Visual and Visual-Inertial SLAM: State of the Art, Classification, and Experimental Benchmarking

Table 1

Illustration of algorithms classified according to their input and output methods for the first vSLAM block.

vSLAM	Dense	Sparse
Direct	DTAM [34]	DSO [33]
	LSD-SLAM [35]	ROVIO [26]
Indirect	Optical flow vSLAM [36]	MonoSLAM [21]
		PTAM [27]
		ORB-SLAM [37]