{"id":14438,"date":"2024-08-15T17:11:14","date_gmt":"2024-08-15T09:11:14","guid":{"rendered":"http:\/\/192.168.10.115\/?p=14438"},"modified":"2024-08-15T17:11:14","modified_gmt":"2024-08-15T09:11:14","slug":"2024-08-15-ntu%e5%bc%80%e6%ba%90%e5%b5%8c%e5%85%a5%e5%bc%8f%e5%b9%b3%e5%8f%b0airslam%ef%bc%9a%e9%ab%98%e6%95%88%e9%b2%81%e6%a3%92%e7%9a%84%e7%82%b9%e7%ba%bf%e8%a7%86%e8%a7%89slam%e7%b3%bb","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2024\/08\/15\/14438\/","title":{"rendered":"2024-08-15 NTU\u5f00\u6e90\u5d4c\u5165\u5f0f\u5e73\u53f0AirSLAM\uff1a\u9ad8\u6548&amp;\u9c81\u68d2\u7684\u70b9\u7ebf\u89c6\u89c9SLAM\u7cfb\u7edf"},"content":{"rendered":"\n<h2 class=\"wp-block-heading\"><strong>vslam\u7684\u5149\u7167\u6311\u6218<\/strong><\/h2>\n\n\n\n<p>\u73b0\u6709\u7684vSLAM\u7cfb\u7edf\u5728\u9762\u5bf9\u4e25\u82db\u5149\u7167\u6761\u4ef6\u65f6\u4ecd\u7136\u9762\u4e34\u4e24\u7c7b\u6311\u6218\uff1a<\/p>\n\n\n\n<ol 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src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-113-1024x657.png\" alt=\"\" class=\"wp-image-14439\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-113-1024x657.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-113-300x193.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-113-768x493.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-113.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u8be5\u7cfb\u7edf\u662f\u4e00\u4e2a\u6df7\u5408\u7cfb\u7edf\uff0c\u5982\u56fe1\u6240\u793a\uff0c\u56e0\u4e3a\u9700\u8981\u6570\u636e\u9a71\u52a8\u65b9\u6cd5\u7684\u9c81\u68d2\u6027\u548c\u51e0\u4f55\u65b9\u6cd5\u7684\u7cbe\u5ea6\u3002\u5b83\u5305\u62ec\u4e09\u4e2a\u4e3b\u8981\u7ec4\u4ef6\uff1a\u7acb\u4f53\u89c6\u89c9\u91cc\u7a0b\u8ba1\uff08Stereo 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LOIAlign\u5904\u7406\u7ebf\u7279\u5f81\u6a21\u5757\u7684\u8f93\u51fa\uff0c\u5e76\u6700\u7ec8\u8f93\u51fa\u4ea4\u70b9\u548c\u7ebf\u6761\u3002<\/li>\n<\/ul>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"446\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-115-1024x446.png\" alt=\"\" class=\"wp-image-14441\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-115-1024x446.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-115-300x131.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-115-768x334.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-115.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p><strong>\u7f51\u7edc\u8bad\u7ec3<\/strong><\/p>\n\n\n\n<p>PLNet\u8bad\u7ec3\u5206\u4e3a\u4e24\u8f6e\u3002<\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li>\u5728\u7b2c\u4e00\u8f6e\u4e2d\uff0c\u4ec5\u8bad\u7ec3\u9aa8\u5e72\u7f51\u7edc\u548c\u5173\u952e\u70b9\u68c0\u6d4b\u6a21\u5757\uff0c\u8fd9\u610f\u5473\u7740\u6211\u4eec\u9700\u8981\u8bad\u7ec3\u4e00\u4e2a\u5173\u952e\u70b9\u68c0\u6d4b\u7f51\u7edc\u3002<\/li>\n\n\n\n<li>\u5728\u7b2c\u4e8c\u8f6e\u4e2d\uff0c\u56fa\u5b9a\u9aa8\u5e72\u7f51\u7edc\u548c\u5173\u952e\u70b9\u68c0\u6d4b\u6a21\u5757\uff0c\u4ec5\u5728Wireframe\u6570\u636e\u96c6\u4e0a\u8bad\u7ec3\u7ebf\u7279\u5f81\u68c0\u6d4b\u6a21\u5757\u3002\u6211\u4eec\u8df3\u8fc7\u4e86\u7b2c\u4e00\u8f6e\u7684\u8be6\u7ec6\u5185\u5bb9\uff0c\u56e0\u4e3a\u5b83\u4eec\u4e0e\u975e\u5e38\u76f8\u4f3c\uff0c\u800c\u662f\u4ecb\u7ecd\u7ebf\u7279\u5f81\u68c0\u6d4b\u6a21\u5757\u7684\u8bad\u7ec3\u8fc7\u7a0b\u3002<\/li>\n<\/ol>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u7ebf\u7f16\u7801<\/strong>\uff1a\u91c7\u7528\u5438\u5f15\u533a\u57df\u573a\u6765\u7f16\u7801\u7ebf\u6bb5\u3002\u5bf9\u4e8e\u7ebf\u6bb5l = (x1, x2)\uff0c\u5176\u4e2dx1\u548cx2\u662fl\u7684\u4e24\u4e2a\u7aef\u70b9\uff0cp\u662fl\u7684\u5438\u5f15\u533a\u57df\u4e2d\u7684\u4e00\u4e2a\u70b9\uff0c\u4f7f\u7528p\u548c\u56db\u4e2a\u53c2\u6570\u6765\u7f16\u7801l\uff1a<\/li>\n<\/ul>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"100\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-116-1024x100.png\" alt=\"\" class=\"wp-image-14442\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-116-1024x100.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-116-300x29.