Visual SLAM Quiz

Answers and explanations appear as you take the quiz.

1. What does the acronym SLAM stand for?
   • Simultaneous Localization and Mapping
   • Spatial Lidar And Mapping
   • Stereo Light Angular Measurement
   • Sensor-Linked Autonomous Movement
2. Why is monocular (single-camera) visual SLAM unable to recover absolute scale on its own?
   • Cameras cannot detect color accurately
   • A single camera gives no direct distance reference, so the map is only known up to an unknown scale factor
   • Software licensing limits resolution
   • It only works in total darkness
3. What is the purpose of loop closure in a SLAM system?
   • To shut down the camera to save power
   • To close unused software processes
   • To recognize a previously visited place and correct accumulated drift
   • To loop a video for playback
4. What does bundle adjustment optimize in the SLAM back end?
   • The brightness of the display
   • The Wi-Fi signal strength
   • The audio sync of a video
   • Camera poses and 3D point positions to minimize reprojection error
5. Why is an IMU (inertial measurement unit) often fused with cameras in visual SLAM?
   • To provide motion and scale cues that help during fast movement or blur
   • To play sound effects
   • To increase image resolution
   • To connect to the internet
6. In which situation is visual SLAM especially valuable compared to GPS?
   • Tracking a car on an open highway
   • Locating a headset or robot indoors where GPS signals are weak or absent
   • Telling time of day
   • Measuring outdoor temperature
7. What multi-map capability does ORB-SLAM3’s Atlas system provide?
   • It removes the need for camera calibration
   • It converts monocular video into GPS coordinates
   • It manages multiple maps and supports place recognition or map reuse across sessions
   • It guarantees recovery of absolute scale from one camera
8. What does VINS-Mono’s visual-inertial initialization estimate from camera and IMU data?
   • Only the camera’s image resolution
   • Only a list of detected visual landmarks
   • A satellite-based global coordinate system
   • Metric scale, gravity direction, velocities and inertial biases for the initialized state