Table 1 Comparison of representative algorithms
| Â | Method | Map density | Global optimization | Loop closure |
|---|---|---|---|---|
Mono-SLAM [26] | Feature | Sparse | No | No |
PTAM [15] | Feature | Sparse | Yes | No |
ORB-SLAM [38] | Feature | Sparse | Yes | Yes |
DTAM [43] | Direct | Dense | No | No |
LSD-SLAM [21] | Direct | Semi-dense | Yes | Yes |
SVO [51] | Semi-direct | Sparse | No | No |
DSO [53] | Direct | Sparse | No | No |
KinectFusion [57] | RGB-D | Dense | No | No |
Dense visual SLAM [23] | RGB-D | Dense | Yes | Yes |
ElasticFusion [66] | RGB-D | Dense | Yes | Yes |
SLAM++ [60] | RGB-D | Dense | Yes | Yes |