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-116-768x75.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-116.png 1062w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u5176\u4e2d\ud835\udc51\u662fp\u5230l\u7684\u5782\u7ebf\u6bb5\uff0c\ud835\udf03\u662fl\u4e0e\u56fe\u50cfY\u8f74\u7684\u5939\u89d2\uff0c\ud835\udf031\u662fp\u5230x1\u7684\u5939\u89d2\uff0c\ud835\udf032\u662fp\u5230x2\u7684\u5939\u89d2\u3002<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u7ebf\u7279\u5f81\u9884\u6d4b<\/strong>\uff1a\u7ebf\u7279\u5f81\u6a21\u5757\u8f93\u51fa\u4e00\u4e2a\u5c3a\u5bf8\u4e3a\ud835\udc3b\/4 \u00d7 \ud835\udc4a\/4 \u00d7 4\u7684\u5f20\u91cf\u6765\u9884\u6d4b\u53c2\u6570\uff0c\u5e76\u8f93\u51fa\u4e00\u4e2a\u70ed\u56fe\u6765\u9884\u6d4b\u4ea4\u70b9\u3002\u5bf9\u4e8e\u6bcf\u4e2a\u901a\u8fc7\u53c2\u6570\u89e3\u7801\u7684\u7ebf\u6bb5\uff0c\u4ece\u70ed\u56fe\u4e2d\u9009\u62e9\u4e0e\u7aef\u70b9\u6700\u63a5\u8fd1\u7684\u4e24\u4e2a\u4ea4\u70b9\uff0c\u5e76\u5f62\u6210\u7ebf\u6761\u63d0\u8bae\u3002\u7136\u540e\u4f7f\u7528EPD LOIAlign\u548c\u4e00\u4e2a\u5934\u5206\u7c7b\u5668\u6765\u51b3\u5b9a\u7ebf\u6761\u63d0\u8bae\u662f\u5426\u4e3a\u771f\u6b63\u7684\u7ebf\u7279\u5f81\u3002<\/li>\n\n\n\n<li><strong>\u7ebf\u7279\u5f81\u6a21\u5757\u8bad\u7ec3<\/strong>\uff1a\u4f7f\u7528\ud835\udc3f1\u635f\u5931\u6765\u76d1\u7763\u53c2\u6570\u7684\u9884\u6d4b\uff0c\u5e76\u4f7f\u7528\u4e8c\u5143\u4ea4\u53c9\u71b5\u635f\u5931\u6765\u76d1\u7763\u4ea4\u70b9\u70ed\u56fe\u548c\u5934\u5206\u7c7b\u5668\u7684\u8f93\u51fa\u3002\u603b\u635f\u5931\u4e3a\u5b83\u4eec\u7684\u548c\u3002\u4e3a\u4e86\u63d0\u9ad8\u7ebf\u7279\u5f81\u68c0\u6d4b\u5728\u5149\u7167\u6311\u6218\u73af\u5883\u4e2d\u7684\u9c81\u68d2\u6027\uff0c\u5bf9\u8bad\u7ec3\u56fe\u50cf\u8fdb\u884c\u4e86\u4e03\u79cd\u7c7b\u578b\u7684\u5149\u5ea6\u6570\u636e\u589e\u5f3a\u5904\u7406\u3002\u8bad\u7ec3\u4f7f\u7528ADAM\u4f18\u5316\u5668\uff0c\u524d35\u4e2aepoch\u5b66\u4e60\u7387\u4e3a4\ud835\udc52-4\uff0c\u6700\u540e5\u4e2aepoch\u5b66\u4e60\u7387\u4e3a4\ud835\udc52-5\u3002<\/li>\n<\/ul>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"514\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-117-1024x514.png\" alt=\"\" class=\"wp-image-14443\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-117-1024x514.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-117-300x151.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-117-768x385.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-117.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p><strong>\u7acb\u4f53\u89c6\u89c9\u91cc\u7a0b\u8ba1<\/strong><\/p>\n\n\n\n<p><strong>\u6982\u8ff0<\/strong><\/p>\n\n\n\n<p>\u57fa\u4e8e\u70b9\u7ebf\u7684\u7acb\u4f53\u89c6\u89c9\u91cc\u7a0b\u8ba1\uff08Stereo Visual Odometry\uff09\u5982\u56fe5\u6240\u793a\u3002\u5b83\u662f\u4e00\u4e2a\u6df7\u5408VO\u7cfb\u7edf\uff0c\u7ed3\u5408\u4e86\u57fa\u4e8e\u5b66\u4e60\u7684\u524d\u7aef\u548c\u4f20\u7edf\u4f18\u5316\u7684\u540e\u7aef\u3002\u5bf9\u4e8e\u6bcf\u5bf9\u7acb\u4f53\u56fe\u50cf\uff0c\u9996\u5148\u4f7f\u7528\u6240\u63d0\u51fa\u7684PLNet\u63d0\u53d6\u5173\u952e\u70b9\u548c\u7ebf\u7279\u5f81\u3002\u7136\u540e\u4f7f\u7528\u4e00\u4e2a\u56fe\u795e\u7ecf\u7f51\u7edc\uff08LightGlue\uff09\u6765\u5339\u914d\u5173\u952e\u70b9\u3002\u540c\u65f6\u901a\u8fc7\u5173\u952e\u70b9\u5339\u914d\u7ed3\u679c\u5173\u8054\u7ebf\u7279\u5f81\uff0c\u5e76\u8fdb\u884c\u7ebf\u7279\u5f81\u5339\u914d\u3002\u63a5\u4e0b\u6765\u6267\u884c\u521d\u59cb\u4f4d\u59ff\u4f30\u8ba1\u5e76\u5254\u9664\u79bb\u7fa4\u503c\u3002\u57fa\u4e8e\u8fd9\u4e9b\u7ed3\u679c\uff0c\u5bf9\u5173\u952e\u5e27\u76842D\u7279\u5f81\u8fdb\u884c\u4e09\u89d2\u6d4b\u91cf\uff0c\u5e76\u5c06\u5176\u63d2\u5165\u5230\u5730\u56fe\u4e2d\u3002\u6700\u540e\uff0c\u6267\u884c\u5c40\u90e8BA\u4ee5\u4f18\u5316\u70b9\u3001\u7ebf\u548c\u5173\u952e\u5e27\u7684\u4f4d\u59ff\u3002\u4e0e\u6b64\u540c\u65f6\uff0c\u5982\u679c\u53ef\u4ee5\u83b7\u53d6\u60ef\u6027\u6d4b\u91cf\u5355\u5143\uff08IMU\uff09\u7684\u6570\u636e\uff0c\u4f1a\u4f7f\u7528IMU\u9884\u79ef\u5206\u65b9\u6cd5\u5904\u7406\u8fd9\u4e9b\u6d4b\u91cf\u6570\u636e\uff0c\u5e76\u5c06\u5176\u6dfb\u52a0\u5230\u521d\u59cb\u4f4d\u59ff\u4f30\u8ba1\u548c\u5c40\u90e8\u6346\u7ed1\u8c03\u6574\u4e2d\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"340\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-118-1024x340.png\" alt=\"\" class=\"wp-image-14444\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-118-1024x340.