{"id":12842,"date":"2024-07-12T17:21:08","date_gmt":"2024-07-12T09:21:08","guid":{"rendered":"http:\/\/192.168.10.115\/?p=12842"},"modified":"2024-07-12T17:21:08","modified_gmt":"2024-07-12T09:21:08","slug":"2024-07-12-amd%e6%96%b0%e6%ac%be%e6%b3%8a%e8%bd%a6%e5%ae%9a%e4%bd%8dvips-odom%ef%bc%9a%e9%a6%96%e4%b8%aa%e5%b0%86%e8%bd%a6%e4%bd%8d%e6%98%be%e5%bc%8f%e8%9e%8d%e5%90%88%e5%88%b0%e5%89%8d%e5%90%8e","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2024\/07\/12\/12842\/","title":{"rendered":"2024-07-12 AMD\u65b0\u6b3e\u6cca\u8f66\u5b9a\u4f4dVIPS-Odom\uff1a\u9996\u4e2a\u5c06\u8f66\u4f4d\u663e\u5f0f\u878d\u5408\u5230\u524d\u540e\u7aef\u7684\u7d27\u8026\u5408VIO\u6846\u67b6"},"content":{"rendered":"\n<p><strong>\u5982\u4f55\u89e3\u51b3\u8f66\u5e93\u5730\u9762\u53cd\u5149\uff1f<\/strong><\/p>\n\n\n\n<p>\u4f20\u7edfSLAM\u65b9\u6cd5\u4ece\u76f8\u673a\u56fe\u50cf\u4e2d\u83b7\u53d6\u7279\u5f81\u70b9\uff0c\u7ed3\u5408\u5176\u4ed6\u4f20\u611f\u5668\u5982\u60ef\u6027\u6d4b\u91cf\u5355\u5143\uff08IMU\uff09\u548c\u8f6e\u901f\u4f20\u611f\u5668\uff08WSS\uff09\u6765\u6784\u5efaSLAM\u6a21\u5757\u3002\u5982\u56fe1\u6240\u793a\uff0c\u5728\u81ea\u52a8\u6cca\u8f66\u8f85\u52a9\uff08APA\uff09\u548c\u81ea\u52a8\u4ee3\u5ba2\u6cca\u8f66\uff08AVP\uff09\u573a\u666f\uff0c\u4f20\u7edf\u7684\u89c6\u89c9\u65b9\u6cd5<strong>\u53d7\u5230\u4e0d\u7a33\u5b9a\u7279\u5f81\u8ddf\u8e2a\u7684\u5f71\u54cd<\/strong>\uff0c\u5f80\u5f80\u662f\u7531\u5149\u7ebf\u53cd\u5c04\u548c\u9891\u7e41\u79fb\u52a8\u7684\u7269\u4f53\u5f15\u8d77\u7684\u3002\u8fd9\u4e9b\u65b9\u6cd5\u901a\u5e38\u65e0\u6cd5\u5728\u7eb9\u7406\u7a00\u758f\u548c\u5149\u7ebf\u52a8\u6001\u53d8\u5316\u7684\u505c\u8f66\u73af\u5883\u4e2d\u63d0\u53d6\u8db3\u591f\u7684\u6709\u6548\u7279\u5f81\u70b9\u3002\u5b9e\u9645\u4e0a\u5728\u590d\u6742\u7684\u505c\u8f66\u73af\u5883\u4e2d\uff0c<strong>\u4e0d\u8db3\u548c\u4e0d\u7a33\u5b9a\u7684\u7279\u5f81\u70b9\u4f1a\u5bfc\u81f4\u7d2f\u79ef\u6f02\u79fb\uff0c\u751a\u81f3\u5728\u6781\u7aef\u60c5\u51b5\u4e0b\u5bfc\u81f4\u5931\u8d25<\/strong>\u3002\u5c3d\u7ba1\u6709\u4e00\u4e9b\u65b9\u6cd5\u53ef\u4ee5\u51cf\u8f7b\u7d2f\u79ef\u6f02\u79fb\u5982\u95ed\u73af\u68c0\u6d4b\uff0c\u4f46\u5728\u5982\u6b64\u590d\u6742\u7684\u573a\u666f\u4e2d\u8bbe\u8ba1\u5177\u6709\u9ad8\u7cbe\u5ea6\u548c\u7a33\u5b9a\u6027\u7684\u5b9a\u4f4d\u65b9\u6cd5\u4ecd\u7136\u662f\u4e00\u4e2a\u95ee\u9898\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"250\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-129-1024x250.png\" alt=\"\" class=\"wp-image-12843\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-129-1024x250.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-129-300x73.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-129-768x188.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-129.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u672c\u6587\u4ecb\u7ecd\u7684<strong>VIPS-Odom<\/strong>[1]\u662f\u4e00\u79cd\u57fa\u4e8e\u8bed\u4e49\u89c6\u89c9\u60ef\u6027\u4f18\u5316\u7684\u91cc\u7a0b\u8ba1\u7cfb\u7edf\uff0c\u901a\u8fc7\u52a8\u6001\u7ed3\u5408\u68c0\u6d4b\u5230\u7684\u505c\u8f66\u4f4d\u89d2\u70b9\u4f5c\u4e3aSLAM\u524d\u7aef\u7684\u989d\u5916\u7a33\u5065\u7279\u5f81\u70b9\uff0c\u540c\u65f6\u5728SLAM\u540e\u7aef\u5229\u7528\u505c\u8f66\u4f4d\u89c2\u5bdf\u4f5c\u4e3a\u8bed\u4e49\u7ea6\u675f\uff0c\u51cf\u5c11\u7d2f\u79ef\u5b9a\u4f4d\u8bef\u5dee\u3002\u4e0e\u4ee5\u5f80\u7684\u5de5\u4f5c\u4e0d\u540c\uff0c\u5728\u591a\u76ee\u6807\u8ddf\u8e2a\u6846\u67b6\u4e0b\u7a33\u5065\u5730\u8ddf\u8e2a\u548c\u7ef4\u62a4\u6240\u6709\u505c\u8f66\u4f4d\u7684\u72b6\u6001\u3002\u6211\u4eec\u7684\u65b9\u6cd5\u5728\u81ea\u52a8\u6cca\u8f66\u65b9\u9762\u6bd4\u5176\u4ed6\u57fa\u51c6\u65b9\u6cd5\u5b9e\u73b0\u4e86\u66f4\u9ad8\u7684\u5b9a\u4f4d\u7cbe\u5ea6\u3002\u4e3b\u8981\u6280\u672f\u8d21\u732e\u5982\u4e0b\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