{"id":16931,"date":"2024-10-16T15:37:30","date_gmt":"2024-10-16T07:37:30","guid":{"rendered":"http:\/\/192.168.10.115\/?p=16931"},"modified":"2024-10-16T15:37:30","modified_gmt":"2024-10-16T07:37:30","slug":"2024-10-16-%e5%bc%80%e6%ba%90sota%e9%a1%b9%e7%9b%aevoxel-slam%ef%bc%9a%e5%ae%8c%e6%95%b4%e3%80%81%e7%b2%be%e7%a1%ae%e4%b8%94%e5%a4%9a%e5%8a%9f%e8%83%bd%e7%9a%84%e6%bf%80%e5%85%89%e9%9b%b7%e8%be%be","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2024\/10\/16\/16931\/","title":{"rendered":"2024-10-16 \u5f00\u6e90SOTA\u9879\u76eeVoxel-SLAM\uff1a\u5b8c\u6574\u3001\u7cbe\u786e\u4e14\u591a\u529f\u80fd\u7684\u6fc0\u5149\u96f7\u8fbe-\u60ef\u6027SLAM\u7cfb\u7edf"},"content":{"rendered":"\n

\u5168\u65b0\u5b8c\u6574SLAM<\/strong><\/p>\n\n\n\n

LiDAR SLAM\u4e0eLiDAR\u91cc\u7a0b\u8ba1\u7684\u533a\u522b\u5728\u4e8e\uff0cLiDAR SLAM\u7684\u76ee\u6807\u662f\u5728\u79fb\u52a8\u673a\u5668\u4eba\u4e0a\u5b9e\u65f6\u6784\u5efa\u4e00\u81f4\u7684\u73af\u5883\u5730\u56fe\u5e76\u4f30\u8ba1\u5f53\u524d\u59ff\u6001\uff0c\u800cLO\u7cfb\u7edf\u4e13\u6ce8\u4e8e\u5b9e\u65f6\u5b9a\u4f4d\uff0c\u5e76\u5728\u4e0d\u8003\u8651\u5730\u56fe\u4f18\u5316\u7684\u60c5\u51b5\u4e0b\u7d2f\u79ef\u5730\u56fe\uff0c\u8fd9\u5bb9\u6613\u5bfc\u81f4\u6f02\u79fb\u3002\u53d7ORB-SLAM3\u6982\u5ff5\u7684\u542f\u53d1\uff0cLiDAR SLAM\u4f18\u4e8eLO\u7684\u5730\u65b9\u5728\u4e8e\u5176\u80fd\u591f\u5145\u5206\u5229\u7528\u4ee5\u4e0b\u56db\u79cd\u6570\u636e\u5173\u8054\u6765\u5339\u914d\u548c\u4f18\u5316\u5148\u524d\u7684\u6d4b\u91cf\uff1a<\/p>\n\n\n\n

    \n
  1. \u77ed\u671f\u6570\u636e\u5173\u8054<\/strong>\uff1a\u5c06\u5f53\u524d\u626b\u63cf\u4e0e\u5730\u56fe\u5173\u8054\uff0c\u5e76\u5c3d\u53ef\u80fd\u9ad8\u6548\u5730\u4f30\u8ba1\u5f53\u524d\u7684\u81ea\u8fd0\u52a8\uff0c\u4ee5\u4fbf\u7528\u4e8e\u540e\u7eed\u7684\u89c4\u5212\u548c\u63a7\u5236\u8fc7\u7a0b\u3002\u5927\u591a\u6570LO\/LIO\u7cfb\u7edf\u90fd\u91c7\u7528\u8fd9\u79cd\u77ed\u671f\u6570\u636e\u5173\u8054\u5e76\u5c06\u5f53\u524dLiDAR\u626b\u63cf\u7d2f\u79ef\u5230\u5b83\u4eec\u7684\u5730\u56fe\u4e2d\uff0c\u4f46\u4e0d\u8003\u8651\u8fdb\u4e00\u6b65\u4f18\u5316\u72b6\u6001\u6216\u5730\u56fe\uff0c\u5bfc\u81f4\u7d2f\u79ef\u6f02\u79fb\u3002<\/li>\n\n\n\n
  2. \u4e2d\u671f\u6570\u636e\u5173\u8054<\/strong>\uff1a\u5173\u8054\u6700\u8fd1\u7684\u591a\u4e2a\u626b\u63cf\u5230\u5730\u56fe\u4e2d\u5e76\u76f8\u5e94\u5730\u4f18\u5316\u5730\u56fe\u3002\u8fd9\u901a\u5e38\u901a\u8fc7\u6346\u7ed1\u8c03\u6574\uff08BA\uff09\u6280\u672f\u5728\u4e00\u6bb5\u6700\u8fd1\u7684\u65f6\u95f4\u5185\u540c\u65f6\u4f18\u5316\u72b6\u6001\u548c\u5c40\u90e8\u5730\u56fe\uff0c\u4ece\u800c\u51cf\u8f7b\u7d2f\u79ef\u6f02\u79fb\u5e76\u589e\u5f3a\u7cfb\u7edf\u7684\u9c81\u68d2\u6027\u3002<\/li>\n\n\n\n
  3. \u957f\u671f\u6570\u636e\u5173\u8054<\/strong>\uff1a\u5173\u8054\u6240\u6709\u5148\u524d\u7684LiDAR\u626b\u63cf\u4ee5\u5b9e\u73b0\u5168\u5c40\u5730\u56fe\u4e00\u81f4\u6027\u3002\u957f\u671f\u6570\u636e\u5173\u8054\u80fd\u591f\u68c0\u6d4b\u5148\u524d\u8bbf\u95ee\u8fc7\u7684\u5730\u70b9\uff0c\u5e76\u901a\u8fc7\u4f4d\u59ff\u56fe\u4f18\u5316\uff08PGO\uff09\u91cd\u7f6e\u6f02\u79fb\u3002\u6b64\u5916\uff0c\u8fd8\u53ef\u4ee5\u4f7f\u7528\u5168\u5c40\u6346\u7ed1\u8c03\u6574\uff08BA\uff09\u6765\u8fdb\u4e00\u6b65\u63d0\u9ad8\u7cbe\u5ea6\u3002<\/li>\n\n\n\n
  4. \u591a\u5730\u56fe\u6570\u636e\u5173\u8054<\/strong>\uff1a\u5173\u8054\u591a\u4e2a\u5730\u56fe\u4f1a\u8bdd\u3002\u8be5\u65b9\u6cd5\u7c7b\u4f3c\u4e8e\u957f\u671f\u6570\u636e\u5173\u8054\uff0c\u80fd\u591f\u5c06\u4e0d\u540c\u7684\u4f1a\u8bdd\u5730\u56fe\u5408\u5e76\u6210\u4e00\u4e2a\uff0c\u8fd9\u4e9b\u4f1a\u8bdd\u53ef\u80fd\u662f\u5728\u4e0d\u540c\u7684\u65f6\u95f4\u6536\u96c6\u6570\u636e\u6216\u7531\u4e8eLiDAR\u9000\u5316\u5bfc\u81f4\u65b0\u4f1a\u8bdd\u7684\u521d\u59cb\u5316\u800c\u4ea7\u751f\u7684\u3002<\/li>\n<\/ol>\n\n\n\n

    Voxel-SLAM\u7cfb\u7edf<\/strong>[1]\u5145\u5206\u5229\u7528\u4e86\u4e0a\u8ff0\u56db\u79cd\u6570\u636e\u5173\u8054\uff0c\u8be5\u7cfb\u7edf\u7531\u4e94\u4e2a\u5173\u952e\u6a21\u5757\u7ec4\u6210\uff1a\u521d\u59cb\u5316\u3001\u91cc\u7a0b\u8ba1\u3001\u5c40\u90e8\u5efa\u56fe\u3001\u56de\u73af\u68c0\u6d4b\u548c\u5168\u5c40\u5efa\u56fe\u3002Voxel-SLAM\u57fa\u4e8eBALM2\u9ad8\u6548\u7684\u6fc0\u5149\u96f7\u8fbe\u6346\u7ed1\u8c03\u6574\u3001HBA\u7684\u5168\u5c40\u5efa\u56fe\u65b9\u6cd5\u3001BTC\u7684\u5730\u70b9\u8bc6\u522b\u5de5\u4f5c\u4ee5\u53caVoxelMap\u7684\u5730\u56fe\u8868\u793a\u3002\u9664\u4e86\u5f00\u6e90\u7cfb\u7edf\u672c\u8eab\uff0cVoxel-SLAM\u7684\u4e3b\u8981\u8d21\u732e\u5982\u4e0b\uff1a<\/p>\n\n\n\n

