Overview on simultaneous localization and mapping for uninhabited aerial vehicle vision

The latest progress is surveyed on simultaneous localization and mapping for uninhabited aerial vehicle vision. After pointing out the challenge in face of UAV vision SLAM, the state equation and measurement equation is built and the overview of landmark initialization technology is given in detail. Summarize the research development of applying EKF, SEIF and FastSLAM to SLAM, and indicate respective advantage and shortage. At last the direction is explored in research and development of UAV vision SLAM.