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2.\u76f8\u5173\u5de5\u4f5c<\/strong><\/p>\n\n\n\n

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\u89c6\u89c9\u6fc0\u5149\u96f7\u8fbe\u91cc\u7a0b\u8ba1<\/strong>\u3002\u6700\u8fd1\uff0c\u4eba\u4eec\u8d8a\u6765\u8d8a\u5173\u6ce8\u89c6\u89c9\u6fc0\u5149\u96f7\u8fbe\u91cc\u7a0b\u8ba1\uff0c\u56e0\u4e3a\u5b83\u540c\u65f6\u5229\u7528\u4e86\u4e8c\u7ef4\u7eb9\u7406\u548c\u4e09\u7ef4\u51e0\u4f55\u7279\u5f81\u3002\u73b0\u6709\u7684\u89c6\u89c9\u6fc0\u5149\u96f7\u8fbe\u91cc\u7a0b\u8ba1\u53ef\u5206\u4e3a\u4e24\u7c7b\uff1a\u4f20\u7edf\u65b9\u6cd5\u548c\u57fa\u4e8e\u5b66\u4e60\u7684\u65b9\u6cd5\u3002\u5728\u4f20\u7edf\u65b9\u6cd5\u4e2d\uff0cV-LOAM\u5229\u7528\u89c6\u89c9\u91cc\u7a0b\u8ba1\u4e2d\u7684\u9ad8\u9891\u4f30\u8ba1\u4f4d\u59ff\u4f5c\u4e3a\u4f4e\u9891\u6fc0\u5149\u96f7\u8fbe\u91cc\u7a0b\u8ba1\u7684\u8fd0\u52a8\u5148\u9a8c\uff0c\u4ece\u800c\u5b9e\u73b0\u7cbe\u7ec6\u7684\u8fd0\u52a8\u4f30\u8ba1\u3002LIMO\u5229\u7528\u4ece\u6fc0\u5149\u96f7\u8fbe\u70b9\u83b7\u5f97\u7684\u6df1\u5ea6\u4fe1\u606f\u6765\u51cf\u8f7b\u5355\u76ee\u89c6\u89c9\u91cc\u7a0b\u8ba1\u4e2d\u56fa\u6709\u7684\u5c3a\u5ea6\u4e0d\u786e\u5b9a\u6027\u3002PL-LOAM\u63d0\u4f9b\u4e86\u4e00\u79cd\u7eaf\u89c6\u89c9\u8fd0\u52a8\u8ddf\u8e2a\u65b9\u6cd5\u548c\u4e00\u79cd\u65b0\u578b\u6bd4\u4f8b\u6821\u6b63\u7b97\u6cd5\u3002DV-LOAM\u662f\u4e00\u4e2a SLAM \u6846\u67b6\uff0c\u5305\u62ec\u4e00\u4e2a\u4e24\u9636\u6bb5\u76f4\u63a5\u89c6\u89c9\u91cc\u7a0b\u6d4b\u91cf\u6a21\u5757\u3001\u4e00\u4e2a\u8003\u8651\u52a8\u6001\u7269\u4f53\u7684\u6fc0\u5149\u96f7\u8fbe\u6620\u5c04\u6a21\u5757\u4ee5\u53ca\u4e00\u4e2a\u5e76\u884c\u5168\u5c40\u548c\u5c40\u90e8\u641c\u7d22\u95ed\u73af\u68c0\u6d4b\u6a21\u5757\u3002SDV-LOAM\u5c06\u534a\u76f4\u63a5\u89c6\u89c9\u91cc\u7a0b\u8ba1\u4e0e\u81ea\u9002\u5e94\u626b\u63cf-\u6620\u5c04\u6fc0\u5149\u96f7\u8fbe\u91cc\u7a0b\u8ba1\u76f8\u7ed3\u5408\uff0c\u4ee5\u89e3\u51b3 3D-2D \u6df1\u5ea6\u76f8\u5173\u6027\u7684\u96be\u9898\u3002\u5728\u57fa\u4e8e\u5b66\u4e60\u7684\u65b9\u6cd5\u65b9\u9762\uff0cMVL-SLAM\u91c7\u7528\u4e86 RCNN \u7f51\u7edc\u67b6\u6784\uff0c\u5c06\u4e09\u7ef4\u6fc0\u5149\u96f7\u8fbe\u70b9\u7684 RGB \u56fe\u50cf\u548c\u591a\u901a\u9053\u6df1\u5ea6\u56fe\u50cf\u878d\u5408\u5728\u4e00\u8d77\u3002LIP-Loc\u63d0\u51fa\u4e86\u4e00\u79cd\u7528\u4e8e\u8de8\u6a21\u6001\u5b9a\u4f4d\u7684\u9884\u8bad\u7ec3\u7b56\u7565\uff0c\u5b83\u5229\u7528\u5bf9\u6bd4\u5b66\u4e60\u6765\u8054\u5408\u8bad\u7ec3\u56fe\u50cf\u548c\u70b9\u7f16\u7801\u5668\u3002<\/p>\n\n\n\n

\"\"<\/figure>\n\n\n\n

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3.\u65b9\u6cd5<\/strong><\/p>\n\n\n\n

3.1\u603b\u4f53\u7ed3\u6784<\/strong><\/p>\n\n\n\n

\"\"<\/figure>\n\n\n\n
\"\"<\/figure>\n\n\n\n

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<\/strong>3.2\u5c42\u6b21\u7279\u5f81\u63d0\u53d6<\/strong><\/p>\n\n\n\n