      \n
    1. \u6240\u6709\u4efb\u52a1\u4e2d\u4f7f\u7528\u7edf\u4e00\u7684\u5730\u56fe\u683c\u5f0f<\/strong>\uff1a\u521d\u59cb\u5316\u3001\u91cc\u7a0b\u8ba1\u3001\u5c40\u90e8\u5efa\u56fe\u3001\u56de\u73af\u68c0\u6d4b\u548c\u5168\u5c40\u5efa\u56fe\u4e2d\u90fd\u4f7f\u7528\u4e86\u76f8\u540c\u7684\u5730\u56fe\u683c\u5f0f\u3002Voxel-SLAM\u91c7\u7528\u4e86\u9ad8\u6548\u4e14\u901a\u7528\u7684\u81ea\u9002\u5e94\u4f53\u7d20\u5730\u56fe\uff0c\u5b83\u4e3a\u4e0d\u540c\u4efb\u52a1\u63d0\u4f9b\u4e86\u8db3\u591f\u7684\u7279\u5f81\uff0c\u5e76\u4e14\u80fd\u591f\u5f88\u597d\u5730\u9002\u5e94\u5404\u79cd\u573a\u666f\u3002<\/li>\n\n\n\n
    2. \u9c81\u68d2\u4e14\u5feb\u901f\u7684\u521d\u59cb\u5316<\/strong>\uff1aVoxel-SLAM\u53ea\u9700\u8981\u77ed\u65f6\u95f4\u7684\u6570\u636e\uff08\u5728\u6211\u4eec\u7684\u5b9e\u73b0\u4e2d\u4e3a1\u79d2\uff09\u5373\u53ef\u5b8c\u6210\u521d\u59cb\u5316\uff08\u5728\u7cfb\u7edf\u53d1\u6563\u65f6\u8fdb\u884c\u91cd\u65b0\u521d\u59cb\u5316\uff09\uff0c\u4e14\u80fd\u5728\u9759\u6001\u548c\u52a8\u6001\u521d\u59cb\u72b6\u6001\u4e0b\u8fdb\u884c\u521d\u59cb\u5316\u3002\u8be5\u521d\u59cb\u5316\u6a21\u5757\u4e3a\u540e\u7eed\u6a21\u5757\u63d0\u4f9b\u4e86\u7cbe\u786e\u7684\u72b6\u6001\u548c\u4e00\u81f4\u7684\u5730\u56fe\u3002<\/li>\n\n\n\n
    3. \u9ad8\u6548\u7684\u5c40\u90e8\u5efa\u56fe<\/strong>\uff1aVoxel-SLAM\u5229\u7528\u9ad8\u6548\u7684\u6fc0\u5149\u96f7\u8fbe-\u60ef\u6027\u6346\u7ed1\u8c03\u6574\uff0c\u5728\u6700\u8fd1\u7684LiDAR\u626b\u63cf\u6ed1\u52a8\u7a97\u53e3\u5185\u4f18\u5316\u5c40\u90e8\u4f53\u7d20\u5730\u56fe\u548c\u72b6\u6001\uff0c\u4ece\u800c\u589e\u5f3a\u7cfb\u7edf\u7684\u7cbe\u5ea6\u548c\u9c81\u68d2\u6027\u3002\u5c40\u90e8\u5efa\u56fe\uff08\u7a97\u53e3\u5927\u5c0f\u4e3a10\uff09\u80fd\u591f\u4ee510Hz\u7684\u901f\u5ea6\u4e0e\u91cc\u7a0b\u8ba1\u5b9e\u65f6\u8fd0\u884c\uff0c\u5373\u4f7f\u5728\u8d44\u6e90\u6709\u9650\u7684\u673a\u5668\u4eba\u8f66\u8f7d\u8ba1\u7b97\u673a\u4e0a\u4e5f\u80fd\u5b9e\u73b0\u3002<\/li>\n\n\n\n
    4. \u591a\u4f1a\u8bdd\u7684\u56de\u73af\u68c0\u6d4b<\/strong>\uff1aVoxel-SLAM\u5177\u5907\u5728\u5f53\u524d\u548c\u5148\u524d\u7684\u4f1a\u8bdd\u4e2d\u68c0\u6d4b\u56de\u73af\u7684\u80fd\u529b\uff0c\u5e76\u80fd\u5168\u5c40\u4f18\u5316\u6240\u6709\u76f8\u5173\u7684\u626b\u63cf\u4f4d\u59ff\u3002<\/li>\n\n\n\n
    5. \u9ad8\u6548\u4e14\u7cbe\u786e\u7684\u5355\u4f1a\u8bdd\u6216\u591a\u4f1a\u8bdd\u5168\u5c40\u5efa\u56fe<\/strong>\uff1aVoxel-SLAM\u91c7\u7528\u5206\u5c42\u6346\u7ed1\u8c03\u6574\uff08BA\uff09\u65b9\u6cd5\uff0c\u5b9e\u73b0\u4e86\u626b\u63cf\u4f4d\u59ff\u7684\u9ad8\u6548\u5168\u5c40\u4f18\u5316\u548c\u5730\u56fe\u4e00\u81f4\u6027\u3002<\/li>\n\n\n\n
    6. \u5145\u5206\u5229\u7528\u56db\u79cd\u6570\u636e\u5173\u8054<\/strong>\uff1aVoxel-SLAM\u5728\u91cc\u7a0b\u8ba1\u548c\u5c40\u90e8\u5efa\u56fe\u4e2d\u5206\u522b\u5229\u7528\u4e86\u77ed\u671f\u548c\u4e2d\u671f\u6570\u636e\u5173\u8054\uff0c\u5728\u56de\u73af\u68c0\u6d4b\u548c\u5168\u5c40\u5efa\u56fe\u4e2d\u5229\u7528\u4e86\u957f\u671f\u548c\u591a\u5730\u56fe\u6570\u636e\u5173\u8054\uff0c\u4ece\u800c\u5b9e\u73b0\u4e86\u5b9e\u65f6\u64cd\u4f5c\u548c\u5168\u5c40\u5730\u56fe\u7684\u4e00\u81f4\u6027\u3002<\/li>\n<\/ol>\n\n\n\n

      \u7cfb\u7edf\u6d41\u7a0b<\/strong><\/p>\n\n\n\n

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

      \u5982\u56fe1\u6240\u793a\uff0cVoxel-SLAM\u7531\u4e94\u4e2a\u6a21\u5757\u7ec4\u6210\uff0c\u5206\u5e03\u5728\u4e09\u4e2a\u5e76\u884c\u7ebf\u7a0b\u4e2d\u8fd0\u884c\u3002\u9996\u5148\uff0c\u7cfb\u7edf\u57fa\u4e8e\u77ed\u65f6\u95f4\u6bb5\uff08\u6211\u4eec\u76ee\u524d\u7684\u5b9e\u73b0\u4e2d\u4e3a1\u79d2\uff09\u7684LiDAR\u626b\u63cf\u548cIMU\u6570\u636e\u8fdb\u884c\u521d\u59cb\u5316\u8fc7\u7a0b\uff08\u5982\u679c\u5728\u542f\u52a8\u6216\u91cd\u542f\u540e\u5c1a\u672a\u5b8c\u6210\uff09\u3002\u521d\u59cb\u5316\u901a\u8fc7\u4e13\u95e8\u7684LiDAR-\u60ef\u6027BA\u4f18\u5316\u6765\u4f30\u8ba1\u6240\u6709\u626b\u63cf\u7684\u72b6\u6001\u3001\u521d\u59cb\u5c40\u90e8\u5730\u56fe\u4ee5\u53ca\u4e16\u754c\u5750\u6807\u7cfb\u4e2d\u7684\u91cd\u529b\u5411\u91cf\u3002\u5728\u83b7\u5f97\u521d\u59cb\u5316\u72b6\u6001\u3001\u5c40\u90e8\u5730\u56fe\u548c\u91cd\u529b\u5411\u91cf\u540e\uff0c\u91cc\u7a0b\u8ba1\u6a21\u5757\u7d27\u5bc6\u878d\u5408LiDAR\u548cIMU\u7684\u6d4b\u91cf\u6570\u636e\uff0c\u4ee5\u5b9e\u65f6\u4f30\u8ba1\u5f53\u524d\u72b6\u6001\uff0c\u5e76\u68c0\u6d4b\u56e0\u6301\u7eed\u7684LiDAR\u9000\u5316\u5bfc\u81f4\u7684\u6f5c\u5728\u7cfb\u7edf\u53d1\u6563\u95ee\u9898\u3002<\/p>\n\n\n\n

