UAV-based simultaneous localization and mapping in outdoor environments: A systematic scoping review

Abstract

This study aims to investigate the current knowledge of unmanned aerial vehicle (UAV)-based simultaneous localization and mapping (SLAM) in outdoor environments and to discuss challenges and limitations in this field. A literature search was conducted in three online databases (Web of Science, Scopus, and IEEE) for articles published before October 2022 related to UAV-based SLAM. A scoping review was carried out to identify the key concepts and applications, and discover research gaps in the use of algorithm-oriented and task-oriented, open-source studies. A total of 97 studies met the criteria after conducting a two-step screening by a systematic method followed the Preferred Reporting Items for Systematic Reviews and Meta-Analyses. Among eligible studies, 97 were classified into two main categories: algorithm-oriented studies and task-oriented studies. The analysis of the literature revealed that the majority of the studies were focused on the development and implementation of new algorithms and algorithms. This review highlights the significance and diversity of sensors utilized in UAVs in different tasks and applications scenarios that employ different types of sensors. The evaluation method is able to show the real results and performance of the new algorithms in the target scenarios compared with the evaluation method by the public data set and simulation platform.