(Visual Simultaneous Location and Mapping) VSLAM is the key technology of computer vision and equipment intelligence. Firstly, this paper introduces the main algorithms and historical evolution of VSLAM, and summarizes the existing algorithms from the front-end and back-end classification, advantages and disadvantages. Subsequently, new research directions emerged in recent years are introduced, focusing on the combination of depth, semantics and multi-robots. Finally, the existing problems are summarized, and the future direction of development is prospected.
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