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-118-300x100.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-118-768x255.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-118.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u5c06\u57fa\u4e8e\u5b66\u4e60\u7684\u7279\u5f81\u68c0\u6d4b\u548c\u5339\u914d\u65b9\u6cd5\u5e94\u7528\u4e8e\u7acb\u4f53VO\u662f\u8017\u65f6\u7684\u3002\u56e0\u6b64\uff0c\u4e3a\u4e86\u63d0\u9ad8\u6548\u7387\uff0c\u5728\u7cfb\u7edf\u4e2d\u4f7f\u7528\u4e86\u4ee5\u4e0b\u4e09\u79cd\u6280\u672f\uff1a<\/p>\n\n\n\n<ol 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srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/81501.png 684w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/81501-300x108.png 300w\" sizes=\"(max-width: 684px) 100vw, 684px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"205\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-119-1024x205.png\" alt=\"\" class=\"wp-image-14446\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-119-1024x205.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-119-300x60.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-119-768x154.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-119.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=\"678\" height=\"81\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/08\/81502.png\" alt=\"\" class=\"wp-image-14447\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/81502.png 678w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/81502-300x36.png 300w\" sizes=\"(max-width: 678px) 100vw, 678px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"175\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-120-1024x175.png\" alt=\"\" class=\"wp-image-14448\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-120-1024x175.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-120-300x51.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-120-768x132.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-120.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=\"689\" height=\"108\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/08\/81503.png\" alt=\"\" class=\"wp-image-14449\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/81503.png 689w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/81503-300x47.png 300w\" sizes=\"(max-width: 689px) 100vw, 689px\" \/><\/figure>\n\n\n\n<p><strong>3D \u7279\u5f81\u5904\u7406<\/strong><\/p>\n\n\n\n<p>1.<strong>3D\u7ebf\u6bb5\u8868\u793a<\/strong>\uff1a\u6211\u4eec\u4f7f\u7528Pl\u00fccker\u5750\u6807\u301071\u3011\u6765\u8868\u793a\u4e09\u7ef4\u7a7a\u95f4\u4e2d\u7684\u7ebf\u6bb5\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"169\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-121-1024x169.png\" alt=\"\" class=\"wp-image-14450\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-121-1024x169.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-121-300x49.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-121-768x127.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-121.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u5176\u4e2dv\u662f\u7ebf\u6bb5\u7684\u65b9\u5411\u5411\u91cf\uff0cn\u662f\u7531\u7ebf\u6bb5\u548c\u5e73\u9762\u786e\u5b9a\u7684\u6cd5\u5411\u91cf\u3002Pl\u00fccker\u5750\u6807\u7528\u4e8e3D\u7ebf\u6bb5\u7684\u4e09\u89d2\u6d4b\u91cf\u3001\u53d8\u6362\u548c\u6295\u5f71\u3002\u5b83\u662f\u8fc7\u53c2\u6570\u5316\u7684\uff0c\u56e0\u4e3a\u5b83\u662f\u4e00\u4e2a6\u7ef4\u5411\u91cf\uff0c\u800c\u4e00\u4e2a3D\u7ebf\u6bb5\u53ea\u6709\u56db\u4e2a\u81ea\u7531\u5ea6\u3002\u5728\u56fe\u4f18\u5316\u9636\u6bb5\uff0c\u989d\u5916\u7684\u81ea\u7531\u5ea6\u5c06\u589e\u52a0\u8ba1\u7b97\u6210\u672c\u5e76\u5bfc\u81f4\u7cfb\u7edf\u7684\u6570\u503c\u4e0d\u7a33\u5b9a\u3002\u56e0\u6b64\uff0c\u8fd8\u4f7f\u7528\u6b63\u4ea4\u8868\u793a\u6765\u8868\u793a3D\u7ebf\u6bb5\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"127\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-122-1024x127.png\" alt=\"\" class=\"wp-image-14451\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-122-1024x127.