Research Article
Three-Dimensional Location and Mapping Analysis in Mobile Robotics Based on Visual SLAM Methods
Table 3
Visual SLAM algorithms’ classification.
| | Algorithm | Sensors | Detector/descriptor |
| | MonoSlam | Mono | Shi-Tomasi | | PTAM | Mono | FAST | | DSO | Mono, stereo | N.A. degree of intensity | | ORB-SLAM2 | Mono, stereo, RGB-D | ORB | | LSD-SLAM | Mono | N.A., semidense | | RTAB-map | Stereo, RGB-D | SURF, bag-of-words | | DTAM | Mono | N.A., pixel-wise |
|
|
N.A.: not applicable. It does not use a detector/descriptor because it is a direct method.
|