u5229\u7528\u505c\u8f66\u4f4d\u4f5c\u4e3a\u989d\u5916\u7684\u9ad8\u7ea7\u8bed\u4e49\u89c2\u5bdf\u6765\u8f85\u52a9SLAM\u3002VIPS-Odom\u662f<strong>\u7b2c\u4e00\u4e2a\u901a\u8fc7\u663e\u5f0f\u65b9\u5f0f\u5c06\u505c\u8f66\u4f4d\u89c2\u5bdf\u878d\u5408\u5230SLAM\u524d\u7aef\u548c\u540e\u7aef\u7684\u6574\u4f53\u89e3\u51b3\u65b9\u6848<\/strong>\u3002<\/li>\n\n\n\n<li>\u4e3a\u4e00\u8f86\u7535\u52a8\u6c7d\u8f66\u914d\u5907\u4e86\u76f8\u5173\u4f20\u611f\u5668\u4f5c\u4e3a\u5b9e\u9a8c\u5e73\u53f0\uff0c\u5e76\u5728\u4e0d\u540c\u5730\u4e0b\u505c\u8f66\u573a\u7684\u957f\u8ddd\u79bb\u548c\u77ed\u8ddd\u79bb\u8f68\u8ff9\u4e0a\u8fdb\u884c\u4e86<strong>\u5e7f\u6cdb\u7684\u73b0\u5b9e\u4e16\u754c\u5b9e\u9a8c<\/strong>\uff0c\u8fd9\u6bd4\u4ee5\u5f80\u7684\u81ea\u52a8\u6cca\u8f66\u76f8\u5173\u5de5\u4f5c\u66f4\u4e3a\u4e30\u5bcc\u3002<\/li>\n\n\n\n<li><strong>\u5b9e\u9a8c\u57fa\u51c6\u65b9\u6cd5\u591a<\/strong>\uff1aVIPS-Odom\u76f8\u5bf9\u4e8e\u5176\u4ed6\u57fa\u51c6\u65b9\u6cd5\u7684\u4f18\u8d8a\u6027\u548c\u7a33\u5b9a\u6027\uff0c\u5305\u62ec\u57fa\u4e8e\u60ef\u6027\u7684EKF\u3001\u4f20\u7edf\u7684\u89c6\u89c9\u60ef\u6027\u4f18\u5316VINS\u3001\u8bed\u4e49\u89c6\u89c9\u60ef\u6027\u4f18\u5316VISSLAM\u548c\u57fa\u4e8eLiDAR\u7684A-LOAM<\/li>\n<\/ul>\n\n\n\n<p><strong>\u5177\u4f53\u65b9\u6cd5<\/strong><\/p>\n\n\n\n<p><strong>\u4f20\u611f\u5668\u8bbe\u5907\u4e0e\u6807\u5b9a<\/strong><\/p>\n\n\n\n<p>\u591a\u6a21\u6001\u4f20\u611f\u5668\u6570\u636e\u5728 VIPS-Odom \u4e2d\u5305\u62ec\u4ece\u89d2\u70b9\u68c0\u6d4b\u4e2d\u5f97\u5230\u7684\u89c6\u89c9\u7279\u5f81\u70b9\u3001\u60ef\u6027\u6d4b\u91cf\u5355\u5143\uff08IMU\uff09\u548c\u8f6e\u901f\u4f20\u611f\u5668\uff08WSS\uff09\u4e4b\u95f4\u7684\u6d4b\u91cf\u6570\u636e\u4ee5\u53ca\u4ece\u9e1f\u77b0\u56fe\uff08BEV\uff09\u56fe\u50cf\u4e2d\u5f97\u5230\u7684\u505c\u8f66\u4f4d\uff08PS\uff09\u89c2\u5bdf\u6570\u636e\u3002<\/p>\n\n\n\n<p><strong>\u4f20\u611f\u5668\u914d\u7f6e<\/strong><\/p>\n\n\n\n<p>\u7cfb\u7edf\uff08\u5982\u56fe2\u6240\u793a\uff09\u5305\u62ec\u4e00\u4e2a\u5b89\u88c5\u5728\u8f66\u8f86\u4e2d\u5fc3\u7684\u60ef\u6027\u6d4b\u91cf\u5355\u5143\uff08IMU\uff09\u3001\u4e00\u4e2a\u5b89\u88c5\u5728\u8f66\u8f86\u53f3\u540e\u8f6e\u9644\u8fd1\u7684\u8f6e\u901f\u4f20\u611f\u5668\uff08WSS\uff09\u548c\u56db\u4e2a\u5b89\u88c5\u5728\u524d\u3001\u540e\u3001\u5de6\u3001\u53f3\u4fa7\u7684\u73af\u89c6\u9c7c\u773c\u6444\u50cf\u5934\u3002\u56fe\u50cf\u4ee51920\u00d71080\u50cf\u7d20\u7684\u5206\u8fa8\u7387\u8bb0\u5f55\u3002\u5206\u8fa8\u7387\u4e3a576\u00d7576\u50cf\u7d20\u7684BEV\u56fe\u50cf\u8986\u76d611.32\u7c73\u00d711.32\u7c73\u7684\u533a\u57df\u3002\u8f66\u8f86\u9876\u90e8\u8fd8\u5b89\u88c5\u4e86\u4e00\u4e2a360\u00b0\u6fc0\u5149\u96f7\u8fbe\uff08LiDAR\uff09\uff0c\u4ee5\u751f\u6210\u70b9\u4e91\u6570\u636e\u6765\u652f\u6301A-LOAM\u7684LiDAR-SLAM\u8bc4\u4f30\u3002<\/p>\n\n\n\n<p><strong>\u4f20\u611f\u5668\u6807\u5b9a<\/strong><\/p>\n\n\n\n<p>\u7531\u4e8eVIPS-Odom\u4e2d\u7684\u5404\u79cd\u4f20\u611f\u5668\u6d4b\u91cf\u6570\u636e\u662f\u7d27\u5bc6\u8026\u5408\u7684\uff0c\u6211\u4eec\u4ed4\u7ec6\u6807\u5b9a\u4e86\u76f8\u5173\u53c2\u6570\u3002\u5229\u7528\u4e00\u4e2a\u5f00\u6e90\u5de5\u5177\u7bb1\u6765\u4f18\u5316\u56db\u4e2a\u9c7c\u773c\u6444\u50cf\u5934\u7684\u5185\u53c2[2]\u3002\u5bf9\u4e8e\u5916\u53c2\u6570\u6807\u5b9a\uff0c\u6211\u4eec\u53c2\u8003\u76f8\u5173\u65b9\u6cd5\u6765\u4f18\u5316\u6444\u50cf\u5934-IMU\u548cIMU-WSS\u7684\u8f6c\u6362[3]\u3002<\/p>\n\n\n\n<p><strong>\u9e1f\u77b0\u56fe\uff08BEV\uff09\u56fe\u50cf\u751f\u6210<\/strong><\/p>\n\n\n\n<p>\u91c7\u7528\u9006\u900f\u89c6\u6620\u5c04 (IPM)\u6784\u5efa\u7531\u56db\u4e2a\u73af\u89c6\u9c7c\u773c\u6444\u50cf\u5934\u751f\u6210\u7684\u9e1f\u77b0\u56fe\uff08BEV\uff09\u56fe\u50cf\u3002\u8f66\u4f53\u5750\u6807\u7cfb\u3001\u56fe\u50cf\u5750\u6807\u7cfb\u548cBEV\u5750\u6807\u7cfb\u4e4b\u95f4\u7684\u5173\u7cfb\u53ef\u4ee5\u8868\u793a\u4e3a\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"926\" height=\"186\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-130.png\" alt=\"\" class=\"wp-image-12844\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-130.png 926w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-130-300x60.