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-122-300x37.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-122-768x95.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-122.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>Pl\u00fccker\u5750\u6807\u548c\u6b63\u4ea4\u8868\u793a\u4e4b\u95f4\u7684\u5173\u7cfb\u7c7b\u4f3c\u4e8eSO(3)\u548cso(3)\u3002\u901a\u8fc7\u4ee5\u4e0b\u516c\u5f0f\u53ef\u4ee5\u4ecePl\u00fccker\u5750\u6807\u8f6c\u6362\u4e3a\u6b63\u4ea4\u8868\u793a\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"259\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-123-1024x259.png\" alt=\"\" class=\"wp-image-14452\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-123-1024x259.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-123-300x76.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-123-768x194.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-123.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u5176\u4e2d\u03a33\u00d72\u662f\u4e00\u4e2a\u5bf9\u89d2\u77e9\u9635\uff0c\u5176\u4e24\u4e2a\u975e\u96f6\u9879\u53ef\u4ee5\u901a\u8fc7SO(2)\u77e9\u9635\u8868\u793a\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"179\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-124-1024x179.png\" alt=\"\" class=\"wp-image-14453\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-124-1024x179.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-124-300x53.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-124-768x134.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-124.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u5728\u5b9e\u9645\u64cd\u4f5c\u4e2d\uff0c\u53ef\u4ee5\u901a\u8fc7QR\u5206\u89e3\u7b80\u5355\u5feb\u901f\u5730\u8fdb\u884c\u8fd9\u79cd\u8f6c\u6362\u3002<\/p>\n\n\n\n<ol start=\"2\" class=\"wp-block-list\">\n<li><strong>\u4e09\u89d2\u6d4b\u91cf<\/strong>\uff1a\u4e09\u89d2\u6d4b\u91cf\u662f\u4ece\u4e24\u4e2a\u6216\u66f4\u591a2D\u7ebf\u7279\u5f81\u521d\u59cb\u5316\u4e00\u4e2a3D\u7ebf\u6bb5\u3002\u4f7f\u7528\u4e24\u79cd\u65b9\u6cd5\u5bf93D\u7ebf\u6bb5\u8fdb\u884c\u4e09\u89d2\u6d4b\u91cf\u3002\u7b2c\u4e00\u79cd\u65b9\u6cd53D\u7ebf\u6bb5\u7684\u59ff\u6001\u53ef\u4ee5\u901a\u8fc7\u4e24\u4e2a\u5e73\u9762\u8ba1\u7b97\u3002\u4e3a\u5b9e\u73b0\u8fd9\u4e00\u70b9\uff0c\u9009\u62e9\u4e24\u6761\u5728\u4e24\u5f20\u56fe\u50cf\u4e0a\u7684\u7ebf\u6bb5l1\u548cl2\uff0c\u5b83\u4eec\u662f\u4e00\u4e2a3D\u7ebf\u6bb5\u7684\u4e24\u4e2a\u89c2\u6d4b\u3002\u6ce8\u610f\uff0c\u8fd9\u4e24\u5f20\u56fe\u50cf\u53ef\u4ee5\u6765\u81ea\u540c\u4e00\u4e2a\u5173\u952e\u5e27\u7684\u7acb\u4f53\u56fe\u50cf\u5bf9\uff0c\u4e5f\u53ef\u4ee5\u6765\u81ea\u4e24\u4e2a\u4e0d\u540c\u7684\u5173\u952e\u5e27\u3002l1\u548cl2\u53ef\u4ee5\u53cd\u6295\u5f71\u5e76\u6784\u5efa\u4e24\u4e2a3D\u5e73\u9762\u03c01\u548c\u03c02\u3002\u7136\u540e\uff0c3D\u7ebf\u6bb5\u53ef\u4ee5\u89c6\u4e3a\u03c01\u548c\u03c02\u7684\u4ea4\u7ebf\u3002<\/li>\n<\/ol>\n\n\n\n<p>\u7136\u800c\uff0c\u4e09\u89d2\u6d4b\u91cf\u4e00\u4e2a3D\u7ebf\u6bb5\u6bd4\u4e09\u89d2\u6d4b\u91cf\u4e00\u4e2a3D\u70b9\u66f4\u56f0\u96be\uff0c\u56e0\u4e3a\u5b83\u66f4\u5bb9\u6613\u53d7\u5230\u9000\u5316\u8fd0\u52a8\u7684\u5f71\u54cd\u3002\u56e0\u6b64\uff0c\u5982\u679c\u4e0a\u8ff0\u65b9\u6cd5\u5931\u8d25\uff0c\u8fd8\u91c7\u7528\u7b2c\u4e8c\u79cd\u7ebf\u6bb5\u4e09\u89d2\u6d4b\u91cf\u65b9\u6cd5\uff0c\u5229\u7528\u70b9\u6765\u8ba1\u7b973D\u7ebf\u6bb5\u3002\u4e3a\u4e86\u521d\u59cb\u53163D\u7ebf\u6bb5\uff0c\u9009\u62e9\u4e24\u4e2a\u5df2\u4e09\u89d2\u6d4b\u91cf\u7684\u70b9X1\u548cX2\uff0c\u5b83\u4eec\u5c5e\u4e8e\u8be5\u7ebf\u6bb5\u5e76\u4e14\u5728\u56fe\u50cf\u5e73\u9762\u4e0a\u4e0e\u8be5\u7ebf\u6bb5\u7684\u8ddd\u79bb\u6700\u77ed\u3002\u7136\u540e\uff0c\u53ef\u4ee5\u901a\u8fc7\u4ee5\u4e0b\u516c\u5f0f\u83b7\u5f97\u8be5\u7ebf\u6bb5\u7684Pl\u00fccker\u5750\u6807\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"158\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-125-1024x158.png\" alt=\"\" class=\"wp-image-14454\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-125-1024x158.