Fig. 1From: Dynamic visual SLAM and MEC technologies for B5G: a comprehensive reviewClassic Visual SLAM Framework. Vision odometry, which estimates the camera motion between adjacent images and constructs a local map; nonlinear optimization, which receives the camera’s positional and loopback detection information and optimizes it to obtain a globally consistent trajectory and map; loopback detection, which determines whether the robot has reached a location it has been to before; and map construction, which constructs a map based on the estimated trajectoryBack to article page