Abstract
Visual simultaneous localization and mapping (VSLAM) is an essential technique used in areas such as robotics and augmented reality for pose estimation and 3D mapping. Research on VSLAM using both monocular and stereo cameras has grown significantly over the last two decades. There is, therefore, a need for emphasis on a comprehensive review of the evolving architecture of such algorithms in the literature. Although VSLAM algorithm pipelines share similar mathematical backbones, their implementations are individualized and the ad hoc nature of the interfacing between different modules of VSLAM pipelines complicates code reuseability and maintenance. This paper presents a software model for core components of VSLAM implementations and interfaces that govern data flow between them while also attempting to preserve the elements that offer performance improvements over the evolution of VSLAM architectures. The framework presented in this paper employs principles from model-driven engineering (MDE), which are used extensively in the development of large and complicated software systems. The presented VSLAM framework will assist researchers in improving the performance of individual modules of VSLAM while not having to spend time on system integration of those modules into VSLAM pipelines.
Highlights
Visual simultaneous localization and mapping (VSLAM) can be viewed as a combination of visual odometry and loop closure [3]
The majority of currently existing visual SLAM algorithms primarily consist of two stages: the front-end, which handles transforming sensor data into a representation in feature space and establishing constraints in robot motion and sensor measurements, and the back-end, which consumes the constraints generated by the front-end and performs an optimization to maximize the maximum a posteriori estimate of the unknown poses and landmarks
Since most of the VSLAM back-end problems can be formulated as optimization problems, software libraries that offer fast and accurate numerical optimization are indispensable to the current state-of-the-art in VSLAM implementations
Summary
Publisher’s Note: MDPI stays neutral with regard to jurisdictional claims in published maps and institutional affiliations. This paper aims to present an overview of VSLAM algorithms and, from this overview, to propose a model of VSLAM using components and defining interfaces with specific message types for assisting in the design, development, and testing of individual modules of VSLAM Such an approach offers three key advantages: (i) better transparency in troubleshooting the software system, (ii) the ability to independently modify individual components, (iii) improved efficiency in system integration, and (iv) a better conceptual model of the system in general. The main contributions of this paper include (i) an analysis of past trends in design and performance of VSLAM algorithms; (ii) a comprehensive review of open source libraries and packages used in their implementations; and (iii) a general overview of VSLAM algorithms developed between 2000 and 2019; and leveraging these other contributions, (iv) a component-based model of VSLAM modules.
Sign-in/Register to view highlights & summary Sign-in/Register to access full text options 
Free) 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a call
