移動体の自己位置推定と環境地図作成を同時に行う技術の総称。

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LiDAR SLAM:2Dもしくは3Dの点群を使ったSLAM

代表的なアルゴリズム

Visual SLAM:カメラ・イメージセンサーからの画像を中心としたSLAM

分類

画像特徴点のマッチングによる疎な手法 (feature based method)

代表的なアルゴリズム

ORB-SLAMによる特徴点マッチング

GetImage.png

画像全体の輝度を使った密な手法 (direct method)

代表的なアルゴリズム