Keyframe-based monocular SLAM: design, survey, and future directions

Extensive research in the field of Visual SLAM for the past fifteen years has yielded workable systems that found their way into various applications, such as robotics and augmented reality. Although filter-based (e.g., Kalman Filter, Particle Filter) Visual SLAM systems were common at some time, non-filter based (i.e., akin to SfM solutions), which are more efficient, are becoming the de facto methodology for building a Visual SLAM system. This paper presents a survey that covers the various non-filter based Visual SLAM systems in the literature, detailing the various components of their implementation, while critically assessing the specific strategies made by each proposed system in implementing its components.