\u70b9\u7279\u5f81\u63d0\u53d6<\/strong>\u3002\u7531\u4e8e\u539f\u59cb\u70b9\u4e91\u7684\u4e0d\u89c4\u5219\u6027\u548c\u7a00\u758f\u6027\uff0c\u6211\u4eec\u9996\u5148\u5c06\u5176\u6295\u5f71\u5230\u4e00\u4e2a\u5706\u67f1\u9762[30, 54]\u4e0a\uff0c\u4ee5\u6709\u5e8f\u5730\u7ec4\u7ec7\u70b9\u3002\u5176\u5bf9\u5e94\u7684\u4e8c\u7ef4\u4f4d\u7f6e\u4e3a\uff1a<\/p>\n\n\n\n

\"\"<\/figure>\n\n\n\n

\u5176\u4e2d\uff0cx\u3001y\u3001z \u662f\u70b9\u4e91\u7684\u539f\u59cb\u4e09\u7ef4\u5750\u6807\uff0cu\u3001v \u662f\u6295\u5f71\u4f2a\u56fe\u50cf\u4e0a\u76f8\u5e94\u7684\u4e8c\u7ef4\u50cf\u7d20\u4f4d\u7f6e\u3002\u2206\u03b8 \u548c \u2206\u03d5 \u5206\u522b\u662f\u6fc0\u5149\u96f7\u8fbe\u4f20\u611f\u5668\u7684\u6c34\u5e73\u548c\u5782\u76f4\u5206\u8fa8\u7387\u3002\u4e3a\u4e86\u5145\u5206\u5229\u7528\u539f\u59cb\u4e09\u7ef4\u70b9\u7684\u51e0\u4f55\u4fe1\u606f\uff0c\u6211\u4eec\u7528\u76f8\u5e94\u7684\u539f\u59cb\u4e09\u7ef4\u5750\u6807\u586b\u5145\u6bcf\u4e2a\u6295\u5f71\u7684\u4e8c\u7ef4\u4f4d\u7f6e\u3002\u5728\u8fd9\u79cd\u60c5\u51b5\u4e0b\uff0c\u4e0d\u4ec5\u53ef\u4ee5\u5c06\u6fc0\u5149\u96f7\u8fbe\u70b9\u8f6c\u6362\u4e3a\u4f2a\u56fe\u50cf\u7ed3\u6784[26]\uff0c\u4ee5\u4fbf\u5728\u7b2c 3.4 \u8282\u4e2d\u4e0e\u56fe\u50cf\u8fdb\u884c\u66f4\u597d\u7684\u5bf9\u9f50\u548c\u5168\u5c40\u7279\u5f81\u878d\u5408\uff0c\u800c\u4e14\u8fd8\u53ef\u4ee5\u4fdd\u7559\u539f\u59cb\u7684\u4e09\u7ef4\u51e0\u4f55\u4fe1\u606f\uff0c\u4ee5\u4fbf\u8fdb\u884c\u6709\u6548\u7684\u7279\u5f81\u63d0\u53d6\u3002\u7136\u540e\uff0c\u5c06\u56fe 2 \u4e2d\u5927\u5c0f\u4e3a HP \u00d7 WP \u00d7 3 \u7684\u4f2a\u56fe\u50cf\u8f93\u5165\u5206\u5c42\u7279\u5f81\u63d0\u53d6\u6a21\u5757\uff0c\u63d0\u53d6\u591a\u5c42\u6b21\u70b9\u7279\u5f81 FP\u2208 RHP \u00d7WP \u00d7D\uff0c\u5176\u4e2d D \u4e3a\u4f2a\u56fe\u50cf\u7279\u5f81\u7684\u901a\u9053\u6570\u3002
\u56fe\u50cf\u7279\u5f81\u63d0\u53d6<\/strong>\u3002\u7ed9\u5b9a\u6444\u50cf\u673a\u56fe\u50cf I\u2208RH\u00d7W \u00d73\uff0c\u6211\u4eec\u5229\u7528\u4e2d\u57fa\u4e8e\u5377\u79ef\u7684\u7279\u5f81\u91d1\u5b57\u5854\u63d0\u53d6\u56fe\u50cf\u7279\u5f81 FI\u2208RHI\u00d7WI\u00d7C \u5176\u4e2d\uff0cHI\u3001WI \u662f\u7279\u5f81\u56fe\u7684\u9ad8\u5ea6\u548c\u5bbd\u5ea6\u3002C \u662f\u56fe\u50cf\u7279\u5f81\u7684\u901a\u9053\u6570\u3002<\/p>\n\n\n\n

3.3 \u672c\u5730\u878d\u5408\u5668\u6a21\u5757<\/strong><\/p>\n\n\n\n

\u53d7\u4e0a\u4e0b\u6587\u805a\u7c7b\u7684\u542f\u53d1\uff0c\u6211\u4eec\u63d0\u51fa\u4e86\u4e00\u79cd\u57fa\u4e8e\u805a\u7c7b\u7684\u901a\u7528\u89c6\u89c9\u4e3b\u5e72\uff0c\u5c06\u56fe\u50cf\u89c6\u4e3a\u4e00\u7ec4\u70b9\uff0c\u5e76\u5bf9\u5176\u8fdb\u884c\u4e86\u6269\u5c55\uff0c\u63d0\u51fa\u4e86\u4e00\u79cd\u65b0\u9896\u7684\u57fa\u4e8e\u805a\u7c7b\u7684\u7279\u5f81\u878d\u5408\u6a21\u5757\uff08\u672c\u5730\u878d\u5408\u5668\uff09\uff0c\u65e0\u9700\u4efb\u4f55 CNN \u6216Transformer\u3002\u5982\u56fe 3 \u6240\u793a\uff0c\u8be5\u6a21\u5757\u53ef\u4ee5\u5c06\u56fe\u50cf\u4e2d\u66f4\u7cbe\u7ec6\u7684\u4e8c\u7ef4\u7eb9\u7406\u548c\u6bcf\u4e2a\u805a\u7c7b\u4e2d\u70b9\u7684\u51e0\u4f55\u7279\u5f81\u8fdb\u884c\u5c40\u90e8\u878d\u5408\u3002\u6211\u4eec\u57fa\u4e8e\u805a\u7c7b\u7684\u65b9\u6cd5\u8fd8\u4fdd\u6301\u4e86\u5f88\u9ad8\u7684\u6548\u7387\uff0c\u603b\u63a8\u7406\u65f6\u95f4\u4ec5\u4e3a\u57fa\u4e8e\u6ce8\u610f\u529b\u7684\u65b9\u6cd5\u7684\u4e00\u534a\uff0c\u5982\u8868 7 \u6240\u793a\u3002<\/p>\n\n\n\n