      \u968f\u540e\uff0c\u5c40\u90e8\u5efa\u56fe\u6a21\u5757\u5c06\u5f53\u524d\u626b\u63cf\u6574\u5408\u5230\u6ed1\u52a8\u7a97\u53e3\u4e2d\uff0c\u5e76\u91c7\u7528LiDAR-\u60ef\u6027BA\u4f18\u5316\uff0c\u7cbe\u786e\u540c\u65f6\u4f18\u5316\u6ed1\u52a8\u7a97\u53e3\u5185\u7684\u6240\u6709\u72b6\u6001\u548c\u5c40\u90e8\u5730\u56fe\u3002\u6ed1\u52a8\u7a97\u53e3\u4e2d\u7684\u6700\u65e7\u626b\u63cf\u5c06\u88ab\u8fb9\u7f18\u5316\uff0c\u4ee5\u7d2f\u79ef\u5173\u952e\u5e27\uff0c\u8fd9\u4e9b\u5173\u952e\u5e27\u968f\u540e\u7531\u56de\u73af\u68c0\u6d4b\u6a21\u5757\u63d0\u53d6\u56de\u73af\u63cf\u8ff0\u7b26\uff0c\u5e76\u68c0\u6d4b\u5f53\u524d\u548c\u4e4b\u524d\u4f1a\u8bdd\u4e2d\u7684\u56de\u73af\u91cd\u73b0\u3002\u4e00\u65e6\u6210\u529f\u68c0\u6d4b\u5230\u56de\u73af\uff0c\u6d89\u53ca\u7684\u5f53\u524d\u6216\u5148\u524d\u4f1a\u8bdd\u4e2d\u7684\u4f4d\u59ff\u5c06\u7528\u4e8e\u6784\u5efa\u4f4d\u59ff\u56fe\u8fdb\u884c\u4f18\u5316\u3002\u4f4d\u59ff\u56fe\u4f18\u5316\uff08PGO\uff09\u5b8c\u6210\u540e\uff0c\u5168\u5c40\u5efa\u56fe\u6a21\u5757\u6267\u884c\u5173\u952e\u5e27\u7684BA\u4f18\u5316\uff0c\u5e76\u5b9e\u65f6\u5c06\u5173\u952e\u5e27\u5408\u5e76\u5230\u5b50\u5730\u56fe\u4e2d\u3002\u5728\u6536\u5230\u4f1a\u8bdd\u7ed3\u675f\u4fe1\u53f7\u65f6\uff0c\u5168\u5c40\u5efa\u56fe\u6a21\u5757\u4f1a\u5bf9\u6240\u6709\u5b50\u5730\u56fe\u8fdb\u884c\u5168\u5c40BA\uff0c\u5e76\u901a\u8fc7\u81ea\u4e0a\u800c\u4e0b\u7684\u4f18\u5316\u6765\u83b7\u5f97\u6240\u6709\u626b\u63cf\u7684\u51c6\u786e\u4f4d\u59ff<\/p>\n\n\n\n

      \u6fc0\u5149\u60ef\u6027BA\u4f18\u5316<\/strong><\/p>\n\n\n\n

      LiDAR-\u60ef\u6027\u6346\u7ed1\u8c03\u6574\uff08BA\uff09\u4f18\u5316\u7528\u4e8e\u521d\u59cb\u5316\u548c\u5c40\u90e8\u5efa\u56fe\u6a21\u5757\uff0c\u4ee5\u540c\u65f6\u4f30\u8ba1\u591a\u4e2a\u626b\u63cf\u7684\u72b6\u6001\u3002\u76f8\u6bd4\u57fa\u4e8e\u6ee4\u6ce2\u5668\u7684LIO\u65b9\u6cd5\uff0cLiDAR-\u60ef\u6027BA\u7531\u4e8e\u5229\u7528\u4e86\u8f83\u957f\u65f6\u95f4\u6bb5\u7684\u4e2d\u671f\u6570\u636e\u5173\u8054\uff0c\u5176\u4f30\u8ba1\u66f4\u52a0\u51c6\u786e\u548c\u9c81\u68d2\u3002\u7136\u800c\uff0cBA\u65b9\u6cd5\u7684\u7f3a\u70b9\u662f\u8ba1\u7b97\u91cf\u8f83\u5927\uff0c\u5bfc\u81f4\u5927\u591a\u6570\u73b0\u6709\u7684LiDAR\uff08-\u60ef\u6027\uff09\u91cc\u7a0b\u8ba1\u6216SLAM\u7cfb\u7edf\u96be\u4ee5\u5b9e\u65f6\u8fd0\u884c\u3002<\/p>\n\n\n\n

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

      \u4e3a\u4e86\u5e94\u5bf9\u8fd9\u4e2a\u95ee\u9898\uff0cBALM2\u5f15\u5165\u4e86\u4e00\u79cd\u9ad8\u6548\u7684LiDAR\u6346\u7ed1\u8c03\u6574\u65b9\u6cd5\uff0c\u4e3b\u8981\u901a\u8fc7\u4ee5\u4e0b\u4e09\u79cd\u65b9\u5f0f\u63d0\u5347\u6548\u7387\uff1a\uff081\uff09\u89e3\u6790\u51e0\u4f55\u7279\u5f81\uff08\u5373\u5e73\u9762\u548c\u7ebf\uff09\u7684\u6c42\u89e3\uff0c\u6d88\u9664\u4e86BA\u4f18\u5316\u4e2d\u7684\u7279\u5f81\u53c2\u6570\uff0c\u663e\u8457\u964d\u4f4e\u4e86\u4f18\u5316\u7ef4\u5ea6\uff1b\uff082\uff09\u5f15\u5165\u70b9\u7c07\u6570\u636e\u7ed3\u6784\uff0c\u5c06\u6240\u6709\u70b9\u805a\u5408\u4e3a\u7d27\u51d1\u7684\u8868\u793a\uff0c\u907f\u514d\u5728BA\u4e2d\u679a\u4e3e\u6bcf\u4e00\u4e2a\u539f\u59cb\u70b9\uff1b\uff083\uff09\u63a8\u5bfc\u4e86BA\u4f18\u5316\u7684\u89e3\u6790\u4e8c\u9636\u5bfc\u6570\uff0c\u4ece\u800c\u5f00\u53d1\u4e86\u4e00\u79cd\u9ad8\u6548\u7684\u4e8c\u9636\u6c42\u89e3\u5668\u3002\u8fd9\u4e09\u79cd\u6280\u672f\u4f7fLiDAR BA\u4f18\u5316\u80fd\u591f\u9ad8\u6548\u5730\u5e94\u7528\u4e8e\u5b9e\u65f6\u7cfb\u7edf\u3002<\/p>\n\n\n\n

      \u6211\u4eec\u91c7\u7528\u4e86BALM2\u7684\u65b9\u6cd5\uff0c\u5e76\u5c06\u5176\u4e0eIMU\u9884\u79ef\u5206\u76f8\u7ed3\u5408\uff0c\u6784\u5efa\u4e86LiDAR-\u60ef\u6027BA\u4f18\u5316\uff0c\u4ee5\u540c\u65f6\u4f30\u8ba1\u591a\u4e2a\u72b6\u6001\u4ee5\u53ca\u5fc5\u8981\u65f6\u7684\u91cd\u529b\u5411\u91cf\uff08\u89c1\u56fe2\u4e2d\u7684\u56e0\u5b50\u56fe\u8868\u793a\uff09\u3002\u4ee3\u4ef7\u51fd\u6570\u4e3a\uff1a<\/p>\n\n\n\n

