Yaolei Wang1, Wangyan Li1,*, Guoliang Wei2
CMC-Computers, Materials & Continua, Vol.89, No.1, 2026, DOI:10.32604/cmc.2026.085054
- 13 August 2026
Abstract With the rapid development of unmanned aerial vehicle (UAV) technologies, simultaneous localization and mapping (SLAM) has emerged as a key enabling paradigm for autonomous navigation and environmental perception. This paper presents a comprehensive survey of recent trends in UAV-based SLAM. First, we review the fundamental components of UAV-based SLAM systems, including commonly used onboard sensors and front-end odometry methods such as visual odometry, visual-inertial odometry, and LiDAR-inertial odometry, which provide reliable ego-motion estimation. Next, we summarize back-end methodologies that enhance estimation accuracy and global consistency, covering pose graph optimization, 3D reconstruction techniques, filter-based SLAM, fusion-based multi-UAV SLAM, More >