\"\"<\/figure>\n\n\n\n
\"\"<\/figure>\n\n\n\n
\"\"<\/figure>\n\n\n\n
\"\"<\/figure>\n\n\n\n
\"\"<\/figure>\n\n\n\n

3.4 \u5168\u5c40\u878d\u5408\u6a21\u5757<\/strong><\/p>\n\n\n\n

\"\"<\/figure>\n\n\n\n
\"\"<\/figure>\n\n\n\n
\"\"<\/figure>\n\n\n\n
\"\"<\/figure>\n\n\n\n
\"\"<\/figure>\n\n\n\n

3.5\u4f4d\u59ff\u8fed\u4ee3\u4f30\u8ba1<\/strong><\/p>\n\n\n\n

\"\"<\/figure>\n\n\n\n
\"\"<\/figure>\n\n\n\n
\"\"<\/figure>\n\n\n\n
\"\"<\/figure>\n\n\n\n
\"\"<\/figure>\n\n\n\n
\"\"<\/figure>\n\n\n\n

\u5176\u4e2d\uff0c\u59ff\u6001\u6b8b\u5dee \u2206ql \u548c \u2206tl \u53ef\u6839\u636e\u516c\u5f0f (9) \u548c\u516c\u5f0f (10) \u5728\u6700\u7c97\u7cd9\u5c42\u4e2d\u901a\u8fc7\u7c7b\u4f3c\u8fc7\u7a0b\u83b7\u5f97\u3002<\/p>\n\n\n\n

3.6 \u635f\u5931\u51fd\u6570<\/strong><\/p>\n\n\n\n

\"\"<\/figure>\n\n\n\n
\"\"<\/figure>\n\n\n\n
\"\"<\/figure>\n\n\n\n
\"\"<\/figure>\n\n\n\n
\"\"<\/figure>\n\n\n\n

\u8868 1\uff1a\u5728 KITTI \u91cc\u7a0b\u8ba1\u6570\u636e\u96c6\u4e0a\u4e0e\u4e0d\u540c\u91cc\u7a0b\u8ba1\u7f51\u7edc\u7684\u6bd4\u8f83\u3002trel \u548c rrel \u5206\u522b\u6307\u957f\u5ea6\u4e3a 100\u3001200\u3001\u2026\u3001800 \u7c73\u7684 00-10 \u4e2a\u5b50\u5e8f\u5217\u4e0a\u7684\u5e73\u5747\u5e8f\u5217\u5e73\u79fb RMSE\uff08%\uff09\u548c\u5e73\u5747\u5e8f\u5217\u65cb\u8f6c RMSE\uff08\u25e6\/100 \u7c73\uff09\u3002\u6700\u4f73\u7ed3\u679c\u4ee5\u7c97\u4f53\u8868\u793a\uff0c\u6b21\u4f73\u7ed3\u679c\u4ee5\u4e0b\u5212\u7ebf\u8868\u793a\u3002\u2217 \u8868\u793a\u6a21\u578b\u662f\u5728 00-08 \u5e8f\u5217\u4e0a\u8bad\u7ec3\u7684\u3002<\/p>\n\n\n\n

\"\"<\/figure>\n\n\n\n

4 \u5b9e\u9a8c<\/strong><\/p>\n\n\n\n

4.1 KITTI \u91cc\u7a0b\u8ba1\u6570\u636e\u96c6<\/strong><\/p>\n\n\n\n

\u6211\u4eec\u5728 KITTI\u91cc\u7a0b\u8ba1\u6570\u636e\u96c6\u4e0a\u5bf9 DVLO \u8fdb\u884c\u4e86\u8bc4\u4f30\u3002\u8be5\u6570\u636e\u96c6\u7531 22 \u4e2a\u5e8f\u5217\u7684\u6fc0\u5149\u96f7\u8fbe\u70b9\u4e91\u53ca\u5176\u76f8\u5e94\u7684\u7acb\u4f53\u56fe\u50cf\u7ec4\u6210\u3002\u5728\u672c\u6587\u4e2d\uff0c\u6211\u4eec\u4ec5\u4f7f\u7528\u5355\u76ee\u5de6\u76f8\u673a\u56fe\u50cf\u4e0e\u6fc0\u5149\u96f7\u8fbe\u4f20\u611f\u5668\u8fdb\u884c\u878d\u5408\u3002\u7531\u4e8e\u53ea\u6709\u5e8f\u5217 00-10 \u624d\u6709\u5730\u9762\u771f\u5b9e\u4f4d\u59ff\uff08\u8f68\u8ff9\uff09\uff0c\u56e0\u6b64\u6211\u4eec\u4f7f\u7528\u8fd9\u4e9b\u5e8f\u5217\u8fdb\u884c\u8bad\u7ec3\u548c\u6d4b\u8bd5\u3002
\u8868 2\uff1a\u5728 KITTI 00-10 \u5e8f\u5217\u4e0a\u4e0e\u4f20\u7edf\u89c6\u89c9-\u6fc0\u5149\u96f7\u8fbe\u91cc\u7a0b\u8ba1\u7684\u6bd4\u8f83\u3002\u6211\u4eec\u7684 DVLO \u5728 00-06 \u5e8f\u5217\u4e0a\u8fdb\u884c\u4e86\u8bad\u7ec3\u3002\u6bcf\u4e2a\u5e8f\u5217\u7684\u6700\u4f73\u7ed3\u679c\u4ee5\u7c97\u4f53\u8868\u793a\uff0c\u6b21\u4f73\u7ed3\u679c\u4ee5\u4e0b\u5212\u7ebf\u8868\u793a\u3002<\/p>\n\n\n\n

