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SN Applied Sciences
Visual simultaneous localization and mapping (SLAM) has attracted high attention over the past few years. In this paper, a comprehensive survey of the state-of-the-art feature-based visual SLAM approaches is presented. The reviewed approaches are classified based on the visual features observed in the environment. Visual features can be seen at different levels; low-level features like points and edges, middle-level features like planes and blobs, and high-level features like semanticallydoi:10.1007/s42452-020-2001-3 fatcat:g7445is2cbdmdmllewkyp7giby