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The quality of the map plays a vital role in positioning, path planning, and obstacle avoidance. This review starts with the development of SLAM (Simultaneous Localization and Mapping) and proceeds to a review of V-SLAM (Visual-SLAM) from its proposal to the present, with a summary of its historical milestones. In this context, the five parts of the classic V-SLAM framework\u2014visual sensor, visual odometer, backend optimization, loop detection, and mapping\u2014are explained separately. Meanwhile, the details of the latest methods are shown; VI-SLAM (Visual inertial SLAM) is reviewed and extended. The four critical techniques of V-SLAM and its technical difficulties are summarized as feature detection and matching, selection of keyframes, uncertainty technology, and expression of maps. Finally, the development direction and needs of the V-SLAM field are proposed.<\/jats:p>","DOI":"10.3390\/s22124582","type":"journal-article","created":{"date-parts":[[2022,6,19]],"date-time":"2022-06-19T21:19:26Z","timestamp":1655673566000},"page":"4582","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":55,"title":["Visual-SLAM Classical Framework and Key Techniques: A Review"],"prefix":"10.3390","volume":"22","author":[{"given":"Guanwei","family":"Jia","sequence":"first","affiliation":[{"name":"School of Physics and Electronics, Henan University, Kaifeng 475004, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Xiaoying","family":"Li","sequence":"additional","affiliation":[{"name":"School of Physics and Electronics, Henan University, Kaifeng 475004, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Dongming","family":"Zhang","sequence":"additional","affiliation":[{"name":"School of Physics and Electronics, Henan University, Kaifeng 475004, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-2488-1928","authenticated-orcid":false,"given":"Weiqing","family":"Xu","sequence":"additional","affiliation":[{"name":"School of Automation Science and Electrical Engineering, Beihang University, Beijing 100191, China"},{"name":"Pneumatic and Thermodynamic Energy Storage and Supply Beijing Key Laboratory, Beijing 100191, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Haojie","family":"Lv","sequence":"additional","affiliation":[{"name":"School of Physics and Electronics, Henan University, Kaifeng 475004, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Yan","family":"Shi","sequence":"additional","affiliation":[{"name":"School of Automation Science and Electrical Engineering, Beihang University, Beijing 100191, China"},{"name":"Pneumatic and Thermodynamic Energy Storage and Supply Beijing Key Laboratory, Beijing 100191, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-5633-6951","authenticated-orcid":false,"given":"Maolin","family":"Cai","sequence":"additional","affiliation":[{"name":"School of Automation Science and Electrical Engineering, Beihang University, Beijing 100191, China"},{"name":"Pneumatic and Thermodynamic Energy Storage and Supply Beijing Key Laboratory, Beijing 100191, China"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"1968","published-online":{"date-parts":[[2022,6,17]]},"reference":[{"key":"ref_1","unstructured":"Leonard, J.J., and Durrant-Whyte, H.F. 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