\"\"<\/figure>\n\n\n\n

\u8868 3\uff1a\u5728 KITTI 09-10 \u5e8f\u5217\u4e0a\u4e0e\u57fa\u4e8e\u5b66\u4e60\u7684\u591a\u6a21\u6001\u91cc\u7a0b\u8ba1\u7684\u6bd4\u8f83\u3002\u6211\u4eec\u7684 DVLO \u5728 00-06 \u5e8f\u5217\u4e0a\u8fdb\u884c\u4e86\u8bad\u7ec3\uff0c\u800c\u5176\u4ed6\u6a21\u578b\u5219\u5728 00-08 \u5e8f\u5217\u4e0a\u8fdb\u884c\u4e86\u8bad\u7ec3\u3002\u6700\u4f73\u7ed3\u679c\u4ee5\u7c97\u4f53\u8868\u793a\uff0c\u6b21\u4f73\u7ed3\u679c\u4ee5\u4e0b\u5212\u7ebf\u8868\u793a<\/p>\n\n\n\n

\"\"<\/figure>\n\n\n\n

4.2 \u5b9e\u73b0\u7ec6\u8282<\/strong><\/p>\n\n\n\n

\u6570\u636e\u9884\u5904\u7406<\/strong>\u3002\u6211\u4eec\u76f4\u63a5\u8f93\u5165\u6240\u6709\u6fc0\u5149\u96f7\u8fbe\u70b9\uff0c\u800c\u4e0d\u8fdb\u884c\u4e0b\u91c7\u6837\u3002\u6839\u636e\u6fc0\u5149\u96f7\u8fbe\u4f20\u611f\u5668\u7684\u6d4b\u8ddd\u8303\u56f4\uff0c\u6211\u4eec\u5c06\u6295\u5f71\u7684\u4f2a\u56fe\u50cf\u5927\u5c0f\u8bbe\u7f6e\u4e3a 64 \u00d7 1800\u3002\u7531\u4e8e\u6444\u50cf\u5934\u548c\u6fc0\u5149\u96f7\u8fbe\u4e4b\u95f4\u5b58\u5728\u8f83\u5927\u7684\u7a7a\u95f4\u8303\u56f4\u5dee\u5f02\uff0c\u6211\u4eec\u8bbe\u8ba1\u4e86\u4e00\u4e2a\u878d\u5408\u63a9\u7801\uff0c\u4ee5\u6307\u793a\u54ea\u4e9b\u70b9\u53ef\u4ee5\u4e0e\u56fe\u50cf\u878d\u5408\u3002
\u53c2\u6570<\/strong>\u3002\u5b9e\u9a8c\u5728\u82f1\u4f1f\u8fbe RTX 4090 GPU \u548c PyTorch 1.10.1 \u4e0a\u8fdb\u884c\u3002\u6211\u4eec\u4f7f\u7528 Adam \u4f18\u5316\u5668\uff0c\u03b21 = 0.9\uff0c\u03b22 = 0.999\u3002\u521d\u59cb\u5b66\u4e60\u7387\u8bbe\u4e3a 0.001\uff0c\u6bcf 200000 \u6b65\u6307\u6570\u8870\u51cf\u4e00\u6b21\uff0c\u76f4\u5230 0.00001\u3002\u56db\u5c42\u7684 \u03b1l \u5206\u522b\u4e3a 1.6\u30010.8\u30010.4 \u548c 0.2\u3002\u53ef\u5b66\u4e60\u53c2\u6570 kx \u548c kq \u7684\u521d\u59cb\u503c\u5206\u522b\u4e3a 0.0 \u548c -2.5\u3002
\u8bc4\u4f30\u6307\u6807<\/strong>\u3002\u6211\u4eec\u6309\u7167 PWCLO [55] \u7684\u534f\u8bae\uff0c\u7528\u4e24\u4e2a\u6307\u6807\u6765\u8bc4\u4f30\u6211\u4eec\u7684\u65b9\u6cd5\uff1a(1) \u5e73\u5747\u5e8f\u5217\u5e73\u79fb RMSE (%)\u3002(2) \u5e73\u5747\u5e8f\u5217\u65cb\u8f6c\u5747\u65b9\u6839\u8bef\u5dee\uff08\u25e6\/100 \u7c73\uff09<\/p>\n\n\n\n