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-130-768x154.png 768w\" sizes=\"(max-width: 926px) 100vw, 926px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"675\" height=\"77\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/07\/71201.png\" alt=\"\" class=\"wp-image-12845\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/71201.png 675w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/71201-300x34.png 300w\" sizes=\"(max-width: 675px) 100vw, 675px\" \/><\/figure>\n\n\n\n<p><strong>\u4f18\u5316<\/strong><\/p>\n\n\n\n<p>\u603b\u4f53\u6765\u8bf4\uff0cVIPS-Odom \u662f\u4e00\u4e2a\u7d27\u8026\u5408\u7684\u57fa\u4e8e\u4f18\u5316\u7684 SLAM \u7cfb\u7edf\uff0c\u5b83\u96c6\u6210\u4e86\u6765\u81ea\u591a\u6a21\u6001\u4f20\u611f\u5668\u7684\u6d4b\u91cf\u6570\u636e\u3002VIPS-Odom \u7684\u603b\u4f53\u6846\u67b6\u5982\u56fe 3 \u6240\u793a\u3002\u5c55\u793a\u4e86 VIPS-Odom \u7684\u4f18\u5316\u6846\u67b6\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"442\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-131-1024x442.png\" alt=\"\" class=\"wp-image-12846\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-131-1024x442.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-131-300x129.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-131-768x331.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-131.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"673\" height=\"85\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/07\/71202.png\" alt=\"\" class=\"wp-image-12847\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/71202.png 673w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/71202-300x38.png 300w\" sizes=\"(max-width: 673px) 100vw, 673px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"942\" height=\"74\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-132.png\" alt=\"\" class=\"wp-image-12848\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-132.png 942w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-132-300x24.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-132-768x60.png 768w\" sizes=\"(max-width: 942px) 100vw, 942px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"928\" height=\"96\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-133.png\" alt=\"\" class=\"wp-image-12849\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-133.png 928w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-133-300x31.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-133-768x79.png 768w\" sizes=\"(max-width: 928px) 100vw, 928px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"662\" height=\"56\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/07\/71203.png\" alt=\"\" class=\"wp-image-12850\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/71203.png 662w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/71203-300x25.png 300w\" sizes=\"(max-width: 662px) 100vw, 662px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"928\" height=\"274\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-134.png\" alt=\"\" class=\"wp-image-12851\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-134.png 928w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-134-300x89.