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[49] 林辉灿, 吕强, 张洋, 等. 稀疏和稠密的 VSLAM 的研究 进展[J]. 机器人, 2016, 38(5): 621–631. LIN Huican, LYU Qiang, ZHANG Yang, et al. The sparse and dense VSLAM: a survey[J]. Robot, 2016, 38(5): 621–631. [50] GAO Xiang, ZHANG Tao. Unsupervised learning to de￾tect loops using deep neural networks for visual SLAM system[J]. Autonomous robots, 2017, 41(1): 1–18. [51] 张国良, 汤文俊, 曾静, 等. 考虑通信状况的多机器人 CSLAM 问题综述[J]. 自动化学报, 2014, 40(10): 2073–2088. [52] 第 1 期 周彦，等：视觉同时定位与地图创建综述 ·105·