Keyframebased monocular SLAM: design survey and future directions

ExtensiveresearchinthefieldofmonocularSLAMforthepastfifteenyearshasyieldedworkablesystemsthatfoundtheirwayintovariousapplicationsinroboticsandaugmentedreality.Althoughfilter-basedmonocularSLAMsystemswerecommonatsometime,themoreefficientkeyframe-basedsolutionsarebecomingthedefactometho