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class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"877\" height=\"258\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-111.png\" alt=\"\" class=\"wp-image-16838\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-111.png 877w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-111-300x88.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-111-768x226.png 768w\" sizes=\"(max-width: 877px) 100vw, 877px\" 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class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"498\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-112-1024x498.png\" alt=\"\" class=\"wp-image-16839\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-112-1024x498.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-112-300x146.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-112-768x373.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-112.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u56fe4.\u5730\u56fe\u7ba1\u7406\u793a\u610f\u56fe<\/p>\n\n\n\n<p>\u5b8c\u6210\u5730\u7406\u6ce8\u518c\u540e\uff0c\u5c40\u90e8\u6784\u5efa\u7684\u5730\u56fe\u5230\u4e86\u7edf\u4e00\u7684\u5730\u7406\u5750\u6807\u7cfb\u4e0b\uff1b\u6211\u4eec\u4e5f\u53ef\u4ee5\u5c06<strong>\u591a\u4e2a\u65f6\u6bb5\u3001\u591a\u4e2a\u8f7d\u4f53<\/strong>\u91c7\u96c6\u7684\u5730\u56fe\u8fdb\u884c\u57fa\u4e8e\u4e0d\u786e\u5b9a\u6027\u7684\u878d\u5408\uff0c\u878d\u5408\u7684\u8fc7\u7a0b\u4e0e\u5c40\u90e8\u589e\u91cf\u5f0f\u5efa\u56fe\u4e2d\u7684\u805a\u7c7b\/\u878d\u5408\u65b9\u5f0f\u57fa\u672c\u662f\u4e00\u81f4\u7684\uff0c\u4f46\u5728\u805a\u7c7b\u6761\u4ef6\u65b9\u9762\u7565\u6709\u5dee\u522b\u3002<\/p>\n\n\n\n<p><strong>\u5730\u56fe\u5339\u914d\u5b9a\u4f4d<\/strong><\/p>\n\n\n\n<p>\u4e00\u65e6\u5efa\u7acb\u4e86\u8f7b\u91cf\u7ea7\u7684\u9053\u8def\u7279\u5f81\u5730\u56fe\u4e4b\u540e\uff0c\u7528\u6237\u53ef\u4ee5\u4ece\u4e91\u7aef\u83b7\u53d6\u5730\u56fe\u5e76\u7528\u5b83\u6765\u8fdb\u884c\u5339\u914d\u5b9a\u4f4d\u3002<\/p>\n\n\n\n<p>\u57fa\u4e8e\u9053\u8def\u7279\u5f81\u5730\u56fe\u7684\u5339\u914d\u5b9a\u4f4d\u5206\u4e24\u6b65\uff0c<strong>\u7b2c\u4e00\u6b65\u662f\u5efa\u7acb\u6b63\u786e\u7684\u5339\u914d\u5173\u7cfb<\/strong>\u3002\u5728\u6b64\uff0c\u521d\u59cb\u4f4d\u7f6e\u7684\u786e\u5b9a\u548c\u521d\u59cb\u5339\u914d\u7684\u5efa\u7acb\u662f\u96be\u70b9\uff0c\u4e5f\u8f83\u4e3a\u91cd\u8981\u3002\uff08<em>\u5728\u6b64\u6b21\u5f00\u6e90\u7684\u9879\u76ee\u4e2d\uff0c\u6211\u4eec\u6ca1\u6709\u8003\u8651\u8fd9\u90e8\u5206\u5185\u5bb9\uff0c\u76f4\u63a5\u7528\u521d\u59cb\u65f6\u523b\u7684\u8fd1\u4f3c\u4f4d\u59ff\u8fdb\u884c\u521d\u59cb\u5316\u3002<\/em>\uff09\u4e00\u79cd\u53ef\u884c\u7684\u65b9\u6848\u662f\uff0c\u7531GNSS\u6765\u63d0\u4f9b\u7c97\u7565\u7684\u521d\u59cb\u4f4d\u7f6e\u4e0e\u822a\u5411\uff0c\u5e76\u7ed3\u5408\u7a7a\u95f4\u5206\u5e03\u6a21\u5f0f\u641c\u7d22\u6765\u5b9e\u73b0\u521d\u59cb\u5b9a\u4f4d\u3002\u5177\u4f53\u6765\u8bf4\uff0c\u572810m\u5de6\u53f3\u7684\u521d\u59cb\u5b9a\u4f4d\u8bef\u5dee\u4e0b\uff0c\u89c2\u6d4b\u5230\u7bad\u5934\u8fd9\u79cd\u5206\u5e03\u76f8\u5bf9\u5206\u6563\u7684\u7279\u5f81\uff0c\u57fa\u672c\u4e0a\u5c31\u53ef\u4ee5\u5b9e\u73b0\u4e9a\u7c73\u7ea7\u7684\u521d\u59cb\u5b9a\u4f4d\uff0c\u5982\u4e0b\u56fe\u6240\u793a\u3002\u5728\u4f4d\u7f6e\u521d\u503c\u8f83\u597d\u7684\u60c5\u51b5\u4e0b\uff0c\u5bf9\u7528\u6237\u89c2\u6d4b\u5230\u7684\u7279\u5f81\