4.3 \u5b9a\u91cf\u7ed3\u679c<\/strong><\/p>\n\n\n\n

\u4e0e\u89c6\u89c9\/\u6fc0\u5149\u96f7\u8fbe\u91cc\u7a0b\u8ba1\u6bd4\u8f83<\/strong>\u3002\u6211\u4eec\u5c06\u6211\u4eec\u7684\u65b9\u6cd5\u4e0e\u4e00\u4e9b\u5177\u6709\u4ee3\u8868\u6027\u7684\u89c6\u89c9\u91cc\u7a0b\u8ba1\uff08VO\uff09\u6216\u6fc0\u5149\u96f7\u8fbe\u91cc\u7a0b\u8ba1\uff08LO\uff09\u7f51\u7edc\u8fdb\u884c\u7efc\u5408\u6bd4\u8f83\u3002\u6309\u7167\u6587\u732e[55]\u4e2d\u7684\u8bbe\u7f6e\uff0c\u6211\u4eec\u5728 00-06 \u5e8f\u5217\u4e0a\u8bad\u7ec3\u6211\u4eec\u7684\u6a21\u578b\u3002\u8868 1 \u5217\u51fa\u4e86 KITTI \u6570\u636e\u96c6\u7684\u5b9a\u91cf\u7ed3\u679c\u3002\u8868 1 \u663e\u793a\uff0c\u6211\u4eec\u7684 DVLO \u5728\u5927\u591a\u6570\u5e8f\u5217\u4e0a\u90fd\u4f18\u4e8e\u6240\u6709\u8fd9\u4e9b\u4f5c\u54c1\u3002\u4e0e DFVO [65] \u548c Cho \u7b49\u4eba [6] \u7b49\u6df1\u5ea6\u89c6\u89c9\u91cc\u7a0b\u8ba1\u76f8\u6bd4\uff0c\u6211\u4eec\u7684\u65b9\u6cd5\u5728\u5e8f\u5217 07-10 \u4e0a\u7684\u5e73\u5747\u8bef\u5dee trel \u548c rrel \u5206\u522b\u4e0b\u964d\u4e86 63.4% \u548c 43.8%\u3002\u503c\u5f97\u6ce8\u610f\u7684\u662f\uff0c\u5c3d\u7ba1\u8fd9\u4e9b VO \u65b9\u6cd5\u5927\u591a\u662f\u5728\u8f83\u5927\u7684\u6570\u636e\uff0800-08\uff09\u4e0a\u8fdb\u884c\u8bad\u7ec3\u7684\uff0c\u4f46\u6211\u4eec\u7684\u65b9\u6cd5\u4ecd\u7136\u8fdc\u8fdc\u4f18\u4e8e\u5b83\u4eec\u3002\u4e0e\u6df1\u5ea6\u6fc0\u5149\u96f7\u8fbe\u91cc\u7a0b\u8ba1\u76f8\u6bd4\uff0c\u6211\u4eec\u7684 DVLO \u751a\u81f3\u5728\u5927\u591a\u6570\u5e8f\u5217\u4e0a\u90fd\u4f18\u4e8e\u6700\u8fd1\u7684 SOTA \u65b9\u6cd5 EfficientLO [54]\u3002\u4e0e EfficientLO \u76f8\u6bd4\uff0c\u6211\u4eec\u7684\u65b9\u6cd5\u5177\u6709\u7ade\u4e89\u529b\u7684 0.41 \u25e6\/100m \u65cb\u8f6c\u8bef\u5dee\u3002\u6b64\u5916\uff0c\u5728\u6d4b\u8bd5\u5e8f\u5217\u4e0a\uff0c\u6211\u4eec\u7684\u5e73\u5747\u5e73\u79fb\u8bef\u5dee trel \u4e0e\u4ed6\u4eec\u76f8\u6bd4\u4e0b\u964d\u4e86 4.9%\u3002\u5b9e\u9a8c\u7ed3\u679c\u8bc1\u660e\u4e86\u6211\u4eec\u7684\u89c6\u89c9-\u6fc0\u5149\u96f7\u8fbe\u878d\u5408\u8bbe\u8ba1\u7684\u6709\u6548\u6027\u548c\u5de8\u5927\u6f5c\u529b\u3002
\u8868 4\uff1a\u4e0d\u540c\u591a\u6a21\u6001\u91cc\u7a0b\u8ba1\u5728 KITTI \u91cc\u7a0b\u8ba1\u6570\u636e\u96c6\u5e8f\u5217 07-10 \u4e0a\u7684\u5e73\u5747\u63a8\u7406\u65f6\u95f4\u3002<\/p>\n\n\n\n

\"\"<\/figure>\n\n\n\n
\"\"<\/figure>\n\n\n\n

\u56fe 4\uff1a\u6211\u4eec\u4f30\u8ba1\u7684\u4f4d\u59ff\u8f68\u8ff9<\/strong>\u3002\u8be5\u56fe\u663e\u793a\u4e86\u6211\u4eec\u7f51\u7edc\u7684\u4e8c\u7ef4\u548c\u4e09\u7ef4\u8f68\u8ff9\uff0c\u4ee5\u53ca KITTI \u6570\u636e\u96c6\u4e0a\u7684\u5730\u9762\u771f\u5b9e\u8f68\u8ff9\u3002<\/p>\n\n\n\n