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-134-768x227.png 768w\" sizes=\"(max-width: 928px) 100vw, 928px\" \/><\/figure>\n\n\n\n<p>\u5176\u4e2d\uff0c\u7b2c\u4e00\u4e2a\u62ec\u53f7\u4e0e\u89c6\u89c9\u7279\u5f81\u3001IMU\/WSS \u8fd0\u52a8\u6570\u636e\u6709\u5173\uff0c\u5176\u4f59\u90e8\u5206\u8868\u793a\u4e0e PS \u76f8\u5173\u7684\u9879\u3002\u57fa\u4e8e\u4e0a\u8ff0\u5206\u6790\uff0c\u6211\u4eec\u53ef\u4ee5\u901a\u8fc7\u8054\u5408\u6700\u5c0f\u5316\u89c6\u89c9\u91cd\u6295\u5f71\u8bef\u5dee\u3001\u60ef\u6027\u8fd0\u52a8\u8bef\u5dee\u548c PS \u8bef\u5dee\u6765\u8fdb\u884c\u4f18\u5316\u3002VIPS-Odom \u540c\u65f6\u5904\u7406\u4f4e\u7ea7\u522b\u7684\u51e0\u4f55\/\u8fd0\u52a8\u6570\u636e\u4ee5\u53ca\u9ad8\u7ea7\u8bed\u4e49\u4fe1\u606f\uff0c\u6709\u52a9\u4e8e\u5b9e\u73b0\u505c\u8f66\u573a\u666f\u4e2d\u66f4\u7a33\u5b9a\u548c\u66f4\u7cbe\u786e\u7684\u5b9a\u4f4d\u3002<\/p>\n\n\n\n<p><strong>\u505c\u8f66\u4f4d\uff08PS\uff09\u68c0\u6d4b\u4e0e\u7ba1\u7406<\/strong><\/p>\n\n\n\n<p><strong>PS \u68c0\u6d4b<\/strong><\/p>\n\n\n\n<p>\u4e0d\u540c\u4e8e AVP-SLAM[4] \u4e2d\u7684\u7279\u5f81\u7ebf\u68c0\u6d4b\u548c VISSLAM \u4e2d\u57fa\u4e8e Matlab \u7684\u6a21\u578b\uff0c\u6211\u4eec\u5229\u7528\u5377\u79ef\u795e\u7ecf\u7f51\u7edc\uff08CNN\uff09\u8fdb\u884c\u505c\u8f66\u4f4d\u68c0\u6d4b\u3002\u57fa\u4e8e YOLOv5\u5f00\u53d1\u4e86\u8f7b\u91cf\u7ea7\u7684\u505c\u8f66\u4f4d\u68c0\u6d4b\u5668\uff0c\u5728\u9e1f\u77b0\u56fe\uff08BEV\uff09\u56fe\u50cf\u4e2d\u68c0\u6d4b\u505c\u8f66\u4f4d\u5e76\u9884\u6d4b\u5176\u72b6\u6001\uff08\u5373\u88ab\u5360\u7528\u6216\u7a7a\u95f2\uff0c\u89c1\u56fe 3\uff09\u3002\u68c0\u6d4b\u5230\u7684\u505c\u8f66\u4f4d\u72b6\u6001\u5c06\u5e2e\u52a9\u81ea\u52a8\u6cca\u8f66\u89c4\u5212\u9009\u62e9\u7a7a\u95f2\u505c\u8f66\u4f4d\u3002<\/p>\n\n\n\n<p><strong>PS \u7ba1\u7406<\/strong><\/p>\n\n\n\n<p>\u5229\u7528\u7ecf\u5178\u7684\u591a\u76ee\u6807\u8ddf\u8e2a\u6846\u67b6 SORT\u6765\u7ba1\u7406\u505c\u8f66\u4f4d\u72b6\u6001\u3002<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u505c\u8f66\u4f4d\u662f\u5728 BEV \u56fe\u50cf\u5e27\u4e2d\u68c0\u6d4b\u5230\u7684\u3002\u7136\u540e\u68c0\u6d4b\u5230\u7684\u505c\u8f66\u4f4d\u89d2\u70b9\u88ab\u8f6c\u6362\u5230\u81ea\u8f66\u7684\u8f66\u4f53\u5750\u6807\u7cfb\uff08\u89c1\u516c\u5f0f 1\uff09\u3002\u6839\u636e\u505c\u8f66\u4f4d\u5728 BEV \u56fe\u50cf\u4e2d\u88ab\u68c0\u6d4b\u5230\u7684\u65f6\u95f4\u6233\uff0c\u53ef\u4ee5\u4ece\u6ed1\u52a8\u7a97\u53e3\u4e2d\u7684\u5173\u952e\u5e27\u4e2d\u83b7\u53d6\u6700\u8fd1\u7684\u8f66\u8f86\u4f4d\u59ff\u3002<\/li>\n\n\n\n<li>\u505c\u8f66\u4f4d\u7684\u4f4d\u59ff\u53ef\u4ee5\u4ece\u8f66\u4f53\u5750\u6807\u7cfb\u8f6c\u6362\u5230\u4e16\u754c\u5750\u6807\u7cfb\u3002\u4e16\u754c\u5750\u6807\u7cfb\u5728\u8f68\u8ff9\u5f00\u59cb\u65f6\u521d\u59cb\u5316\u3002\u6bcf\u4e2a\u505c\u8f66\u4f4d\u53ef\u4ee5\u89c6\u4e3a\u5728\u4e16\u754c\u5750\u6807\u7cfb\u4e2d\u4e0d\u540c\u4f4d\u7f6e\u7684\u4e0d\u540c\u77e9\u5f62\u3002\u5b83\u4eec\u8fd8\u7ed8\u5236\u5728\u6784\u5efa\u7684\u5730\u56fe\u548c BEV \u56fe\u50cf\u4e0a\uff08\u89c1\u56fe 7\uff09\uff0c\u8fd9\u6709\u52a9\u4e8e\u81ea\u52a8\u6cca\u8f66\u7684\u4e0b\u6e38\u4efb\u52a1\u3002<\/li>\n\n\n\n<li>\u4e3a\u4e86\u5c06\u68c0\u6d4b\u5206\u914d\u7ed9\u73b0\u6709\u505c\u8f66\u4f4d\uff0c\u9700\u8981\u53ca\u65f6\u66f4\u65b0\u8ddf\u8e2a\u5668\u72b6\u6001\u3002\u901a\u8fc7\u5361\u5c14\u66fc\u6ee4\u6ce2\u5668\u9884\u6d4b\u6bcf\u4e2a\u76ee\u6807\u7684\u8fb9\u754c\u6846\u51e0\u4f55\u5f62\u72b6\uff0c\u5e76\u8ba1\u7b97\u68c0\u6d4b\u4e0e\u73b0\u6709\u76ee\u6807\u7684\u6240\u6709\u9884\u6d4b\u8fb9\u754c\u6846\u4e4b\u95f4\u7684\u4ea4\u5e76\u6bd4\uff08IoU\uff09\u8ddd\u79bb\u7684\u5206\u914d\u6210\u672c\u77e9\u9635\u3002\u901a\u8fc7\u5308\u7259\u5229\u7b97\u6cd5\u89e3\u51b3\u5206\u914d\u95ee\u9898\u3002\u6b64\u5916\uff0c\u8bbe\u7f6e\u4e86\u6700\u5c0f IoU \u4ee5\u62d2\u7edd\u68c0\u6d4b\u4e0e\u76ee\u6807\u91cd\u53e0\u5c11\u4e8e 0.3 \u7684\u5206\u914d\u3002\u5339\u914d\u7684\u505c\u8f66\u4f4d\u68c0\u6d4b\u4e0e\u73b0\u6709\u505c\u8f66\u4f4d\u5c06\u5171\u4eab\u76f8\u540c\u7684 id\u3002<\/li>\n\n\n\n<li>\u8fd8\u5b9e\u73b0\u5e76\u8bc4\u4f30\u4e86 