      \u4ee3\u4ef7\u51fd\u6570\uff1a<\/p>\n\n\n\n

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

      \u72b6\u6001\u5411\u91cf\u4e3a\uff1a<\/p>\n\n\n\n

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

      \u521d\u59cb\u5316<\/strong><\/p>\n\n\n\n

      \u8bb8\u591a\u57fa\u4e8e\u6ee4\u6ce2\u5668\u7684LIO\u7cfb\u7edf\u5047\u8bbe\u4f20\u611f\u5668\u6700\u521d\u662f\u9759\u6b62\u7684\u3002\u5728\u975e\u9759\u6001\u521d\u59cb\u72b6\u6001\u4e0b\uff08\u4f8b\u5982\u5728\u5e8f\u5217\u4e2d\u9014\u91cd\u65b0\u542f\u52a8\uff09\uff0c\u8fd9\u79cd\u9759\u6001\u5047\u8bbe\u4f1a\u4f20\u64ad\u9519\u8bef\u72b6\u6001\uff0c\u5bfc\u81f4LiDAR\u626b\u63cf\u7684\u7578\u53d8\u6821\u6b63\u9519\u8bef\uff0c\u4ee5\u53ca\u5728\u626b\u63cf\u914d\u51c6\u4e2d\u7684\u7279\u5f81\u5173\u8054\u9519\u8bef\u3002\u8fd9\u4f1a\u663e\u8457\u5f71\u54cd\u521d\u671f\u72b6\u6001\u4f30\u8ba1\u7684\u51c6\u786e\u6027\uff0c\u5e76\u5bfc\u81f4\u4e0d\u4e00\u81f4\uff08\u751a\u81f3\u9519\u8bef\uff09\u7684\u521d\u59cb\u5730\u56fe\uff0c\u4ece\u800c\u8fdb\u4e00\u6b65\u964d\u4f4e\u540e\u7eed\u91cc\u7a0b\u8ba1\u7684\u7cbe\u5ea6\u3002\u4e3a\u4e86\u89e3\u51b3\u8fd9\u4e00\u95ee\u9898\uff0c\u6211\u4eec\u63d0\u51fa\u4e86\u4e00\u4e2a\u9c81\u68d2\u4e14\u9ad8\u6548\u7684\u521d\u59cb\u5316\u9636\u6bb5\uff0c\u57fa\u4e8e\u4e4b\u524d\u7684LiDAR-\u60ef\u6027BA\u4f18\u5316\uff0c\u5728\u5b58\u5728\u975e\u9759\u6001\u521d\u59cb\u72b6\u6001\u7684\u60c5\u51b5\u4e0b\uff0c\u63d0\u4f9b\u521d\u59cb\u72b6\u6001\u3001\u91cd\u529b\u5411\u91cf\u548c\u4e00\u81f4\u7684\u521d\u59cb\u5c40\u90e8\u5730\u56fe\u7684\u9c81\u68d2\u4f30\u8ba1\u3002\u6b64\u5916\uff0c\u8be5\u6a21\u5757\u53ef\u4ee5\u786e\u8ba4\u521d\u59cb\u5316\u662f\u5426\u6210\u529f\uff0c\u5e76\u91cd\u65b0\u5c06\u91cd\u529b\u5411\u91cf\u5bf9\u9f50\u5230\u4e16\u754c\u5750\u6807\u7cfb\u7684z\u8f74\u3002<\/p>\n\n\n\n

      \u521d\u59cb\u5316\u8fc7\u7a0b\u5728\u524dN\u6b21LiDAR\u626b\u63cf\u53ca\u76f8\u5e94\u7684IMU\u6d4b\u91cf\u4e0a\u8fdb\u884c\u3002\u5177\u4f53\u6765\u8bf4\uff0c\u5b83\u9996\u5148\u5b9e\u65f6\u8fd0\u884c\u4e2d\u7684LIO\u65b9\u6cd5\uff0c\u7c97\u7565\u4f30\u8ba1\u524dN\u6b21\u626b\u63cf\u7684\u72b6\u6001\u548c\u91cd\u529b\u5411\u91cf\u3002\u4f30\u8ba1\u7684\u72b6\u6001\u548c\u91cd\u529b\u5411\u91cf\u4f5c\u4e3a\u540e\u7eed\u7c97\u5230\u7ec6\u4f53\u7d20\u5316\u548cBA\u4f18\u5316\u7684\u521d\u59cb\u503c\u3002\u4f18\u5316\u540e\u7684\u72b6\u6001\u548c\u91cd\u529b\u5411\u91cf\u7528\u4e8e\u786e\u5b9a\u521d\u59cb\u5316\u662f\u5426\u6210\u529f\u3002\u5982\u679c\u6210\u529f\uff0c\u5219\u521d\u59cb\u5316\u5b8c\u6210\uff1b\u5426\u5219\uff0c\u7cfb\u7edf\u5c06\u6536\u96c6\u4e0b\u4e00\u4e2aN\u6b21LiDAR\u626b\u63cf\uff0c\u5e76\u91cd\u590d\u4e0a\u8ff0\u521d\u59cb\u5316\u8fc7\u7a0b\u76f4\u5230\u6210\u529f\u3002<\/p>\n\n\n\n

      \u7c97\u5230\u7ec6\u4f53\u7d20\u5316\u548cBA\u4f18\u5316<\/strong><\/p>\n\n\n\n

      \u83b7\u5f97\u4e00\u4e2a\u7c97\u7565\u7684\u521d\u59cb\u72b6\u6001\uff08\u4f8b\u5982\u7531LIO\u4f30\u8ba1\uff09\u540e\uff0c\u7c97\u5230\u7ec6\u4f53\u7d20\u5316\u548cBA\u4f18\u5316\u65e8\u5728LiDAR-\u60ef\u6027BA\u4f18\u5316\uff0c\u7ec6\u5316\u72b6\u6001\u53ca\u5176\u5bf9\u5e94\u7684\u5730\u56fe\u3002\u4e0d\u51c6\u786e\u7684\u521d\u59cb\u72b6\u6001\u53ef\u80fd\u4f1a\u5728\u6ce8\u518c\u7684\u70b9\u4e91\u5730\u56fe\u4e2d\u5f15\u5165\u8f83\u5927\u7684\u5dee\u5f02\uff0c\u5bfc\u81f4\u4f53\u7d20\u5316\u8fc7\u7a0b\u4e2d\u51fa\u73b0\u5e73\u9762\u5173\u8054\u7684\u8bef\u5224\u3002\u9519\u8bef\u7684\u5e73\u9762\u5173\u8054\u53cd\u8fc7\u6765\u4f1a\u5bfc\u81f4BA\u4f18\u5316\u7684\u9519\u8bef\u3002\u4e3a\u4e86\u89e3\u51b3\u8fd9\u4e00\u95ee\u9898\uff0c\u6211\u4eec\u63d0\u51fa\u4e86\u4e00\u79cd\u7c97\u5230\u7ec6\u7684\u4f53\u7d20\u5316\u548cBA\u4f18\u5316\u65b9\u6cd5\uff0c\u5728\u81ea\u9002\u5e94\u4f53\u7d20\u5316\u8fc7\u7a0b\u4e2d\u786e\u5b9a\u5e73\u9762\u7279\u5f81\u7684\u6807\u51c6\u9010\u6b65\u6536\u7d27\u3002\u6700\u521d\uff0c\u8be5\u6807\u51c6\u8f83\u4e3a\u5bbd\u677e\uff0c\u5373\u4f7f\u5728\u521d\u59cb\u72b6\u6001\u8bef\u5dee\u8f83\u5927\u7684\u60c5\u51b5\u4e0b\u4e5f\u80fd\u53ec\u56de\u5e73\u9762\u7279\u5f81\u3002\u57fa\u4e8e\u53ec\u56de\u7684\u5e73\u9762\u7279\u5f81\uff0c\u8fdb\u884cLiDAR-\u60ef\u6027BA\u4f18\u5316\u3002\u7136\u540e\uff0c\u4f7f\u7528\u4f18\u5316\u540e\u7684\u72b6\u6001\u6765\u8865\u507f\u6bcf\u6b21\u626b\u63cf\u4e2d\u7684\u8fd0\u52a8\u7578\u53d8\uff0c\u5e76\u6784\u5efa\u4e0b\u4e00\u8f6e\u5177\u6709\u66f4\u4e25\u683c\u5e73\u9762\u5173\u8054\u6807\u51c6\u7684\u81ea\u9002\u5e94\u4f53\u7d20\u5730\u56fe\u3002\u4f53\u7d20\u5316\u548cBA\u4f18\u5316\u4f1a\u8fdb\u884c\u591a\u8f6e\uff0c\u76f4\u5230\u6536\u655b\u3002\u5728\u6bcf\u4e00\u8f6e\u4e2d\uff0c\u5e73\u9762\u6807\u51c6\u90fd\u4f1a\u6bd4\u524d\u4e00\u8f6e\u6536\u7d27\u3002\u5f53\u4ece\u4e0a\u4e00\u8f6e\u5230\u5f53\u524d\u8f6e\u7684\u4ee3\u4ef7\u503c\u51cf\u5c11\u91cf\u4f4e\u4e8e\u67d0\u4e2a\u7279\u5b9a\u503c\u65f6\uff0c\u8ba4\u4e3a\u8be5\u7c97\u5230\u7ec6\u8fc7\u7a0b\u5df2\u6536\u655b\u3002<\/p>\n\n\n\n

      \u521d\u59cb\u5316\u6210\u529f\u6807\u51c6<\/strong><\/p>\n\n\n\n

      \u6211\u4eec\u4f7f\u7528\u4e09\u4e2a\u6807\u51c6\u6765\u786e\u5b9a\u521d\u59cb\u5316\u662f\u5426\u6210\u529f\uff1a\uff081\uff09\u7c97\u5230\u7ec6\u8fc7\u7a0b\u5e94\u5728\u4e00\u5b9a\u8f6e\u6b21\u5185\u6536\u655b\uff1b\uff082\uff09\u4f18\u5316\u540e\u7684\u91cd\u529b\u5411\u91cf\u7684\u5927\u5c0f\u5e94\u63a5\u8fd19.8 m\/s\u00b2\uff1b\uff083\uff09\u4ece\u4f18\u5316\u72b6\u6001\u6784\u5efa\u7684\u521d\u59cb\u4f53\u7d20\u5730\u56fe\u5e94\u5305\u542b\u4e09\u4e2a\u7ebf\u6027\u72ec\u7acb\u65b9\u5411\u4e0a\u7684\u5e73\u9762\u7ea6\u675f\u3002\u8fd9\u4e2a\u9000\u5316\u8bc4\u4f30\u5728\u9644\u5f55B\u4e2d\u6709\u8be6\u7ec6\u63cf\u8ff0\u3002\u5982\u679c\u5728\u6700\u7ec8\u7684BA\u4f18\u5316\u4e2d\u53d1\u751f\u9000\u5316\uff0c\u8fd9\u610f\u5473\u7740\u521d\u59cb\u5316\u4e2d\u6d89\u53ca\u7684\u72b6\u6001\u6ca1\u6709\u901a\u8fc7\u8db3\u591f\u7684\u5e73\u9762\u7279\u5f81\u5f97\u5230\u826f\u597d\u7684\u7ea6\u675f\uff0c\u53ef\u80fd\u4f1a\u6709\u8f83\u5927\u7684\u4f30\u8ba1\u8bef\u5dee\u3002<\/p>\n\n\n\n

