Research on visual simultaneous localization and mapping technology based on near infrared light

SLAM originated from the probabilistic SLAM problem at the IEEE Robot and Automation Conference held in San Francisco in 1986[2], and experienced three stages of initial theoretical exploration (1986-2004), algorithmic framework development (2004-2015), and system robustness improvement (2015-now)[3]. According to the sensor classification, the SLAM technology can be divided into laser SLAM, visual SLAM, and multi-sensor fusion SLAM. Laser SLAM is scanned by lidar, who are suitable for indoor environment but inaccurate positioning in a single repeated environment[4-6]. Visual SLAM captures images through the camera, acquires positions and maps through image pixels and features, and is suitable for textured rich scenes. In addition, visual SLAM has the advantages of low cost and small size, which can provide intuitive visual input[7-9].