Preliminary study of salient region SLAM

This paper gives a study of visual Simultaneous Localization and Mapping (v-SLAM) based on Salient Region (SR) tracking. The SR tracking in this context is a kernelbased tracking approach, with which a local scene tracking is reached out for the proposed SLAM framework instead of using sparse features that largely adopted in existing studies. The SR tracking is simply used to track a block determined by salient region detection approach around the view center. In this case, tracking is basically independent from other tasks of the SLAM, and it is possible to consider both semi-direct methods relied on feature points and direct approaches. This paper gives a preliminary study to solve visual SLAM and give a more intuitive description of the scene. An experimental result is given to show how this idea works.