      \u521d\u59cb\u5316\u5b8c\u6210<\/strong><\/p>\n\n\n\n

      \u6210\u529f\u521d\u59cb\u5316\u540e\uff0c\u6211\u4eec\u83b7\u5f97\u4e86\u51c6\u786e\u7684\u91cd\u529b\u5411\u91cf\u548c\u6765\u81ea\u524dN\u6b21\u626b\u63cf\u7684\u65e0\u7578\u53d8\u70b9\u4e91\u72b6\u6001\u3002\u7136\u540e\uff0c\u901a\u8fc7\u65cb\u8f6c\u77e9\u9635\u5c06\u91cd\u529b\u5411\u91cf\u5bf9\u9f50\u5230\u4e16\u754c\u53c2\u8003\u7cfb\u7684z\u8f74\uff0c\u72b6\u6001\u4e5f\u901a\u8fc7\u8be5\u77e9\u9635\u8fdb\u884c\u65cb\u8f6c\u3002\u6b64\u540e\uff0c\u91cd\u529b\u5411\u91cf\u5c06\u5728\u540e\u7eed\u6a21\u5757\u4e2d\u56fa\u5b9a\u3002\u7531\u4f18\u5316\u72b6\u6001\u6784\u5efa\u7684\u81ea\u9002\u5e94\u4f53\u7d20\u5730\u56fe\u5c06\u4f5c\u4e3a\u540e\u7eed\u91cc\u7a0b\u8ba1\u6a21\u5757\u7684\u521d\u59cb\u5c40\u90e8\u5730\u56fe\u3002\u6bcf\u6b21\u542f\u52a8\uff08\u6216\u91cd\u65b0\u542f\u52a8\uff09\u65f6\uff0c\u521d\u59cb\u5316\u4ec5\u8fdb\u884c\u4e00\u6b21\uff0c\u8fd9\u610f\u5473\u7740\u540e\u7eed\u7684LiDAR\u626b\u63cf\u548cIMU\u6d4b\u91cf\u5c06\u76f4\u63a5\u4f20\u9012\u7ed9\u91cc\u7a0b\u8ba1\u3002<\/p>\n\n\n\n

      \u91cc\u7a0b\u8ba1<\/strong><\/p>\n\n\n\n

      \u5728Voxel-SLAM\u4e2d\uff0c\u91cc\u7a0b\u8ba1\u5229\u7528\u626b\u63cf\u4e0e\u5730\u56fe\u914d\u51c6\u4e2d\u7684\u77ed\u671f\u6570\u636e\u5173\u8054\u3002\u91cc\u7a0b\u8ba1\u7684\u76ee\u7684\u662f\u4ee5\u6700\u5c0f\u7684\u65f6\u95f4\u5ef6\u8fdf\u4f30\u8ba1\u5f53\u524d\u72b6\u6001\uff0c\u8fd9\u662f\u5176\u4ed6\u4efb\u52a1\uff08\u5982\u89c4\u5212\u548c\u63a7\u5236\uff09\u6240\u5fc5\u9700\u7684\u3002\u4f30\u8ba1\u7684\u72b6\u6001\u8fd8\u4e3a\u540e\u7eed\u7684\u5c40\u90e8\u5efa\u56fe\u6a21\u5757\u63d0\u4f9b\u4e86\u4e00\u4e2a\u76f8\u5bf9\u51c6\u786e\u7684\u521d\u59cb\u503c\u3002<\/p>\n\n\n\n

      \u72b6\u6001\u9884\u6d4b\u4e0e\u66f4\u65b0<\/strong><\/p>\n\n\n\n

      \u4e3a\u4e86\u5728\u5c40\u90e8\u81ea\u9002\u5e94\u4f53\u7d20\u5730\u56fe\u4e0a\u8fdb\u884c\u72b6\u6001\u4f30\u8ba1\uff0c\u6211\u4eec\u4f7f\u7528\u626b\u63cf\u4e0e\u5730\u56fe\u914d\u51c6\u65b9\u6cd5\uff0c\u4ee5\u53ca\u6269\u5c55\u5361\u5c14\u66fc\u6ee4\u6ce2\u5668\uff08EKF\uff09\u6765\u7d27\u5bc6\u8026\u5408LiDAR\u548c\u60ef\u6027\u6d4b\u91cf\u3002\u5177\u4f53\u6765\u8bf4\uff0c\u5728\u540c\u6b65LiDAR\u626b\u63cf\u548cIMU\u6d4b\u91cf\u540e\uff0c\u91cc\u7a0b\u8ba1\u901a\u8fc7IMU\u4f20\u64ad\u9884\u6d4b\u72b6\u6001\uff0c\u540c\u65f6\u8865\u507fLiDAR\u626b\u63cf\u7684\u8fd0\u52a8\u7578\u53d8\u3002\u672a\u7578\u53d8\u7684\u626b\u63cf\u70b9\u4ee5\u89c4\u5b9a\u7684\u5206\u8fa8\u7387\u8fdb\u884c\u7a7a\u95f4\u4e0b\u91c7\u6837\uff0c\u5e76\u901a\u8fc7\u5df2\u77e5\u7684LiDAR-IMU\u5916\u90e8\u53c2\u6570\u4eceLiDAR\u4f53\u5750\u6807\u7cfb\u8f6c\u6362\u5230IMU\u4f53\u5750\u6807\u7cfb\u3002\u626b\u63cf\u4e2d\u7684\u6bcf\u4e2a\u70b9\u901a\u8fc7\u4e2d\u7684\u65b9\u6cd5\u8ba1\u7b97\u534f\u65b9\u5dee\u77e9\u9635\uff0c\u5e76\u6295\u5f71\u5230\u4e16\u754c\u5750\u6807\u7cfb\u4e2d\uff0c\u4ee5\u6700\u5927\u6982\u7387\u5339\u914d\u4f53\u7d20\u5730\u56fe\u4e2d\u7684\u5e73\u9762\u3002\u70b9\u5230\u5e73\u9762\u7684\u8ddd\u79bb\u88ab\u7528\u4f5c\u7cfb\u7edf\u6d4b\u91cf\uff0c\u901a\u8fc7\u8bef\u5dee\u72b6\u6001\u8fed\u4ee3\u5361\u5c14\u66fc\u6ee4\u6ce2\u5668\u66f4\u65b0IMU\u9884\u6d4b\u7684\u72b6\u6001\u3002\u4f30\u8ba1\u7684\u72b6\u6001\u548cLiDAR\u626b\u63cf\u5c06\u53d1\u5e03\u7ed9\u5176\u4ed6\u6a21\u5757\u4ee5\u8fdb\u884c\u8fdb\u4e00\u6b65\u5904\u7406\u3002<\/p>\n\n\n\n