VISSLAM \u4e2d\u4f7f\u7528\u7684\u786c\u5339\u914d\u5173\u8054\u65b9\u6cd5\uff0c\u8be5\u65b9\u6cd5\u4e3a\u4ee5\u524d\u7684\u505c\u8f66\u4f4d\u5173\u8054\u548c\u65b0\u505c\u8f66\u4f4d\u521b\u5efa\u9884\u5b9a\u4e49\u4e86\u9608\u503c\u3002<\/li>\n<\/ul>\n\n\n\n<p><strong>\u524d\u7aef\u4e0e\u505c\u8f66\u4f4d\uff08PS\uff09\u878d\u5408<\/strong><\/p>\n\n\n\n<p>\u5bf9\u4e8e\u524d\u7aef\u89c6\u89c9\u91cc\u7a0b\u8ba1\uff0c\u4f7f\u7528 Shi-Tomasi \u7b97\u6cd5\u68c0\u6d4b\u89c6\u89c9\u7279\u5f81\u70b9\uff0c\u5e76\u5728\u6bcf\u5f20\u65b0\u56fe\u50cf\u4e2d\u7ef4\u62a4\u5927\u7ea6\u4e00\u767e\u4e2a\u7279\u5f81\u70b9\u3002\u901a\u8fc7 KLT \u7a00\u758f\u5149\u6d41\u8ddf\u8e2a\u89c6\u89c9\u7279\u5f81\u3002\u9700\u8981\u6ce8\u610f\u7684\u662f\uff0c\u7531\u4e8e\u505c\u8f66\u573a\u901a\u5e38\u7f3a\u4e4f\u7eb9\u7406\u548c\u5149\u7ebf\u52a8\u6001\u53d8\u5316\uff0c\u68c0\u6d4b\u5230\u7684\u7279\u5f81\u70b9\u6570\u91cf\u8f83\u5c11\uff0c\u56e0\u6b64\u4f20\u7edf\u7684 SLAM \u65b9\u6cd5\u5982 ORB-SLAM \u5728\u505c\u8f66\u573a\u666f\u4e2d\u7684\u8868\u73b0\u5f80\u5f80\u4e0d\u4ee4\u4eba\u6ee1\u610f\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"956\" height=\"492\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-135.png\" alt=\"\" class=\"wp-image-12852\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-135.png 956w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-135-300x154.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-135-768x395.png 768w\" sizes=\"(max-width: 956px) 100vw, 956px\" \/><\/figure>\n\n\n\n<p>\u5982\u56fe 4 \u6240\u793a\uff0c\u5f15\u5165\u68c0\u6d4b\u5230\u7684\u505c\u8f66\u4f4d\uff08PS\uff09\u89d2\u70b9\u4f5c\u4e3a\u989d\u5916\u7684\u7a33\u5065\u7279\u5f81\u70b9\uff0c\u4ee5\u7f13\u89e3\u4e0a\u8ff0\u95ee\u9898\u3002\u901a\u8fc7 IPM\u5c06\u591a\u4e2a\u89c6\u89d2\u7684\u9c7c\u773c\u6444\u50cf\u5934\u56fe\u50cf\u96c6\u6210\u5230\u4e00\u4e2a\u9e1f\u77b0\u56fe\uff08BEV\uff09\u56fe\u50cf\u4e2d\u3002BEV \u56fe\u50cf\u4e2d\u7684\u6bcf\u4e2a\u70b9\u90fd\u4e0e\u539f\u59cb\u9c7c\u773c\u6444\u50cf\u5934\u4e0a\u7684\u70b9\u4e00\u4e00\u5bf9\u5e94\uff0c\u56e0\u6b64\u901a\u8fc7\u53d8\u6362\u77e9\u9635\uff0c\u6bcf\u4e2a BEV \u7a7a\u95f4\u4e2d\u7684 PS \u7279\u5f81\u70b9\u4e0e\u524d\u89c6\u9c7c\u773c\u6444\u50cf\u5934\u4e2d\u7684\u50cf\u7d20\u76f8\u914d\u5bf9\u3002<\/p>\n\n\n\n<p>\u901a\u8fc7 PS \u68c0\u6d4b\u5668\u9884\u6d4b\u540e\uff0c\u8fd9\u4e9b BEV \u56fe\u50cf\u5e27\u4e2d\u7684 PS \u7279\u5f81\u70b9\u53ef\u4ee5\u6839\u636e BEV \u5750\u6807\u4e0e\u9c7c\u773c\u6444\u50cf\u5934\u5750\u6807\u4e4b\u95f4\u7684\u53d8\u6362\u77e9\u9635\u53cd\u5411\u6295\u5f71\u5230\u6444\u50cf\u5934\u5e27\u4e2d\uff0c\u4f5c\u4e3a\u989d\u5916\u7684\u7279\u5f81\u70b9\u3002\u4e3a\u4e86\u4fdd\u6301\u66f4\u9ad8\u8d28\u91cf\u548c\u66f4\u7a33\u5065\u7684\u7279\u5f81\u70b9\uff0c\u5c06\u8fd9\u4e9b\u989d\u5916\u7684 PS \u7279\u5f81\u70b9\u52a8\u6001\u5408\u5e76\u5230\u539f\u59cb\u68c0\u6d4b\u5230\u7684 Shi-Tomasi \u89c6\u89c9\u7279\u5f81\u70b9\u5e8f\u5217\u4e2d\u3002\u8fd9\u4e9b\u989d\u5916\u7684\u7279\u5f81\u70b9\u6709\u52a9\u4e8e\u5728\u505c\u8f66\u573a\u666f\u4e2d\u5b9e\u73b0\u66f4\u7a33\u5065\u7684\u5b9a\u4f4d\u30022D \u7279\u5f81\u70b9\u9996\u5148\u8fdb\u884c\u53bb\u7578\u53d8\uff0c\u7136\u540e\u5728\u901a\u8fc7\u79bb\u7fa4\u503c\u62d2\u7edd\u540e\u6295\u5f71\u5230\u5355\u4f4d\u7403\u4f53\u4e0a\u3002\u5728 SLAM \u524d\u7aef\u671f\u95f4\u8fdb\u884c\u5173\u952e\u5e27\u9009\u62e9\uff0c\u9075\u5faa VINS\u4e2d\u5e38\u7528\u7684\u4e24\u4e2a\u6807\u51c6\uff0c\u4e3b\u8981\u4f9d\u636e\u5f53\u524d\u5e27\u4e0e\u524d\u51e0\u5e27\u4e4b\u95f4\u7684\u89c6\u5dee\u3002<\/p>\n\n\n\n<p><strong>\u505c\u8f66\u4f4d\uff08PS\uff09\u540e\u7aef\u4f18\u5316<\/strong><\/p>\n\n\n\n<p><strong>\u89c6\u89c9\u60ef\u6027\u9879<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"662\" height=\"130\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/07\/71204.png\" alt=\"\" class=\"wp-image-12853\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/71204.png 