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-125-300x46.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-125-768x119.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-125.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u8be5\u65b9\u6cd5\u53ea\u9700\u5f88\u5c11\u7684\u989d\u5916\u8ba1\u7b97\uff0c\u56e0\u4e3a\u6240\u9009\u62e9\u76843D\u70b9\u5728\u70b9\u4e09\u89d2\u6d4b\u91cf\u9636\u6bb5\u5df2\u7ecf\u88ab\u4e09\u89d2\u6d4b\u91cf\u3002\u5b83\u975e\u5e38\u9ad8\u6548\u4e14\u9c81\u68d2\u3002<\/p>\n\n\n\n<ol start=\"3\" class=\"wp-block-list\">\n<li><strong>\u91cd\u6295\u5f71<\/strong>\uff1a\u91cd\u6295\u5f71\u7528\u4e8e\u8ba1\u7b97\u91cd\u6295\u5f71\u8bef\u5dee\u3002\u6211\u4eec\u4f7f\u7528Pl\u00fccker\u5750\u6807\u6765\u8fdb\u884c3D\u7ebf\u6bb5\u7684\u53d8\u6362\u548c\u91cd\u6295\u5f71\u3002\u9996\u5148\uff0c\u6211\u4eec\u5c063D\u7ebf\u6bb5\u4ece\u4e16\u754c\u5750\u6807\u7cfb\u8f6c\u6362\u5230\u76f8\u673a\u5750\u6807\u7cfb\uff1a<\/li>\n<\/ol>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"174\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-126-1024x174.png\" alt=\"\" class=\"wp-image-14455\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-126-1024x174.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-126-300x51.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-126-768x130.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-126.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=\"689\" height=\"130\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/08\/81504.png\" alt=\"\" class=\"wp-image-14456\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/81504.png 689w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/81504-300x57.png 300w\" sizes=\"(max-width: 689px) 100vw, 689px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"207\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-127-1024x207.png\" alt=\"\" class=\"wp-image-14457\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-127-1024x207.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-127-300x61.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-127-768x155.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-127.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=\"521\" height=\"35\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/08\/81505.png\" alt=\"\" class=\"wp-image-14458\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/81505.png 521w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/81505-300x20.png 300w\" sizes=\"(max-width: 521px) 100vw, 521px\" \/><\/figure>\n\n\n\n<p><strong>\u5173\u952e\u5e27\u9009\u62e9<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"684\" height=\"287\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/08\/81506.png\" alt=\"\" class=\"wp-image-14459\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/81506.png 684w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/81506-300x126.png 300w\" sizes=\"(max-width: 684px) 100vw, 684px\" \/><\/figure>\n\n\n\n<p><strong>\u5c40\u90e8\u56fe\u4f18\u5316<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"681\" height=\"81\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/08\/81507.png\" alt=\"\" class=\"wp-image-14460\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/81507.png 681w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/81507-300x36.png 300w\" sizes=\"(max-width: 681px) 100vw, 681px\" 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loading=\"lazy\" decoding=\"async\" width=\"468\" height=\"71\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/08\/81508.png\" alt=\"\" class=\"wp-image-14462\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/81508.png 468w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/81508-300x46.png 300w\" sizes=\"(max-width: 468px) 100vw, 468px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"186\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-129-1024x186.png\" alt=\"\" class=\"wp-image-14463\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-129-1024x186.