      \u7cfb\u7edf\u53d1\u6563\u68c0\u6d4b<\/strong><\/p>\n\n\n\n

      \u5f53\u673a\u5668\u4eba\u9047\u5230\u7f3a\u4e4f\u8db3\u591f\u51e0\u4f55\u7279\u5f81\u7684\u9000\u5316\u73af\u5883\u65f6\uff0c\u72b6\u6001\u4f30\u8ba1\u53d8\u5f97\u75c5\u6001\uff0c\u53ef\u80fd\u5bfc\u81f4SLAM\u7cfb\u7edf\u53d1\u6563\u548c\u5931\u8d25\uff0c\u8fd9\u9700\u8981\u79ef\u6781\u76d1\u6d4b\u548c\u5904\u7406\u3002\u5728Voxel-SLAM\u4e2d\uff0c\u5728\u6bcf\u6b21\u626b\u63cf\u914d\u51c6\u540e\u68c0\u6d4b\u7cfb\u7edf\u53ef\u80fd\u7684\u53d1\u6563\u3002\u91cc\u7a0b\u8ba1\u4e2d\u7684\u72b6\u6001\u4f30\u8ba1\u5b8c\u6210\u540e\uff0c\u6536\u96c6\u7528\u4e8e\u626b\u63cf\u4e0e\u5730\u56fe\u914d\u51c6\u7684\u5e73\u9762\uff0c\u5e76\u901a\u8fc7\u9644\u5f55B\u4e2d\u7684\u65b9\u6cd5\u8bc4\u4f30\u9000\u5316\u60c5\u51b5\u3002\u5355\u6b21\u626b\u63cf\u4e2d\u7684\u5076\u7136\u9000\u5316\u4e0d\u88ab\u89c6\u4e3a\u53d1\u6563\uff0c\u56e0\u4e3aIMU\u7684\u77ed\u671f\u9884\u6d4b\u76f8\u5bf9\u51c6\u786e\u3002\u8fde\u7eed\u626b\u63cf\u4e2d\u7684\u6301\u7eed\u9000\u5316\u5c06\u88ab\u89c6\u4e3a\u53d1\u6563\u3002\u5728\u8fd9\u79cd\u60c5\u51b5\u4e0b\uff0c\u5f53\u524d\u7684\u6570\u636e\u4f1a\u8bdd\u5c06\u88ab\u4fdd\u5b58\uff0c\u6574\u4e2a\u7cfb\u7edf\u5c06\u4ece\u4e00\u4e2a\u8fdc\u79bb\u5f53\u524d\u4f1a\u8bdd\u7684\u65b0\u8d77\u70b9\u91cd\u65b0\u542f\u52a8\uff0c\u4ee5\u9632\u6b62\u4e0b\u4e00\u4e2a\u4f1a\u8bdd\u4e2d\u7684\u70b9\u4e0e\u5f53\u524d\u4f1a\u8bdd\u4e2d\u7684\u70b9\u91cd\u53e0\u3002\u91cd\u65b0\u542f\u52a8\u8fd8\u4f1a\u89e6\u53d1\u65b0\u7684\u521d\u59cb\u5316\uff0c\u4ee5\u83b7\u5f97\u4e0b\u4e00\u4e2a\u4f1a\u8bdd\u7684\u521d\u59cb\u72b6\u6001\u548c\u5c40\u90e8\u5730\u56fe\u3002<\/p>\n\n\n\n

      \u5c40\u90e8\u5efa\u56fe<\/strong><\/p>\n\n\n\n

      \u5c40\u90e8\u5efa\u56fe\u5229\u7528\u4e2d\u671f\u6570\u636e\u5173\u8054\uff0c\u4f18\u5316\u6ed1\u52a8\u7a97\u53e3\u5185\u7684\u5c40\u90e8\u4f53\u7d20\u5730\u56fe\u548c\u6240\u6709\u6700\u8fd1\u7684\u72b6\u6001\u3002\u4e0e\u91cc\u7a0b\u8ba1\u76f8\u6bd4\uff0c\u5c40\u90e8\u5efa\u56fe\u66f4\u4e3a\u7cbe\u786e\u548c\u9c81\u68d2\uff0c\u56e0\u4e3a\u5176LiDAR-\u60ef\u6027BA\u4f7f\u7528\u4e86\u66f4\u957f\u65f6\u95f4\u6bb5\u7684LiDAR\u548cIMU\u6d4b\u91cf\u8fdb\u884c\u72b6\u6001\u4f30\u8ba1\u3002<\/p>\n\n\n\n

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

      \u5173\u952e\u5e27\u52a0\u8f7d\u4e0e\u4f53\u7d20\u5316<\/strong><\/p>\n\n\n\n

      \u5f53\u5c40\u90e8\u5efa\u56fe\u6a21\u5757\u63a5\u6536\u5230IMU\u6d4b\u91cf\u6570\u636e\u548c\u5f53\u524d\u7684LiDAR\u626b\u63cf\uff08\u4ee5\u53ca\u4ece\u91cc\u7a0b\u8ba1\u4f30\u8ba1\u7684\u72b6\u6001\uff09\u65f6\uff0c\u626b\u63cf\u4e2d\u7684\u70b9\u5c06\u6309\u7167\u5176\u5728\u4e16\u754c\u5750\u6807\u7cfb\u4e2d\u7684\u4f4d\u7f6e\u5206\u5e03\u5230\u76f8\u5e94\u7684\u4f53\u7d20\u4e2d\u3002\u540c\u65f6\uff0cIMU\u6d4b\u91cf\u6570\u636e\u6839\u636e\u8fdb\u884c\u9884\u79ef\u5206\u4ee5\u83b7\u5f97IMU\u9884\u79ef\u5206\u56e0\u5b50\u3002\u7531\u4e8e\u5c40\u90e8\u5730\u56fe\u4ec5\u5728\u8ddd\u79bb\u5f53\u524dLiDAR\u4f4d\u7f6e\u8303\u56f4\u5185\u4fdd\u6301\uff0c\u56e0\u6b64\u5728\u5f53\u524d\u6216\u5148\u524d\u4f1a\u8bdd\u4e2d\u91cd\u65b0\u8bbf\u95ee\u7684\u5730\u65b9\uff0c\u4f53\u7d20\u5730\u56fe\u65e0\u6cd5\u786e\u4fdd\u957f\u671f\u6570\u636e\u5173\u8054\u3002\u4e3a\u4e86\u5efa\u7acb\u957f\u671f\u5173\u8054\uff0c\u6211\u4eec\u52a8\u6001\u52a0\u8f7d\u5728\u65f6\u95f4\u4e0a\u8f83\u8fdc\uff08\u4f8b\u5982 \u2265 1\u5206\u949f\u4ee5\u907f\u514d\u6700\u8fd1\u7684\u5173\u952e\u5e27\uff09\u4f46\u7a7a\u95f4\u4e0a\u8f83\u8fd1\uff08\u4f8b\u5982 \u2264 10\u7c73\uff09\u7684\u5173\u952e\u5e27 \u3002<\/p>\n\n\n\n

      \u6ed1\u52a8\u7a97\u53e3BA\u4f18\u5316<\/strong><\/p>\n\n\n\n

      \u5728\u83b7\u5f97\u70b9\u7c07\u5173\u8054\u548cIMU\u9884\u79ef\u5206\u540e\uff0c\u6ed1\u52a8\u7a97\u53e3BA\u4f18\u5316\u901a\u8fc7\u7b2cIV\u8282\u63cf\u8ff0\u7684LiDAR-\u60ef\u6027BA\u4f18\u5316\uff0c\u7cbe\u786e\u4f18\u5316\u6ed1\u52a8\u7a97\u53e3\u5185\u7684\u6240\u6709\u72b6\u6001\u3002\u6ed1\u52a8\u7a97\u53e3BA\u4f18\u5316\u4e0e\u7b2cIV\u8282\u7684\u4e0d\u540c\u4e4b\u5904\u5728\u4e8e\uff0c\u5b83\u7ed3\u5408\u4e86\u6bcf\u4e2a\u4f53\u7d20\u4e2d\u7684\u201c\u56fa\u5b9a\u201d\u70b9\u4f5c\u4e3a\u5730\u56fe\u7ea6\u675f\uff0c\u786e\u4fdd\u4e86\u4e16\u754c\u5750\u6807\u7cfb\u4e2d\u4f30\u8ba1\u7684\u7cbe\u5ea6\u3002<\/p>\n\n\n\n

      \u5730\u56fe\u8fb9\u7f18\u5316<\/strong><\/p>\n\n\n\n

      BA\u4f18\u5316\u5b8c\u6210\u540e\uff0c\u5c40\u90e8\u4f53\u7d20\u5730\u56fe\u4e2d\u7684\u70b9\u7c07\u548c\u5e73\u9762\u53c2\u6570\uff08\u5e73\u9762\u4e2d\u5fc3\u548c\u6cd5\u5411\u91cf\uff09\u4f1a\u6839\u636e\u4f18\u5316\u540e\u7684\u72b6\u6001\u8fdb\u884c\u66f4\u65b0\u3002\u66f4\u65b0\u540e\u7684\u5e73\u9762\u5c06\u5728\u91cc\u7a0b\u8ba1\u6a21\u5757\u7684\u4e0b\u4e00\u4e2a\u626b\u63cf\u5230\u5730\u56fe\u7684\u914d\u51c6\u4e2d\u4f7f\u7528\u3002\u6ed1\u52a8\u7a97\u53e3\u4e2d\u7684\u6700\u65e7\u626b\u63cf\u5c06\u88ab\u8fb9\u7f18\u5316\uff0c\u5373\u4ece\u6ed1\u52a8\u7a97\u53e3\u4e2d\u79fb\u9664\uff0c\u5176\u70b9\u4e91\u88ab\u5408\u5e76\u5230\u201c\u56fa\u5b9a\u201d\u70b9\u7c07\u4e2d\uff0c\u4f5c\u4e3a\u5730\u56fe\u7ea6\u675f\u3002<\/p>\n\n\n\n