\u4e0e\u4f20\u7edf\u591a\u6a21\u6001\u91cc\u7a0b\u8ba1\u7684\u6bd4\u8f83<\/strong>\u3002\u6211\u4eec\u5728\u6574\u4e2a KITTI \u5e8f\u5217\uff0800-10\uff09\u4e0a\u6bd4\u8f83\u4e86\u6211\u4eec\u7684\u65b9\u6cd5\u548c\u4ee5\u524d\u7684\u4f20\u7edf\u591a\u6a21\u6001\u91cc\u7a0b\u8ba1\u7684\u6027\u80fd\u3002\u7ed3\u679c\u5982\u8868 2 \u6240\u793a\u3002\u8868 2 \u663e\u793a\uff0c\u5728\u5927\u591a\u6570\u5e8f\u5217\u4e0a\uff0c\u6211\u4eec\u7684 DVLO \u90fd\u4f18\u4e8e\u6240\u6709\u8fd9\u4e9b\u4f5c\u54c1\u3002\u4e0e PL-LOAM [16]\u76f8\u6bd4\uff0c\u6211\u4eec\u7684\u65b9\u6cd5\u5728\u5e8f\u5217 00-10 \u4e0a\u7684\u5e73\u5747\u5e73\u79fb\u8bef\u5dee trel \u4e0b\u964d\u4e86 28.7%\u3002
\u4e0e\u57fa\u4e8e\u5b66\u4e60\u7684\u591a\u6a21\u6001\u91cc\u7a0b\u8ba1\u6bd4\u8f83<\/strong>\u3002\u7531\u4e8e\u5927\u591a\u6570\u6df1\u5ea6\u591a\u6a21\u6001\u878d\u5408\u91cc\u7a0b\u8ba1\u90fd\u662f\u5728 00-08 \u5e8f\u5217\u4e0a\u8fdb\u884c\u8bad\u7ec3\uff0c\u7136\u540e\u5728 09-10 \u5e8f\u5217\u4e0a\u8fdb\u884c\u6d4b\u8bd5\uff0c\u56e0\u6b64\u6211\u4eec\u4e5f\u6bd4\u8f83\u4e86\u6211\u4eec\u7684 DVLO \u548c\u5176\u4ed6\u57fa\u4e8e\u5b66\u4e60\u7684\u591a\u6a21\u6001\u91cc\u7a0b\u8ba1\u5728 09-10 \u5e8f\u5217\u4e0a\u7684\u6027\u80fd\u3002\u7ed3\u679c\u89c1\u8868 1 \u548c\u8868 3\u3002\u503c\u5f97\u6ce8\u610f\u7684\u662f\uff0c\u5c3d\u7ba1\u6211\u4eec\u7684\u6a21\u578b\u53ea\u5728 00-06 \u5e8f\u5217\u4e0a\u8fdb\u884c\u4e86\u8bad\u7ec3\uff0c\u4f46\u5728\u5927\u591a\u6570\u5e8f\u5217\u4e0a\uff0c\u6211\u4eec\u7684\u65b9\u6cd5\u4ecd\u7136\u4f18\u4e8e H-VLO\uff0c\u6211\u4eec\u7684\u65b9\u6cd5\u7684 trel \u548c rrel \u5206\u522b\u964d\u4f4e\u4e86 47.0% \u548c 2.3%\uff0c\u8fd9\u8bc1\u660e\u4e86\u6211\u4eec\u63d0\u51fa\u7684\u878d\u5408\u7b56\u7565\u7684\u4f18\u8d8a\u6027\u3002<\/p>\n\n\n\n

\"\"<\/figure>\n\n\n\n

\u56fe 5\uff1aLOAM \u548c\u6211\u4eec\u5728\u6709\u5730\u9762\u771f\u5b9e\u7684 KITTI \u5e8f\u5217 07 \u4e0a\u7684\u8f68\u8ff9\u7ed3\u679c\u3002\u65e0\u8bba\u662f\u65e0\u6620\u5c04\u8fd8\u662f\u6709\u6620\u5c04\uff0c\u6211\u4eec\u7684\u6027\u80fd\u90fd\u4f18\u4e8e LOAM\u3002<\/p>\n\n\n\n

\"\"<\/figure>\n\n\n\n

\u56fe 6\uff1a\u6211\u4eec\u8bbe\u8ba1\u7684\u57fa\u4e8e\u5c40\u90e8\u805a\u7c7b\u7684\u878d\u5408\u673a\u5236\u5728\u67d0\u4e2a\u805a\u7c7b\u5185\u7684\u53ef\u89c6\u5316\u6548\u679c\u3002\u7ea2\u70b9\u8868\u793a\u805a\u7c7b\u4e2d\u5fc3\u7684\u4e8c\u7ef4\u4f4d\u7f6e\u3002\u9ec4\u8272\u533a\u57df\u662f\u6bcf\u4e2a\u4e2d\u5fc3\u5468\u56f4\u7684\u805a\u7c7b\u50cf\u7d20\u3002<\/p>\n\n\n\n

4.4 \u63a8\u7406\u65f6\u95f4\u5206\u6790<\/strong><\/p>\n\n\n\n

\u6548\u7387\u662f\u5b9e\u65f6 SLAM \u7cfb\u7edf\u4e2d\u53e6\u4e00\u4e2a\u6781\u5176\u91cd\u8981\u7684\u56e0\u7d20\u3002\u5982\u8868 4 \u6240\u793a\uff0c\u6211\u4eec\u5c06 DVLO \u7684\u8fd0\u884c\u65f6\u95f4\u4e0e\u5176\u4ed6\u591a\u6a21\u6001\u91cc\u7a0b\u8ba1\u65b9\u6cd5\u8fdb\u884c\u4e86\u6bd4\u8f83\u30024 \u6240\u793a\uff0c\u6211\u4eec\u5c06 DVLO \u7684\u8fd0\u884c\u65f6\u95f4\u4e0e\u5176\u4ed6\u591a\u6a21\u6001\u91cc\u7a0b\u8ba1\u65b9\u6cd5\u8fdb\u884c\u4e86\u6bd4\u8f83\u3002\u7531\u4e8e KITTI \u6570\u636e\u96c6\u4e2d\u7684\u6fc0\u5149\u96f7\u8fbe\u70b9\u662f\u4ee5 10Hz \u7684\u9891\u7387\u91c7\u96c6\u7684\uff0c\u4ee5\u5f80\u7684\u591a\u6a21\u6001\u65b9\u6cd5 \u5f88\u5c11\u80fd\u6ee1\u8db3\u5b9e\u65f6\u5e94\u7528\u8981\u6c42\uff08\u4f4e\u4e8e 100 \u6beb\u79d2\uff09\u3002\u800c\u6211\u4eec\u7684\u65b9\u6cd5\u63a8\u7406\u65f6\u95f4\u4ec5\u4e3a 98.5 \u6beb\u79d2\uff0c\u5177\u6709\u5b9e\u65f6\u5e94\u7528\u7684\u6f5c\u529b\u3002<\/p>\n\n\n\n