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-129-300x54.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-129-768x139.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-129.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p><strong>IMU\u6b8b\u5dee<\/strong>\uff1a\u6211\u4eec\u9996\u5148\u6309\u7167\u301069\u3011\u5728\u5e27\ud835\udc56\u548c\u5e27\ud835\udc57\u4e4b\u95f4\u9884\u79ef\u5206IMU\u6d4b\u91cf\u503c\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"460\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-130-1024x460.png\" alt=\"\" class=\"wp-image-14464\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-130-1024x460.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-130-300x135.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-130-768x345.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-130.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>IMU\u6b8b\u5dee\u5b9a\u4e49\u4e3a\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"632\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-131-1024x632.png\" alt=\"\" class=\"wp-image-14465\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-131-1024x632.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-131-300x185.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-131-768x474.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-131.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u6210\u672c\u51fd\u6570\u5b9a\u4e49\u4e3a\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"203\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-132-1024x203.png\" alt=\"\" class=\"wp-image-14466\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-132-1024x203.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-132-300x59.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-132-768x152.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-132.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u4f7f\u7528Levenberg-Marquardt\u4f18\u5316\u5668\u6765\u6700\u5c0f\u5316\u6210\u672c\u51fd\u6570\u3002\u5982\u679c\u70b9\u548c\u7ebf\u7684\u6b8b\u5dee\u8fc7\u5927\uff0c\u5728\u4f18\u5316\u8fc7\u7a0b\u4e2d\u5b83\u4eec\u4e5f\u4f1a\u88ab\u62d2\u7edd\u4e3a\u79bb\u7fa4\u503c\u3002<\/p>\n\n\n\n<p><strong>\u521d\u59cb\u5730\u56fe<\/strong><\/p>\n\n\n\n<p>\u5730\u56fe\u5728\u79bb\u7ebf\u9636\u6bb5\u8fdb\u884c\u4e86\u4f18\u5316\u3002\u56e0\u6b64\uff0c\u5f53\u89c6\u89c9\u91cc\u7a0b\u8ba1\u5b8c\u6210\u540e\uff0c\u5173\u952e\u5e27\u3001\u5730\u56fe\u70b9\u548c3D\u7ebf\u6bb5\u5c06\u88ab\u4fdd\u5b58\u5230\u78c1\u76d8\uff0c\u4ee5\u4fbf\u540e\u7eed\u4f18\u5316\u4f7f\u7528\u3002\u5bf9\u4e8e\u6bcf\u4e2a\u5173\u952e\u5e27\uff0c\u4fdd\u5b58\u5176\u7d22\u5f15\u3001\u4f4d\u59ff\u3001\u5173\u952e\u70b9\u3001\u5173\u952e\u70b9\u63cf\u8ff0\u7b26\u3001\u7ebf\u7279\u5f81\u548c\u4ea4\u70b9\u30022D\u7279\u5f81\u4e0e3D\u7279\u5f81\u4e4b\u95f4\u7684\u5bf9\u5e94\u5173\u7cfb\u4e5f\u4f1a\u88ab\u8bb0\u5f55\u4e0b\u6765\u3002\u4e3a\u4e86\u52a0\u5feb\u5730\u56fe\u7684\u4fdd\u5b58\u3001\u52a0\u8f7d\u548c\u5728\u4e0d\u540c\u8bbe\u5907\u4e4b\u95f4\u7684\u4f20\u8f93\uff0c\u4ee5\u4e0a\u4fe1\u606f\u4ee5\u4e8c\u8fdb\u5236\u5f62\u5f0f\u5b58\u50a8\uff0c\u8fd9\u4e5f\u4f7f\u5f97\u521d\u59cb\u5730\u56fe\u6bd4\u539f\u59cb\u6570\u636e\u8981\u5c0f\u5f97\u591a\u3002\u4f8b\u5982\uff0c\u5728OIVIO\u6570\u636e\u96c6\u4e0a\uff0c\u6211\u4eec\u7684\u521d\u59cb\u5730\u56fe\u5927\u5c0f\u4ec5\u7ea6\u4e3a\u539f\u59cb\u6570\u636e\u5927\u5c0f\u76842%\u3002<\/p>\n\n\n\n<p><strong>\u5730\u56fe\u4f18\u5316\u4e0e\u91cd\u7528<\/strong><\/p>\n\n\n\n<p><strong>\u79bb\u7ebf\u5730\u56fe\u4f18\u5316<\/strong><\/p>\n\n\n\n<p>\u8fd9\u4e00\u90e8\u5206\u65e8\u5728\u5904\u7406\u7531\u6211\u4eec\u7684\u89c6\u89c9\u91cc\u7a0b\u8ba1\uff08VO\uff09\u6a21\u5757\u751f\u6210\u7684\u521d\u59cb\u5730\u56fe\uff0c\u5e76\u8f93\u51fa\u53ef\u4ee5\u7528\u4e8e\u65e0\u6f02\u79fb\u91cd\u5b9a\u4f4d\u7684\u4f18\u5316\u5730\u56fe\u3002\u6211\u4eec\u7684\u79bb\u7ebf\u5730\u56fe\u4f18\u5316\u6a21\u5757\u5305\u62ec\u4ee5\u4e0b\u51e0\u4e2a\u5730\u56fe\u5904\u7406\u63d2\u4ef6\u3002<\/p>\n\n\n\n<ol 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class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"102\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-133-1024x102.png\" alt=\"\" class=\"wp-image-14467\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-133-1024x102.