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Visual SLAM (Simultaneously Localization and Mapping) is a solution to achieve localization and mapping of robots simultaneously. Significant achievements have been made during the past decades, geography-based methods are becoming more and more successful in dealing with static environments. However, they still cannot handle a challenging environment. With the great achievements of deep learning methods in the field of computer vision, there is a trend of applying deep learning methods todoi:10.1093/tse/tdz019 fatcat:c5tj64xro5ftvcw6qwz7rgrgky