4.5 \u53ef\u89c6\u5316\u7ed3\u679c<\/strong><\/p>\n\n\n\n

\u5728\u672c\u8282\u4e2d\uff0c\u6211\u4eec\u5c06\u6839\u636e\u56fe 4 \u4e2d\u7684\u4f30\u8ba1\u4f4d\u59ff\u5bf9\u4e8c\u7ef4\u548c\u4e09\u7ef4\u8f68\u8ff9\u8fdb\u884c\u53ef\u89c6\u5316\u3002\u4ece\u56fe\u4e2d\u53ef\u4ee5\u770b\u51fa\uff0c\u6211\u4eec\u7684\u91cc\u7a0b\u8ba1\u53ef\u4ee5\u5f88\u597d\u5730\u8ddf\u8e2a\u5730\u9762\u771f\u5b9e\u7684\u8f68\u8ff9\u3002\u6211\u4eec\u8fd8\u8fdb\u884c\u4e86\u5b9e\u9a8c\uff0c\u6bd4\u8f83\u4e86\u7ecf\u5178\u65b9\u6cd5 LOAM\u548c\u6211\u4eec\u7684\u8f68\u8ff9\u7cbe\u5ea6\u548c\u4f30\u8ba1\u8bef\u5dee\u3002\u53ef\u89c6\u5316\u7ed3\u679c\u5982\u56fe 5 \u6240\u793a\u3002\u5c3d\u7ba1\u6211\u4eec\u8bbe\u8ba1\u7684\u91cc\u7a0b\u8ba1\u53ea\u662f\u4e0d\u5e26\u6620\u5c04\u7684 SLAM \u7cfb\u7edf\u7684\u524d\u7aef\uff0c\u4f46\u6211\u4eec\u7684\u65b9\u6cd5\u6bd4\u5e26\u6620\u5c04\u7684 LOAM \u65b9\u6cd5\u5b9e\u73b0\u4e86\u66f4\u597d\u7684\u5b9a\u4f4d\u6027\u80fd\u3002
\u8868 5\uff1a\u4e0e\u4e4b\u524d\u5728 FlyingThings3D \u5b50\u96c6\u7684 “val “\u5206\u5272\u4e0a\u8fdb\u884c\u7684\u573a\u666f\u6d41\u4f30\u7b97\u5de5\u4f5c\u7684\u6bd4\u8f83\u3002”RGB “\u548c “XYZ “\u5206\u522b\u8868\u793a\u56fe\u50cf\u548c\u70b9\u4e91\u3002\u6700\u4f73\u7ed3\u679c\u4ee5\u7c97\u4f53\u663e\u793a\u3002<\/p>\n\n\n\n

\"\"<\/figure>\n\n\n\n
\"\"<\/figure>\n\n\n\n

\u56fe 7\uff1a\u4f30\u8ba1\u573a\u666f\u6d41\u7684\u53ef\u89c6\u5316\u3002\u84dd\u8272\u70b9\u4e3a\u6e90\u70b9\uff0c\u7eff\u8272\u548c\u7ea2\u8272\u70b9\u5206\u522b\u8868\u793a\u6b63\u786e\u548c\u9519\u8bef\u7684\u4f30\u8ba1\u76ee\u6807\u70b9\u3002<\/p>\n\n\n\n

4.6 \u573a\u666f\u6d41\u4f30\u8ba1\u4efb\u52a1\u7684\u6cdb\u5316\u6027<\/strong><\/p>\n\n\n\n

\u503c\u5f97\u6ce8\u610f\u7684\u662f\uff0c\u6211\u4eec\u7684\u8bbe\u8ba1\u53ef\u4ee5\u4f5c\u4e3a\u901a\u7528\u7684\u878d\u5408\u6a21\u5757\uff0c\u5f88\u597d\u5730\u6cdb\u5316\u5230\u5176\u4ed6\u4efb\u52a1\u3002\u5728\u6b64\uff0c\u6211\u4eec\u5c06\u878d\u5408\u6a21\u5757\u6269\u5c55\u5230\u573a\u666f\u6d41\u4f30\u8ba1\u4efb\u52a1\u3002\u5982\u8868 5 \u6240\u793a\uff0c\u5728 FlyingThings3D \u6570\u636e\u96c6\u4e0a\uff0c\u6211\u4eec\u7684\u65b9\u6cd5\u5728\u4e8c\u7ef4\u548c\u4e09\u7ef4\u6307\u6807\u4e0a\u90fd\u8d85\u8fc7\u4e86\u6700\u8fd1\u6240\u6709\u7684 SOTA \u591a\u6a21\u6001\u573a\u666f\u6d41\u7f51\u7edc\u3002\u6211\u4eec\u7684\u65b9\u6cd5\u751a\u81f3\u4e00\u76f4\u4f18\u4e8e\u4e13\u95e8\u4e3a\u591a\u6a21\u6001\u573a\u666f\u6d41\u4efb\u52a1\u8bbe\u8ba1\u7684 CamLiRAFT\u3002\u5b9e\u9a8c\u7ed3\u679c\u8bc1\u660e\u4e86\u6211\u4eec\u7684\u65b9\u6cd5\u5177\u6709\u5f88\u5f3a\u7684\u901a\u7528\u6027\u548c\u666e\u904d\u5e94\u7528\u80fd\u529b\u3002\u6211\u4eec\u8fd8\u5728\u56fe 7 \u4e2d\u76f4\u89c2\u5730\u5c55\u793a\u4e86\u4f30\u7b97\u51fa\u7684\u6d41\u91cf\u3002<\/p>\n\n\n\n