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-133-300x30.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-133-768x77.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-133.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" 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class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"736\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-134-1024x736.png\" alt=\"\" class=\"wp-image-14468\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-134-1024x736.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-134-300x216.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-134-768x552.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-134.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"791\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-135-1024x791.png\" alt=\"\" class=\"wp-image-14469\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-135-1024x791.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-135-300x232.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-135-768x593.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-135.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"488\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-136-1024x488.png\" alt=\"\" class=\"wp-image-14470\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-136-1024x488.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-136-300x143.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-136-768x366.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-136.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"658\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-137-1024x658.png\" alt=\"\" class=\"wp-image-14471\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-137-1024x658.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-137-300x193.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-137-768x494.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-137.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"670\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-138-1024x670.png\" alt=\"\" class=\"wp-image-14472\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-138-1024x670.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-138-300x196.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-138-768x503.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-138.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"636\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-139-1024x636.png\" alt=\"\" class=\"wp-image-14473\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-139-1024x636.png 1024w, 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1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"382\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-141-1024x382.png\" alt=\"\" class=\"wp-image-14475\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-141-1024x382.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-141-300x112.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-141-768x287.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-141.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"679\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-142-1024x679.png\" alt=\"\" class=\"wp-image-14476\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-142-1024x679.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-142-300x199.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-142-768x509.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-142.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"690\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-143-1024x690.png\" alt=\"\" class=\"wp-image-14477\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-143-1024x690.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-143-300x202.