      \u56de\u73af\u68c0\u6d4b<\/strong><\/p>\n\n\n\n

      \u56de\u73af\u68c0\u6d4b\u5728\u6211\u4eec\u7684\u6846\u67b6\u4e2d\u8d77\u5230\u4e86\u4e24\u4e2a\u91cd\u8981\u4f5c\u7528\u3002\u9996\u5148\uff0c\u901a\u8fc7\u5229\u7528\u957f\u671f\u6570\u636e\u5173\u8054\uff0c\u5b83\u6709\u6548\u5730\u51cf\u8f7b\u4e86\u6f02\u79fb\u95ee\u9898\uff0c\u901a\u8fc7\u68c0\u6d4b\u5148\u524d\u8bbf\u95ee\u8fc7\u7684\u5730\u70b9\u5e76\u901a\u8fc7\u4f4d\u59ff\u56fe\u4f18\u5316\uff08PGO\uff09\u6765\u7ea0\u6b63\u7d2f\u79ef\u8bef\u5dee\u3002\u5176\u6b21\uff0c\u56de\u73af\u68c0\u6d4b\u5c06\u5f53\u524d\u4f1a\u8bdd\u4e0e\u540c\u4e00\u4e16\u754c\u6846\u67b6\u4e2d\u7684\u5148\u524d\u4f1a\u8bdd\u5339\u914d\uff0c\u5b9e\u73b0\u591a\u5730\u56fe\u6570\u636e\u5173\u8054\u3002\u8fd9\u4e2a\u8fc7\u7a0b\u80fd\u591f\u6574\u5408\u548c\u5bf9\u9f50\u4e0d\u540c\u6d4b\u56fe\u4f1a\u8bdd\u4e2d\u6536\u96c6\u7684\u6570\u636e\uff0c\u6709\u52a9\u4e8e\u521b\u5efa\u7edf\u4e00\u7684\u73af\u5883\u5730\u56fe\u3002<\/p>\n\n\n\n

      \u5173\u952e\u5e27\u751f\u6210\u4e0e\u56de\u73af\u68c0\u6d4b<\/strong><\/p>\n\n\n\n

      \u5f53\u5c40\u90e8\u5efa\u56fe\u4e2d\u6ed1\u52a8\u7a97\u53e3\u7684\u626b\u63cf\u88ab\u8fb9\u7f18\u5316\u540e\uff0c\u56de\u73af\u68c0\u6d4b\u6a21\u5757\u4f1a\u5c06\u8fd9\u4e9b\u626b\u63cf\u63a8\u9001\u5230\u4f4d\u59ff\u56fe\u4e2d\u3002N\u6b21\u8fde\u7eed\u8fb9\u7f18\u5316\u7684\u626b\u63cf\u4f1a\u7d2f\u79ef\u4e3a\u4e00\u5e27\uff0c\u5982\u679c\u5f53\u524d\u5e27\u4e0e\u6700\u65b0\u5173\u952e\u5e27\u4e4b\u95f4\u7684\u79fb\u52a8\u8ddd\u79bb\u548c\u65cb\u8f6c\u89d2\u5ea6\u8d85\u8fc7\u4e86\u9884\u5b9a\u9608\u503c\uff08\u59820.5\u7c73\u548c5\u5ea6\uff09\uff0c\u5219\u8be5\u5e27\u5c06\u88ab\u9009\u4e3a\u5173\u952e\u5e27\u3002\u5173\u952e\u5e27\u7528\u4e8e\u63d0\u53d6BTC\u63cf\u8ff0\u7b26\uff0c\u5e76\u4e0e\u5f53\u524d\u548c\u5148\u524d\u4f1a\u8bdd\u4e2d\u7684\u5019\u9009\u56de\u73af\u5173\u952e\u5e27\u5339\u914d\uff0c\u5177\u4f53\u65b9\u6cd5\u53ef\u53c2\u89c1\u3002\u5173\u952e\u5e27\u540c\u65f6\u88ab\u53d1\u9001\u5230\u5168\u5c40\u5efa\u56fe\u7ebf\u7a0b\u4ee5\u8fdb\u884c\u8fdb\u4e00\u6b65\u5904\u7406\u3002<\/p>\n\n\n\n

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

      \u5728\u8bc6\u522b\u51fa\u56de\u73af\u5019\u9009\u5e27\u540e\uff0c\u5fc5\u987b\u9a8c\u8bc1\u5176\u771f\u5b9e\u6027\u4ee5\u907f\u514d\u8bef\u68c0\u3002\u9664\u4e86BTC\u5185\u7f6e\u7684\u51e0\u4f55\u9a8c\u8bc1\u5916\uff0c\u6211\u4eec\u8fd8\u91c7\u7528\u4e86\u4e24\u9879\u989d\u5916\u6807\u51c6\u4ee5\u589e\u5f3a\u56de\u73af\u68c0\u6d4b\u7684\u53ef\u9760\u6027\uff1a\uff081\uff09\u5f53\u524d\u5173\u952e\u5e27\u4e0e\u68c0\u6d4b\u5230\u7684\u5019\u9009\u5e27\u7684\u70b9\u5bf9\u5e73\u9762\u5bf9\u9f50\u5e94\u5728\u4e09\u4e2a\u7ebf\u6027\u72ec\u7acb\u7684\u65b9\u5411\u4e0a\u5305\u542b\u5e73\u9762\u7ea6\u675f\uff0c\u6807\u51c6\u53c2\u89c1\u9644\u5f55B\uff1b\uff082\uff09\u6f02\u79fb\u8ddd\u79bb\u4e0e\u884c\u8fdb\u8ddd\u79bb\u7684\u6bd4\u7387\u5e94\u8db3\u591f\u5c0f\uff08\u4f8b\u5982\uff0c\u22641%\uff09\u3002\u8fd9\u4e00\u6807\u51c6\u9002\u7528\u4e8e\u5019\u9009\u56de\u73af\u5173\u952e\u5e27\u4f4d\u4e8e\u5f53\u524d\u4f1a\u8bdd\u4e2d\u7684\u60c5\u51b5\uff08\u89c1\u56fe4(a)\uff09\u6216\u4f4d\u4e8e\u4e4b\u524d\u4f1a\u8bdd\u4e2d\u7684\u60c5\u51b5\uff08\u89c1\u56fe4(b)\uff09\u3002<\/p>\n\n\n\n

      \u4f4d\u59ff\u56fe\u4f18\u5316\u4e0e\u5730\u56fe\u91cd\u5efa<\/strong><\/p>\n\n\n\n

      \u5728\u6210\u529f\u68c0\u6d4b\u5230\u56de\u73af\u540e\uff0c\u5982\u679c\u68c0\u6d4b\u5230\u7684\u56de\u73af\u5173\u952e\u5e27\u662f\u7b2c\u4e00\u6b21\u51fa\u73b0\u5728\u5148\u524d\u4f1a\u8bdd\u4e2d\uff0c\u5219\u5c06\u5f53\u524d\u4f1a\u8bdd\u4e0e\u5148\u524d\u4f1a\u8bdd\u5bf9\u9f50\uff0c\u6240\u6709\u5f53\u524d\u4f1a\u8bdd\u4e2d\u7684\u4f4d\u59ff\u5c06\u88ab\u5bf9\u9f50\u5230\u5148\u524d\u4f1a\u8bdd\u7684\u4e16\u754c\u5750\u6807\u7cfb\u4e2d\uff0c\u5e76\u5c06\u4e24\u4e2a\u4f1a\u8bdd\u7684\u4f4d\u59ff\u56fe\u62fc\u63a5\u5728\u4e00\u8d77\u3002\u5426\u5219\uff0c\u5982\u679c\u68c0\u6d4b\u5230\u7684\u56de\u73af\u5173\u952e\u5e27\u5728\u5148\u524d\u4f1a\u8bdd\u4e2d\u662f\u7b2c\u4e8c\u6b21\uff08\u6216\u66f4\u591a\u6b21\uff09\u51fa\u73b0\uff0c\u6216\u8005\u4f4d\u4e8e\u5f53\u524d\u4f1a\u8bdd\u4e2d\uff0c\u8fd9\u4e24\u79cd\u60c5\u51b5\u90fd\u4f1a\u5bfc\u81f4\u4f4d\u59ff\u56fe\u4e2d\u51fa\u73b0\u56de\u73af\uff0c\u4ece\u800c\u89e6\u53d1\u4f4d\u59ff\u56fe\u4f18\u5316\uff08PGO\uff09\u3002<\/p>\n\n\n\n