u8fdb\u884c\u7a7a\u95f4\u6700\u90bb\u8fd1\u641c\u7d22\uff0c\u7efc\u5408\u8003\u8651\u7ebf\u72b6\u7279\u5f81\u65b9\u5411\/\u8ddd\u79bb\u3001\u5757\u72b6\u7279\u5f81\u5c3a\u5bf8\/\u65b9\u5411\/\u7c7b\u522b\u7b49\u65b9\u9762\u7684\u56e0\u7d20\uff0c\u5b9e\u73b0\u5b9e\u4f8b\u7ea7\u7684\u6570\u636e\u5173\u8054\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"982\" height=\"402\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-113.png\" alt=\"\" class=\"wp-image-16840\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-113.png 982w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-113-300x123.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-113-768x314.png 768w\" sizes=\"(max-width: 982px) 100vw, 982px\" \/><\/figure>\n\n\n\n<p>\u56fe5.\u4f4d\u7f6e\u8bef\u5dee\u4e0b\u7684\u521d\u59cb\u5339\u914d[1]\u793a\u610f\u56fe<\/p>\n\n\n\n<p>\u4e00\u65e6\u5efa\u7acb\u4e86\u5339\u914d\u5173\u7cfb\u4e4b\u540e\uff0c\u6211\u4eec\u4f7f\u7528<strong>\u6ed1\u52a8\u7a97\u53e3\u7684\u56e0\u5b50\u56fe\u8fdb\u884c\u7528\u6237\u7aef\u7684\u4f4d\u59ff\u4f18\u5316<\/strong>\u3002\u56e0\u5b50\u56fe\u4e2d\u4e3b\u8981\u5305\u542b\u91cc\u7a0b\u8ba1\u56e0\u5b50\u548c\u5730\u56fe\u5339\u914d\u56e0\u5b50\u3002\u5176\u4e2d\uff0c\u91cc\u7a0b\u8ba1\u56e0\u5b50\u63d0\u4f9b\u76f8\u5bf9\u4f4d\u59ff\u7ea6\u675f\uff1b<strong>\u5730\u56fe\u5339\u914d\u56e0\u5b50\u7edf\u4e00\u6784\u5efa\u4e3a\u70b9\u5230\u7ebf\u7684\u8ddd\u79bb<\/strong>\u2014\u2014\u5bf9\u4e8e\u7ebf\u72b6\u7279\u5f81\u800c\u8a00\uff0c\u4f18\u5316\u7528\u6237\u7aef\u7279\u5f81\u91c7\u6837\u70b9\u5230\u5730\u56fe\u4e2d\u7ebf\u72b6\u7279\u5f81\u5c40\u90e8\u7ebf\u6bb5\u7684\u8ddd\u79bb\uff1b\u5bf9\u4e8e\u5757\u72b6\u7279\u5f81\u800c\u8a00\uff0c\u4f18\u5316\u7528\u6237\u7aef\u89c2\u6d4b\u5230\u7684\u5305\u56f4\u6846\u91c7\u6837\u70b9\u5230\u5730\u56fe\u4e2d\u5757\u72b6\u7279\u5f81\u56db\u6761\u6846\u7ebf\u7684\u8ddd\u79bb\u3002\u603b\u7684\u6765\u8bf4\uff0c\u8f66\u9053\u7ebf\u5b9e\u7ebf\u901a\u5e38\u63d0\u4f9b\u6a2a\u5411\u7684\u4f4d\u7f6e\u7ea6\u675f\uff0c\u800c\u8f66\u9053\u7ebf\u865a\u7ebf\u3001\u505c\u8f66\u7ebf\u3001\u7bad\u5934\u7b49\u9053\u8def\u6807\u8bc6\u63d0\u4f9b\u7eb5\u5411\u7684\u4f4d\u7f6e\u7ea6\u675f\u3002<\/p>\n\n\n\n<p>\u8003\u8651\u5230\u9053\u8def\u7279\u5f81\u68c0\u6d4b\u4ee5\u53ca\u5339\u914d\u8fc7\u7a0b\u4e2d\u53ef\u80fd\u5b58\u5728\u7684\u7c97\u5dee\uff0c\u6211\u4eec\u7ef4\u62a4\u4e00\u4e2a\u8f83\u957f\u7684\u6ed1\u52a8\u7a97\u53e3\uff08\u598210\u79d2\uff09\u8054\u5408\u591a\u5e27\u7684\u89c2\u6d4b\u8fdb\u884c\u4f4d\u59ff\u4f30\u8ba1\uff0c\u5e76\u4f7f\u7528Cauchy\u9c81\u68d2\u6838\u5bf9\u5730\u56fe\u5339\u914d\u56e0\u5b50\u8fdb\u884c\u5904\u7406\uff1b\u5728\u4f18\u5316\u8fc7\u7a0b\u4e2d\uff0c\u4f1a\u8fed\u4ee3\u5730\u66f4\u65b0\u9053\u8def\u7279\u5f81\u7684\u6570\u636e\u5173\u8054\uff0c\u4ee5\u5b9e\u73b0\u8f83\u4e3a\u7cbe\u786e\u548c\u9c81\u68d2\u7684\u4f4d\u59ff\u4f30\u8ba1\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"337\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-114-1024x337.png\" alt=\"\" class=\"wp-image-16841\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-114-1024x337.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-114-300x99.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-114-768x252.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-114.