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-143-768x518.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-143.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"525\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-144-1024x525.png\" alt=\"\" class=\"wp-image-14478\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-144-1024x525.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-144-300x154.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-144-768x394.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-144.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"795\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-145-1024x795.png\" alt=\"\" class=\"wp-image-14479\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-145-1024x795.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-145-300x233.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-145-768x596.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-145.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"320\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-146-1024x320.png\" alt=\"\" class=\"wp-image-14480\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-146-1024x320.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-146-300x94.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-146-768x240.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-146.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/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\/08\/\u56fe\u7247-147-1024x388.png\" alt=\"\" class=\"wp-image-14481\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-147-1024x388.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-147-300x114.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-147-768x291.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/08\/\u56fe\u7247-147.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<h2 class=\"wp-block-heading\"><strong>\u603b\u7ed3\u4e00\u4e0b<\/strong><\/h2>\n\n\n\n<p>AirSLAM\u7cfb\u7edf\u662f\u4e00\u79cd\u9ad8\u6548\u4e14\u5149\u7167\u9c81\u68d2\u7684\u70b9\u7ebf\u89c6\u89c9SLAM\u7cfb\u7edf\u3002\u8bbe\u8ba1\u4e86\u4e00\u4e2a\u7edf\u4e00\u7684CNN\u6a21\u578b\u6765\u540c\u65f6\u68c0\u6d4b\u70b9\u548c\u7ebf\u7279\u5f81\uff0c\u5e76\u63d0\u51fa\u4e86\u4e00\u79cd\u57fa\u4e8e\u70b9\u7ebf\u7279\u5f81\u7684\u591a\u9636\u6bb5\u91cd\u5b9a\u4f4d\u65b9\u6cd5\u3002\u8fd9\u4e9b\u521b\u65b0\u4f7f\u5f97\u7cfb\u7edf\u80fd\u591f\u5728\u77ed\u671f\u548c\u957f\u671f\u5149\u7167\u6311\u6218\u4e2d\u8868\u73b0\u51fa\u8272\uff0c\u540c\u65f6\u4fdd\u6301\u8db3\u591f\u7684\u6548\u7387\u4ee5\u90e8\u7f72\u5728\u5d4c\u5165\u5f0f\u5e73\u53f0\u4e0a\u3002\u6700\u7ec8\u5c06AirSLAM\u90e8\u7f72\u5728\u5b9e\u9645\u673a\u5668\u4eba\u4e2d\uff0c\u663e\u793a\u51fa\u5176\u5728\u5404\u79cd\u771f\u5b9e\u573a\u666f\u4e0b\u7684\u5e7f\u6cdb\u9002\u7528\u6027\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\"><strong>\u53c2\u8003<\/strong><\/h2>\n\n\n\n<p>[1] AirSLAM: An Efficient and Illumination-Robust Point-Line Visual SLAM System<\/p>\n\n\n\n<p>[2] Airvo: An illumination- robust point-line visual odometry<\/p>\n","protected":false},"excerpt":{"rendered":"<p>vslam\u7684\u5149\u7167\u6311\u6218 \u73b0\u6709\u7684vSLAM\u7cfb\u7edf\u5728\u9762 [&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-14438","post","type-post","status-publish","format-standard","hentry","category-technology-frontier","category-home"],"views":1,"_links":{"self":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/14438"}],"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=14438"}],"version-history":[{"count":1,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/14438\/revisions"}],"predecessor-version":[{"id":14482,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/14438\/revisions\/14482"}],"wp:attachment":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/media?parent=14438"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/categories?post=14438"},{"taxonomy":"post_tag","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/tags?post=14438"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}