662w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/71204-300x59.png 300w\" sizes=\"(max-width: 662px) 100vw, 662px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"946\" height=\"126\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-136.png\" alt=\"\" class=\"wp-image-12854\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-136.png 946w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-136-300x40.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-136-768x102.png 768w\" sizes=\"(max-width: 946px) 100vw, 946px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"664\" height=\"104\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/07\/71205.png\" alt=\"\" class=\"wp-image-12855\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/71205.png 664w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/71205-300x47.png 300w\" sizes=\"(max-width: 664px) 100vw, 664px\" \/><\/figure>\n\n\n\n<p><strong>PS \u9879<\/strong><\/p>\n\n\n\n<p>\u5728\u540e\u7aef\u4e2d\u660e\u786e\u5730\u5f15\u5165 PS\u3002\u5728\u6bcf\u4e2a\u6ed1\u52a8\u7a97\u53e3\u4e2d\uff0c\u7531\u4e8e\u6bcf\u4e2a\u5177\u6709\u76f8\u540c id \u7684 PS \u4e0e\u591a\u4e2a\u89c2\u6d4b\u5173\u8054\uff0c\u5b83\u81ea\u7136\u5f62\u6210\u4e86\u6bcf\u4e2a\u89c2\u5bdf\u5230\u7684 PS \u4e0e\u5176\u5728\u4e16\u754c\u5750\u6807\u7cfb\u4e2d\u7ef4\u62a4\u7684\u72b6\u6001\u4e4b\u95f4\u7684\u914d\u51c6\u7ea6\u675f\u3002\u6bcf\u4e2a\u7ef4\u62a4\u7684\u72b6\u6001\u548c PS \u89c2\u6d4b\u901a\u8fc7 PS \u7ba1\u7406\u6a21\u5757\u63d0\u4f9b\u7684 PS id \u5173\u8054\u3002PS \u9879\u5982\u56fe 5 \u6240\u793a\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"966\" height=\"666\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-137.png\" alt=\"\" class=\"wp-image-12856\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-137.png 966w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-137-300x207.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-137-768x529.png 768w\" sizes=\"(max-width: 966px) 100vw, 966px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"397\" height=\"27\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/07\/71207.png\" alt=\"\" class=\"wp-image-12858\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/71207.png 397w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/71207-300x20.png 300w\" sizes=\"(max-width: 397px) 100vw, 397px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"932\" height=\"72\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-138.png\" alt=\"\" class=\"wp-image-12859\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-138.png 932w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-138-300x23.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-138-768x59.png 768w\" sizes=\"(max-width: 932px) 100vw, 932px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"662\" height=\"55\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/07\/71208.png\" alt=\"\" class=\"wp-image-12860\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/71208.png 662w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/71208-300x25.png 300w\" sizes=\"(max-width: 662px) 100vw, 662px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"934\" height=\"132\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-139.png\" alt=\"\" class=\"wp-image-12861\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-139.png 934w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-139-300x42.