe that the development of the future intelligent era cannot be without the help of semantic technology. Introducing deep learning into the VSLAM system to provide semantic information can help robots better perceive the surrounding environment and provide people with higher-level help.<\/jats:p>","DOI":"10.3390\/rs14133010","type":"journal-article","created":{"date-parts":[[2022,6,23]],"date-time":"2022-06-23T22:43:00Z","timestamp":1656024180000},"page":"3010","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":199,"title":["An Overview on Visual SLAM: From Tradition to Semantic"],"prefix":"10.3390","volume":"14","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-2650-7198","authenticated-orcid":false,"given":"Weifeng","family":"Chen","sequence":"first","affiliation":[{"name":"School of Mechanical and Electronic Engineering, Quanzhou University of Information Engineering, Quanzhou 362000, China"},{"name":"School of Automation, Nanjing University of Information Science & Technology, Nanjing 210044, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-4677-6221","authenticated-orcid":false,"given":"Guangtao","family":"Shang","sequence":"additional","affiliation":[{"name":"School of Automation, Nanjing University of Information Science & Technology, Nanjing 210044, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-1905-0564","authenticated-orcid":false,"given":"Aihong","family":"Ji","sequence":"additional","affiliation":[{"name":"Lab of Locomotion Bioinspiration and Intelligent Robots, College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics & Astronautics, Nanjing 210016, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-3127-7868","authenticated-orcid":false,"given":"Chengjun","family":"Zhou","sequence":"additional","affiliation":[{"name":"School of Automation, Nanjing University of Information Science & Technology, Nanjing 210044, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-8550-8334","authenticated-orcid":false,"given":"Xiyang","family":"Wang","sequence":"additional","affiliation":[{"name":"School of Automation, Nanjing University of Information Science & Technology, Nanjing 210044, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-7579-7921","authenticated-orcid":false,"given":"Chonghui","family":"Xu","sequence":"additional","affiliation":[{"name":"School of Automation, Nanjing University of Information Science & Technology, Nanjing 210044, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-8926-2653","authenticated-orcid":false,"given":"Zhenxiong","family":"Li","sequence":"additional","affiliation":[{"name":"School of Automation, Nanjing University of Information Science & Technology, Nanjing 210044, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-7181-9935","authenticated-orcid":false,"given":"Kai","family":"Hu","sequence":"additional","affiliation":[{"name":"School of Automation, Nanjing University of Information Science & Technology, Nanjing 210044, China"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"1968","published-online":{"date-parts":[[2022,6,23]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"56","DOI":"10.1177\/027836498600500404","article-title":"On the Representation and Estimation of Spatial Uncertainty","volume":"5","author":"Smith","year":"1986","journal-title":"Int. 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