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" 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Y. Zhou, X. Li, S. Li, and X. Wang, \u201cVisual mapping and localization system based on compact instance-level road markings with spatial uncertainty,\u201d IEEE Robotics and Automation Letters, vol. 7, no. 4, pp. 10802\u201310809, 2022.<\/p>\n\n\n\n<p>[2] T. Qin, Y. Zheng, T. Chen, Y. Chen, and Q. Su, \u201cA Light-Weight Semantic Map for Visual Localization towards Autonomous Driving,\u201d in 2021 IEEE International Conference on Robotics and Automation (ICRA), May 2021, pp. 11248\u201311254. doi: 10.1109\/ICRA48506.2021.9561663.<\/p>\n\n\n\n<p>[3] T. Qin, T. Chen, Y. Chen, and Q. Su, \u201cAVP-SLAM: Semantic Visual Mapping and Localization for Autonomous Vehicles in the Parking Lot,\u201d in 2020 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS), Oct. 2020, pp. 5939\u20135945. doi: 10.1109\/IROS45743.2020.9340939.<\/p>\n\n\n\n<p>[4] J. Jeong, Y. Cho, and A. Kim, \u201cRoad-SLAM\u202f: Road marking based SLAM with lane-level accuracy,\u201d in 2017 IEEE Intelligent Vehicles Symposium (IV), Jun. 2017, pp. 1736\u20131473. doi: 10.1109\/IVS.2017.7995958.<\/p>\n\n\n\n<p>[5] Z. Qiao, Z. Yu, H. Yin, and S. Shen, \u201cOnline monocular lane mapping using catmull-rom spline,\u201d in 2023 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS), IEEE, 2023, pp. 7179\u20137186.<\/p>\n\n\n\n<p>[6] Y. Liu, T. Yuan, Y. Wang, Y. Wang, and H. Zhao, \u201cVectormapnet: End-to-end vectorized hd map learning,\u201d in International Conference on Machine Learning, PMLR, 2023, pp. 22352\u201322369. Accessed: Oct. 04, 2024.<\/p>\n\n\n\n<p>[7] B. Liao et al., \u201cMaptr: Structured modeling and learning for online vectorized hd map construction,\u201d arXiv preprint arXiv:2208.14437.<\/p>\n\n\n\n<p>[8] Y.-L. Chang, L.-Y. Hsu, and O. T.-C. Chen, \u201cAuto-calibration around view monitoring system,\u201d in Proc. IEEE 78th Veh. Technol. Conf. (VTC Fall), Las Vegas, NV, USA, Sep. 2013, pp. 1\u20135.<\/p>\n\n\n\n<p>[9] B. Li, X. Du, Y. Hu, H. Yu, and W. Zhang, \u201cOnline camera-to-ground calibration for autonomous driving,\u201d 2023, arXiv:2303.17137.<\/p>\n\n\n\n<p>[10] Y. Zhou, X. Li, S. Li, X. Wang, and Z. Shen, \u201cGround-VIO: Monocular visual-inertial odometry with online calibration of camera-ground geometric parameters,\u201d IEEE Transactions on Intelligent Transportation Systems, 2024<\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u5f15\u8a00 \u7aef\u5230\u7aef\u7684\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u76ee\u524d\u5df2\u7ecf\u6210\u4e3a\u884c\u4e1a\u7684\u4e00 [&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-16834","post","type-post","status-publish","format-standard","hentry","category-technology-frontier","category-home"],"views":0,"_links":{"self":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/16834"}],"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=16834"}],"version-history":[{"count":1,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/16834\/revisions"}],"predecessor-version":[{"id":16844,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/16834\/revisions\/16844"}],"wp:attachment":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/media?parent=16834"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/categories?post=16834"},{"taxonomy":"post_tag","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/tags?post=16834"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}