      \u5168\u5c40\u5efa\u56fe<\/strong><\/p>\n\n\n\n

      \u56de\u73af\u68c0\u6d4b\u751f\u6210\u7684\u70b9\u4e91\u5730\u56fe\uff0c\u5c24\u5176\u662f\u5728\u591a\u6b21\u4f1a\u8bdd\u7684SLAM\u8fc7\u7a0b\u4e2d\uff0c\u53ef\u80fd\u4f1a\u51fa\u73b0\u4e0d\u4e00\u81f4\u6027\u3002\u8fd9\u662f\u56e0\u4e3a\u4f4d\u59ff\u56fe\u4f18\u5316\uff08PGO\uff09\u4ec5\u8003\u8651\u4e86\u4f4d\u59ff\u7ea6\u675f\uff0c\u800c\u672a\u76f4\u63a5\u6355\u6349\u5730\u56fe\u4e00\u81f4\u6027\u7684\u7ea6\u675f\u3002\u4e3a\u4e86\u89e3\u51b3\u8fd9\u4e2a\u95ee\u9898\uff0c\u6211\u4eec\u5f15\u5165\u4e86\u5168\u5c40\u5efa\u56fe\u6a21\u5757\uff0c\u8fdb\u4e00\u6b65\u4f18\u5316\u56de\u73af\u68c0\u6d4b\u751f\u6210\u7684\u4f4d\u59ff\u548c\u5730\u56fe\uff0c\u91c7\u7528\u4e86\u4e00\u79cd\u5206\u5c42\u5168\u5c40\u6346\u7ed1\u8c03\u6574\uff08BA\uff09\u65b9\u6cd5\u6765\u51cf\u5c11\u8fc7\u591a\u7684\u4f18\u5316\u7ef4\u5ea6\u3002<\/p>\n\n\n\n

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

      \u57fa\u4e8e\u56fe1\u4e2d\u7684\u6570\u636e\u91d1\u5b57\u5854\uff0c\u5168\u5c40\u5efa\u56fe\u7ebf\u7a0b\u5305\u62ec\u4e09\u4e2a\u6b65\u9aa4\u3002\u9996\u5148\uff0c\u5728\u63a5\u6536\u5230\u56de\u73af\u68c0\u6d4b\u7ebf\u7a0b\u4e2d\u7684\u5173\u952e\u5e27\u540e\uff0c\u5168\u5c40\u5efa\u56fe\u7ebf\u7a0b\u5b9e\u65f6\u5bf9\u5173\u952e\u5e27\u7a97\u53e3\u6267\u884c\u6346\u7ed1\u8c03\u6574\uff08BA\uff09\u3002\u8be5\u7a97\u53e3\u5927\u5c0f\u4e3a10\uff0c\u5e76\u4ee5\u6b65\u957f5\u6ed1\u52a8\u3002\u5728\u6bcf\u4e2a\u6ed1\u52a8\u7a97\u53e3\u7684BA\u4e2d\uff0c\u56fa\u5b9a\u7b2c\u4e00\u4e2a\u5173\u952e\u5e27\u7684\u4f4d\u59ff\u4e3aPGO\u7ed3\u679c\uff0c\u5176\u4ed6\u4e5d\u4e2a\u5173\u952e\u5e27\u7684\u4f4d\u59ff\u5219\u5728\u4f18\u5316\u8fc7\u7a0b\u4e2d\u540c\u65f6\u4f18\u5316\u3002\u5b8c\u6210\u540e\uff0c\u5c06\u8be5\u7a97\u53e3\u4e2d\u768410\u4e2a\u5173\u952e\u5e27\u5408\u5e76\u4e3a\u5b50\u5730\u56fe\u3002<\/p>\n\n\n\n

      \u5176\u6b21\uff0c\u4e00\u65e6\u5f53\u524d\u4f1a\u8bdd\u7ed3\u675f\uff08\u4f8b\u5982\u6570\u636e\u6536\u96c6\u7ed3\u675f\u6216\u7cfb\u7edf\u91cd\u542f\uff09\uff0c\u7cfb\u7edf\u4f1a\u5bf9\u6240\u6709\u5b50\u5730\u56fe\u8fdb\u884c\u5168\u5c40BA\u3002\u8003\u8651\u5230PGO\u8fd4\u56de\u7684\u626b\u63cf\u4f4d\u59ff\u53ef\u80fd\u65e0\u6cd5\u786e\u4fdd\u5168\u5c40\u5730\u56fe\u7684\u4e00\u81f4\u6027\uff0c\u56e0\u6b64\u6211\u4eec\u91c7\u7528\u4e86\u7b2cV-A\u8282\u7684\u7c97\u5230\u7ec6\u4f53\u7d20\u5316\u548cBA\u4f18\u5316\u65b9\u6cd5\uff0c\u7528\u4e8e\u5168\u5c40\u5b50\u5730\u56feBA\uff0c\u6b64\u65f6\u4e0d\u518d\u8003\u8651IMU\u9884\u79ef\u5206\u56e0\u5b50\u548c\u91cd\u529b\u4f18\u5316\u3002\u5173\u952e\u5e27\u5230\u5b50\u5730\u56fe\u7684BA\u4f18\u5316\uff0c\u518d\u4ece\u5b50\u5730\u56fe\u5230\u5168\u5c40\u5730\u56fe\u7684BA\u4f18\u5316\uff0c\u88ab\u79f0\u4e3a\u81ea\u4e0b\u800c\u4e0a\u7684BA\u4f18\u5316\uff0c\u5b83\u663e\u8457\u51cf\u5c11\u4e86\u76f8\u5bf9\u4e8e\u76f4\u63a5\u5728\u5173\u952e\u5e27\u6216\u626b\u63cf\u4e0a\u8fdb\u884c\u5168\u5c40BA\u7684\u4f18\u5316\u7ef4\u5ea6\u3002<\/p>\n\n\n\n

      \u6700\u540e\uff0c\u91c7\u7528\u4e86\u5e26\u6709PGO\u7684\u81ea\u9876\u5411\u4e0b\u4f18\u5316\uff0c\u4ee5\u63d0\u9ad8\u5168\u5c40\u4e00\u81f4\u6027\u3002<\/p>\n\n\n\n

      \u5b9e\u9a8c\u6548\u679c<\/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
      \"\"<\/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

      \u603b\u7ed3\u4e00\u4e0b<\/strong><\/p>\n\n\n\n

      Voxel-SLAM\u662f\u4e00\u4e2a\u5b8c\u6574\u3001\u7cbe\u786e\u4e14\u591a\u529f\u80fd\u7684\u6fc0\u5149\u96f7\u8fbe-\u60ef\u6027SLAM\u7cfb\u7edf\uff0c\u5145\u5206\u5229\u7528\u4e86\u77ed\u671f\u3001\u4e2d\u671f\u3001\u957f\u671f\u548c\u591a\u5730\u56fe\u6570\u636e\u5173\u8054\uff0c\u652f\u6301\u5355\u6b21\u548c\u591a\u6b21\u4f1a\u8bdd\u3002Voxel-SLAM\u901a\u8fc7\u81ea\u9002\u5e94\u4f53\u7d20\u5730\u56fe\u5728\u6240\u6709\u6a21\u5757\u4e2d\u63d0\u4f9b\u7edf\u4e00\u7684\u5730\u56fe\u8868\u793a\uff0c\u4f7f\u5176\u9002\u7528\u4e8e\u5404\u79cd\u573a\u666f\u3002\u5b9e\u9a8c\u7ed3\u679c\u8868\u660e\uff0c\u6211\u4eec\u7684\u7cfb\u7edf\u5728\u9ad8\u52a8\u6001\u7684\u521d\u59cb\u72b6\u6001\u4e0b\u80fd\u591f\u5feb\u901f\u542f\u52a8\uff0c\u5e76\u5728\u591a\u4e2a\u516c\u5f00\u6570\u636e\u96c6\u4e0a\u7684\u7cbe\u5ea6\u8d85\u8d8a\u4e86\u5176\u4ed6\u6700\u5148\u8fdb\u7684\u7cfb\u7edf\u3002\u7279\u522b\u662f\u5728\u590d\u6742\u7684\u591a\u6b21\u4f1a\u8bdd\u4e2d\uff0cVoxel-SLAM\u80fd\u591f\u68c0\u6d4b\u56de\u73af\u5e76\u901a\u8fc7\u9ad8\u6548\u7684\u5168\u5c40\u4f18\u5316\u786e\u4fdd\u5168\u5c40\u5730\u56fe\u7684\u4e00\u81f4\u6027\u3002<\/p>\n\n\n\n

      \u53c2\u8003<\/strong><\/p>\n\n\n\n

      [1] Voxel-SLAM: A Complete, Accurate, and Versatile LiDAR-Inertial SLAM System<\/p>\n","protected":false},"excerpt":{"rendered":"

      \u5168\u65b0\u5b8c\u6574SLAM LiDAR SLAM\u4e0eLiD […]<\/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-16931","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\/16931"}],"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=16931"}],"version-history":[{"count":1,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/16931\/revisions"}],"predecessor-version":[{"id":16950,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/16931\/revisions\/16950"}],"wp:attachment":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/media?parent=16931"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/categories?post=16931"},{"taxonomy":"post_tag","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/tags?post=16931"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}