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-139-768x109.png 768w\" sizes=\"(max-width: 934px) 100vw, 934px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"665\" height=\"131\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/07\/71209.png\" alt=\"\" class=\"wp-image-12862\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/71209.png 665w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/71209-300x59.png 300w\" sizes=\"(max-width: 665px) 100vw, 665px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"824\" height=\"146\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-140.png\" alt=\"\" class=\"wp-image-12863\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-140.png 824w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-140-300x53.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-140-768x136.png 768w\" sizes=\"(max-width: 824px) 100vw, 824px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"494\" height=\"30\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/07\/71210.png\" alt=\"\" class=\"wp-image-12864\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/71210.png 494w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/71210-300x18.png 300w\" sizes=\"(max-width: 494px) 100vw, 494px\" \/><\/figure>\n\n\n\n<p><strong>\u5b9e\u9a8c\u6548\u679c<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"898\" height=\"384\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-141.png\" alt=\"\" class=\"wp-image-12865\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-141.png 898w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-141-300x128.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-141-768x328.png 768w\" sizes=\"(max-width: 898px) 100vw, 898px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"934\" height=\"356\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-142.png\" alt=\"\" class=\"wp-image-12866\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-142.png 934w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-142-300x114.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-142-768x293.png 768w\" sizes=\"(max-width: 934px) 100vw, 934px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"932\" height=\"194\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-143.png\" alt=\"\" class=\"wp-image-12867\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-143.png 932w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-143-300x62.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-143-768x160.png 768w\" sizes=\"(max-width: 932px) 100vw, 932px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"962\" height=\"788\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-144.png\" alt=\"\" class=\"wp-image-12868\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-144.png 962w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-144-300x246.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-144-768x629.png 768w\" sizes=\"(max-width: 962px) 100vw, 962px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"954\" height=\"840\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-145.png\" alt=\"\" class=\"wp-image-12869\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-145.png 954w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-145-300x264.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-145-768x676.png 768w\" sizes=\"(max-width: 954px) 100vw, 954px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"388\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-146-1024x388.png\" alt=\"\" class=\"wp-image-12870\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-146-1024x388.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-146-300x114.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-146-768x291.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-146.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"956\" height=\"282\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-147.png\" alt=\"\" class=\"wp-image-12871\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-147.png 956w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-147-300x88.