Visual SLAM algorithms: A survey from 2010 to 2016

Takafumi Taketomi, Hideaki Uchiyama, Sei Ikeda

Research output: Contribution to journalReview articlepeer-review

358 Citations (Scopus)


SLAM is an abbreviation for simultaneous localization and mapping, which is a technique for estimating sensor motion and reconstructing structure in an unknown environment. Especially, Simultaneous Localization and Mapping (SLAM) using cameras is referred to as visual SLAM (vSLAM) because it is based on visual information only. vSLAM can be used as a fundamental technology for various types of applications and has been discussed in the field of computer vision, augmented reality, and robotics in the literature. This paper aims to categorize and summarize recent vSLAM algorithms proposed in different research communities from both technical and historical points of views. Especially, we focus on vSLAM algorithms proposed mainly from 2010 to 2016 because major advance occurred in that period. The technical categories are summarized as follows: feature-based, direct, and RGB-D camera-based approaches.

Original languageEnglish
Article number16
JournalIPSJ Transactions on Computer Vision and Applications
Publication statusPublished - 2017

All Science Journal Classification (ASJC) codes

  • Computer Vision and Pattern Recognition


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