4.7 \u6d88\u878d\u7814\u7a76<\/strong><\/p>\n\n\n\n

\u5728\u672c\u8282\u4e2d\uff0c\u6211\u4eec\u5c06\u8fdb\u884c\u5e7f\u6cdb\u7684\u6d88\u878d\u7814\u7a76\uff0c\u4ee5\u8bc4\u4f30\u6211\u4eec\u6240\u8bbe\u8ba1\u7ec4\u4ef6\u7684\u91cd\u8981\u6027\u3002
\u4e0d\u4f7f\u7528\u5c40\u90e8\u878d\u5408\u5668<\/strong>\u3002\u6211\u4eec\u4ece\u7f51\u7edc\u4e2d\u79fb\u9664\u5c40\u90e8\u878d\u5408\u5668\u6a21\u5757\uff0c\u5e76\u4f7f\u7528\u5168\u5c40\u878d\u5408\u5668\u6a21\u5757\u76f4\u63a5\u878d\u5408\u56fe\u50cf\u548c\u70b9\u7279\u5f81\u3002
\u8868 6\uff1a\u5c40\u90e8-\u5168\u5c40\u878d\u5408\u7f51\u7edc\u4e2d\u5c40\u90e8\u878d\u5408\u5668\uff08LoF\uff09\u548c\u5168\u5c40\u878d\u5408\u5668\uff08GoF\uff09\u7684\u6709\u6548\u6027\u3002\u6bcf\u4e2a\u5e8f\u5217\u7684\u6700\u4f73\u7ed3\u679c\u4ee5\u7c97\u4f53\u663e\u793a\u3002<\/p>\n\n\n\n

\"\"<\/figure>\n\n\n\n

\u8868 7\uff1a\u4e0d\u540c\u5c40\u90e8\u878d\u5408\u7b56\u7565\u7684\u6d88\u878d\u7814\u7a76\u3002\u4e0e\u57fa\u4e8e\u6ce8\u610f\u529b\u7684\u5c40\u90e8\u878d\u5408\u7b56\u7565\u76f8\u6bd4\uff0c\u6211\u4eec\u57fa\u4e8e\u805a\u7c7b\u7684\u5c40\u90e8\u878d\u5408\u7b56\u7565\u80fd\u4ee5\u4e00\u534a\u7684\u63a8\u7406\u65f6\u95f4\u8fbe\u5230\u6700\u9ad8\u7684\u51c6\u786e\u7387\u3002\u51c6\u786e\u7387\u548c\u6548\u7387\u65b9\u9762\u7684\u6700\u4f73\u7ed3\u679c\u4ee5\u7c97\u4f53\u663e\u793a\u3002<\/p>\n\n\n\n

\"\"<\/figure>\n\n\n\n

\u8868 6 \u4e2d\u7684\u7ed3\u679c\u8868\u660e\uff0c\u5982\u679c\u6ca1\u6709\u5c40\u90e8\u878d\u5408\u5668\uff0c\u6211\u4eec\u6a21\u578b\u7684\u6027\u80fd\u4f1a\u660e\u663e\u4e0b\u964d\u3002\u8fd9\u8bf4\u660e\u4e86\u5c40\u90e8\u878d\u5408\u5668\u6a21\u5757\u7684\u91cd\u8981\u6027\uff0c\u56e0\u4e3a\u5c40\u90e8\u70b9\u5230\u50cf\u7d20\u7684\u5bf9\u5e94\u5173\u7cfb\u53ef\u4ee5\u878d\u5408\u6765\u81ea\u4e0d\u540c\u6a21\u6001\u7684\u66f4\u7cbe\u7ec6\u7684\u7279\u5f81\u3002
\u65e0\u5168\u5c40\u878d\u5408\u5668<\/strong>\u3002\u6211\u4eec\u53bb\u6389\u4e86\u5168\u5c40\u878d\u5408\u6a21\u5757\uff0c\u76f4\u63a5\u4f7f\u7528\u5c40\u90e8\u878d\u5408\u7279\u5f81\u8fdb\u884c\u59ff\u6001\u4f30\u8ba1\u3002\u8868 6 \u4e2d\u7684\u7ed3\u679c\u8868\u660e\uff0c\u5c40\u90e8\u878d\u5408\u5668\u6a21\u5757\u6709\u9650\u7684\u611f\u53d7\u91ce\u65e0\u6cd5\u5b9e\u73b0\u5145\u5206\u7684\u5168\u5c40\u4fe1\u606f\u4ea4\u4e92\uff0c\u8fd9\u5bfc\u81f4 trel \u548c rrel \u5206\u522b\u9ad8\u51fa\u7ea6 13.4% \u548c 14.6%\u3002\u5168\u5c40\u878d\u5408\u5668\u7684\u5168\u5c40\u5efa\u6a21\u80fd\u529b\u6709\u52a9\u4e8e\u8bc6\u522b\u5bf9\u59ff\u6001\u56de\u5f52\u6709\u5bb3\u7684\u5f02\u5e38\u503c\u3002
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5 \u7ed3\u8bba<\/strong><\/p>\n\n\n\n

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