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-147-768x227.png 768w\" sizes=\"(max-width: 956px) 100vw, 956px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"970\" height=\"676\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-148.png\" alt=\"\" class=\"wp-image-12872\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-148.png 970w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-148-300x209.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-148-768x535.png 768w\" sizes=\"(max-width: 970px) 100vw, 970px\" \/><\/figure>\n\n\n\n<p><strong>\u603b\u7ed3\u4e00\u4e0b<\/strong><\/p>\n\n\n\n<p>VIPS-Odom\u662f\u4e00\u79cd\u65b0\u9896\u7684\u7d27\u8026\u5408 SLAM \u7cfb\u7edf\uff0c<strong>\u878d\u5408\u4e86\u60ef\u6027\u6d4b\u91cf\u5355\u5143\u3001\u8f6e\u901f\u4f20\u611f\u5668\u548c\u56db\u4e2a\u73af\u89c6\u9c7c\u773c\u6444\u50cf\u5934\u7684\u6d4b\u91cf\u6570\u636e<\/strong>\uff0c\u5b9e\u73b0\u4e86\u9ad8\u7cbe\u5ea6\u4e14\u7a33\u5b9a\u7684\u5b9a\u4f4d\u3002\u5176\u5b9e\u65f6\u68c0\u6d4b BEV \u56fe\u50cf\u4e2d\u7684\u505c\u8f66\u4f4d\uff0c\u53ef\u9760\u5730\u7ef4\u62a4\u89c2\u5bdf\u5230\u7684\u505c\u8f66\u4f4d\u72b6\u6001\uff0c\u5e76\u540c\u65f6\u5c06\u505c\u8f66\u4f4d\u89c2\u5bdf\u7ed3\u679c\u4f5c\u4e3a\u524d\u7aef\u89c6\u89c9\u7279\u5f81\u548c\u540e\u7aef\u4f18\u5316\u56e0\u5b50\uff0c\u63d0\u5347\u5b9a\u4f4d\u7cbe\u5ea6\u3002\u8be5\u65b9\u6cd5\u8fd8\u5f00\u53d1\u4e86\u4e00\u4e2a\u76f8\u5173\u4f20\u611f\u5668\u5957\u4ef6\u7684\u5b9e\u9a8c\u5e73\u53f0\uff0c\u7528\u4e8e\u8bc4\u4f30 VIPS-Odom \u7684\u6027\u80fd\u3002\u8986\u76d6\u77ed\u8ddd\u79bb\u548c\u957f\u8ddd\u79bb\u505c\u8f66\u573a\u666f\u7684\u5927\u91cf\u73b0\u5b9e\u4e16\u754c\u5b9e\u9a8c\u53cd\u6620\u4e86\u76f8\u5bf9\u4e8e\u5176\u4ed6\u57fa\u51c6\u65b9\u6cd5\u7684\u6709\u6548\u6027\u548c\u7a33\u5b9a\u6027\u3002<\/p>\n\n\n\n<p><strong>\u6539\u8fdb\u70b9<\/strong>\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u5c1a\u672a\u5c06\u95ed\u73af\u68c0\u6d4b\u6a21\u5757\u7eb3\u5165\u7cfb\u7edf\u3002\u867d\u7136\u95ed\u73af\u68c0\u6d4b\u5bf9\u4e8e\u6240\u6709\u77ed\u8ddd\u79bb APA \u573a\u666f\u548c\u90e8\u5206\u957f\u8ddd\u79bb AVP \u573a\u666f\u6765\u8bf4\u4e0d\u662f\u5fc5\u9700\u7684\uff0c\u4f46\u53ef\u4ee5\u6269\u5c55\u95ed\u73af\u68c0\u6d4b\u6a21\u5757\uff0c\u8fdb\u4e00\u6b65\u63d0\u5347\u957f\u8ddd\u79bb\u573a\u666f\u7684\u6027\u80fd<\/li>\n\n\n\n<li>\u9664\u4e86\u505c\u8f66\u4f4d\uff0c\u8fd8\u53ef\u4ee5\u5c06\u66f4\u591a\u7684\u8bed\u4e49\u5bf9\u8c61\u7eb3\u5165\u7cfb\u7edf<\/li>\n<\/ul>\n\n\n\n<p><strong>\u53c2\u8003<\/strong><\/p>\n\n\n\n<p>[1] VIPS-Odom: Visual-Inertial Odometry Tightly-coupled with Parking Slots for Autonomous Parking<\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u5982\u4f55\u89e3\u51b3\u8f66\u5e93\u5730\u9762\u53cd\u5149\uff1f \u4f20\u7edfSLAM\u65b9\u6cd5\u4ece\u76f8\u673a [&hellip;]<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[3,1],"tags":[],"class_list":["post-12842","post","type-post","status-publish","format-standard","hentry","category-technology-frontier","category-home"],"views":2,"_links":{"self":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/12842"}],"collection":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/comments?post=12842"}],"version-history":[{"count":1,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/12842\/revisions"}],"predecessor-version":[{"id":12873,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/12842\/revisions\/12873"}],"wp:attachment":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/media?parent=12842"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/categories?post=12842"},{"taxonomy":"post_tag","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/tags?post=12842"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}