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With the significant increase in demand for artificial intelligence, environmental map reconstruction has become a research hotspot for obstacle avoidance navigation, unmanned operations, and virtual reality. The quality of the map plays a vital role in positioning, path planning, and obstacle avoidance. This review starts with the development of SLAM (Simultaneous Localization and Mapping) and proceeds to a review of V-SLAM (Visual-SLAM) from its proposal to the present, with a summary of its historical milestones. In this context, the five parts of the classic V-SLAM framework—visual sensor, visual odometer, backend optimization, loop detection, and mapping—are explained separately. Meanwhile, the details of the latest methods are shown; VI-SLAM (Visual inertial SLAM) is reviewed and extended. The four critical techniques of V-SLAM and its technical difficulties are summarized as feature detection and matching, selection of keyframes, uncertainty technology, and expression of maps. Finally, the development direction and needs of the V-SLAM field are proposed.

Magnetic flux leakage (MFL) detection is one of the most popular methods of pipeline inspection. It is a nondestructive testing technique which uses magnetic sensitive sensors to detect the magnetic leakage field of defects on both the internal and external surfaces of pipelines. This paper introduces the main principles, measurement and processing of MFL data. As the key point of a quantitative analysis of MFL detection, the identification of the leakage magnetic signal is also discussed. In addition, the advantages and disadvantages of different identification methods are analyzed. Then the paper briefly introduces the expert systems used. At the end of this paper, future developments in pipeline MFL detection are predicted.