A Survey of UAV Visual Navigation Based on Monocular SLAM

摘要

The traditional GPS/INS integrated navigation system has many limitations. The advantages of visual navigation with large information and precision, small coordinated interference and strong real-time performance are quickly called research hotspot. This paper introduces the basic steps and some key technologies of visual SLAM, and analyzes the difficulties in real-time and robustness of UAVs. Finally, it proposes some research directions of visual SLAM, including integrated navigation, improvement based on deep learning, semantic map and mitigation feature dependence.