Classification of image-based camera localization approaches

Parent:  SLAM Index Source: [Wu 2018 Image-based camera localization: an overview](wu 2018-image-based-camera-localization_-an-overview.md)

Unknown environment (must be reconstructed from image data) Online/real-time mapping (SLAM)

• geometric metric SLAM (accurate computations, therefore still widely used in practice)
  • monocular
  • multiocular
  • multi-kind sensor (active)
    • loosely-coupled
    • closely-coupled
• learning SLAM (active)
  • needs a prior dataset to train NN – dataset determines performanace of the SLAM
  • low generalisation capability, therefore not as flexible as geom. SLAM
  • Has a 3D map
• topological SLAM (getting more unpopular)
• marker SLAM (semi-known environment)

[GEOM] Filter-based SLAM [GEOM] Keyframe-based SLAM(active)

• Feature-based
• Direct