多模态融合事件相机SLAM技术研究综述OA

Event cameras are an emerging type of sensor that offer high dynamic range,low latency,high temporal resolu-tion,and low data redundancy.Applying event cameras to simultaneous localization and mapping(SLAM)technology can fully leverage their advantages,breaking the limitations of traditional sensors in various application scenarios.Therefore,this paper reviews the current research status of multimodal fusion event camera SLAM technologies and analyzes the characteristics and limitations of different approaches.Firstly,the paper introduces the fundamental principles of SLAM technology and event cameras,elaborating on the advantages of event cameras over traditional vision sensors.Secondly,from the perspectives of unimodal event camera SLAM(monocular,stereo)and multimodal fusion event camera SLAM(event-inertial,visual-inertial,multi-source sensor fusion),the paper analyzes the strengths and weaknesses of both in terms of real-time performance,application scenarios,and computational requirements,and summarizes their develop-mental trajectories.Subsequently,it discusses the impact of unimodal and multimodal fusion event cameras on system per-formance and provides a comparative analysis of the performance of some multimodal fusion event camera systems.Finally,this paper outlines future research directions for multimodal fusion event camera SLAM technology,such as optimization of multimodal event SLAM algorithms,enhancement of generalization capabilities,and expansion of multi-source hetero-geneous sensor fusion architectures,aiming to provide references and inspiration for the application of event cameras in the field of SLAM.