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\/><\/figure>\n\n\n\n<p>\u6211\u4eec\u7684\u7cfb\u7edf\u91c7\u7528\u591a\u4e2a\u4f20\u611f\u5668\u4f5c\u4e3a\u8f93\u5165\uff0c\u5305\u62ec\u4e00\u4e2a\u524d\u89c6\u6444\u50cf\u5934\u3001IMU\u3001\u8f66\u8f6e\u7f16\u7801\u5668\u548c\u56db\u4e2a\u5168\u666f\u6444\u50cf\u5934\u3002\u6211\u4eec\u5de5\u4f5c\u7684\u603b\u4f53\u6846\u67b6\u5982\u56fe2\u6240\u793a\u3002\u6211\u4eec\u5de5\u4f5c\u7684\u7b2c\u4e00\u90e8\u5206\u662fSLAM\u7cfb\u7edfGCSLAM\u3002GCSLAM\u96c6\u6210\u4e86\u4e09\u4e2a\u6a21\u5757\uff1a\u5168\u5c40\u65f6\u9699\u7ba1\u7406\u6a21\u5757\u3001\u91cc\u7a0b\u8ba1\u548c\u56e0\u5b50\u56fe\u4f18\u5316\u3002\u91cc\u7a0b\u8ba1\u6a21\u5757\u4e0e\u5176\u4ed6\u6a21\u5757\u677e\u6563\u8026\u5408\uff0c\u4f7f\u5176\u53ef\u66ff\u6362\uff0c\u589e\u5f3a\u4e86\u7cfb\u7edf\u7684\u7075\u6d3b\u6027\u548c\u53ef\u7528\u6027\u3002\u672c\u6587\u91c7\u7528VIW\u4f5c\u4e3a\u91cc\u7a0b\u8ba1\u6a21\u5757\u3002\u5168\u5c40\u65f6\u9699\u7ba1\u7406\u6a21\u5757\u5305\u62ecBEV\u611f\u77e5\u6a21\u5757\u548c\u65f6\u9699\u5173\u8054\u3002\u6211\u4eec\u7684BEV\u611f\u77e5\u6a21\u5757\u662f\u4e00\u4e2a\u57fa\u4e8e\u591a\u4efb\u52a1\u6846\u67b6\u3002\u5b83\u4ee5BEV\u56fe\u50cf\u4e3a\u8f93\u5165\uff0c\u5b9e\u65f6\u751f\u6210\u8bed\u4e49\u5206\u5272\u7ed3\u679c\uff08\u5730\u9762\u6807\u8bb0\uff09\u548c\u65f6\u9699\u68c0\u6d4b\u7ed3\u679c\uff08\u505c\u8f66\u8fb9\u754c\u7aef\u70b9\uff09\uff0c\u4f7f\u7528\u7edf\u4e00\u7684\u9aa8\u5e72\u7f51\u7edc\uff0c\u4e3a\u6bcf\u4e2a\u7279\u5b9a\u4efb\u52a1\u63d0\u4f9b\u4e0d\u540c\u7684\u8f93\u51fa\u5934\u3002\u6b64\u5916\uff0c\u8be5\u5168\u5c40\u65f6\u9699\u7ba1\u7406\u6a21\u5757\u5c06\u68c0\u6d4b\u7ed3\u679c\u6ce8\u518c\u5230\u5168\u5c40\u65f6\u9699\u5e76\u6267\u884c\u65f6\u9699\u5173\u8054\u3002\u57fa\u4e8e\u91cc\u7a0b\u8ba1\u4f4d\u59ff\u3001\u8bed\u4e49\u4fe1\u606f\u548c\u65f6\u9699\u5173\u8054\u7ed3\u679c\uff0c\u56e0\u5b50\u56fe\u4f18\u5316\u53ef\u4ee5\u5b9e\u73b0\u7cbe\u786e\u7684\u4f4d\u59ff\u4f30\u8ba1\u548c\u5168\u5c40\u8bed\u4e49\u56fe\u6784\u5efa\u3002\u5728\u5efa\u7acb\u5168\u5c40\u8bed\u4e49\u56fe\u540e\uff0c\u6211\u4eec\u5de5\u4f5c\u7684\u7b2c\u4e8c\u90e8\u5206\uff0c\u5b9a\u4f4d\u5b50\u7cfb\u7edfSF-Loc\uff0c\u5c06\u91cc\u7a0b\u8ba1\u4f4d\u59ff\u4e0e\u8bed\u4e49\u914d\u51c6\u7ed3\u679c\u878d\u5408\u5728\u4e00\u8d77\uff0c\u7528\u4e8e\u57fa\u4e8e\u5730\u56fe\u7684\u5b9a\u4f4d\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\"><strong>\u5e26\u8bed\u4e49\u8f66\u4f4d\u8282\u70b9\u7684\u56e0\u5b50\u56fe<\/strong><\/h3>\n\n\n\n<p>\u6211\u4eec\u5c06SLAM\u4efb\u52a1\u89c6\u4e3a\u4e00\u4e2a\u56e0\u5b50\u56fe\u4f18\u5316\u95ee\u9898\uff0c\u65e8\u5728\u4f30\u8ba1\u5173\u952e\u5e27\u7684\u7cbe\u786e\u4f4d\u59ff\u3002\u57fa\u4e8e\u91cc\u7a0b\u8ba1\u63d0\u4f9b\u7684\u5e27\u95f4\u8ddd\u79bb\u6765\u9009\u62e9\u5173\u952e\u5e27\u3002\u56e0\u5b50\u56fe\u7531\u8282\u70b9\u548c\u8fb9\u7ec4\u6210\uff0c\u5176\u4e2d\u8282\u70b9\u8868\u793a\u8981\u4f18\u5316\u7684\u53d8\u91cf\uff0c\u8fb9\u662f\u7ea6\u675f\u8282\u70b9\u7684\u8bef\u5dee\u9879\u3002\u5982\u56fe3\u6240\u793a\uff0cGCSLAM\u4f7f\u7528\u4e24\u79cd\u7c7b\u578b\u7684\u8282\u70b9\u548c\u56db\u79cd\u7c7b\u578b\u7684\u8fb9\u6784\u5efa\u56e0\u5b50\u56fe<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"345\" height=\"204\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-512.png\" alt=\"\" class=\"wp-image-18137\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-512.png 345w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-512-300x177.png 300w\" sizes=\"(max-width: 345px) 100vw, 345px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"341\" height=\"39\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-513.png\" alt=\"\" class=\"wp-image-18138\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-513.png 341w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-513-300x34.png 300w\" sizes=\"(max-width: 341px) 100vw, 341px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"690\" height=\"701\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/10\/103001.png\" alt=\"\" class=\"wp-image-18139\" style=\"width:895px;height:auto\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/103001.png 690w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/103001-295x300.png 295w\" sizes=\"(max-width: 690px) 100vw, 690px\" \/><\/figure>\n\n\n\n<h3 class=\"wp-block-heading\"><strong>\u5168\u5c40\u8f66\u4f4d\u7ba1\u7406<\/strong><\/h3>\n\n\n\n<p>\u5728\u56e0\u5b50\u56fe\u4f18\u5316\u8fc7\u7a0b\u4e2d\uff0c\u81ea\u8f66\u4f4d\u59ff\u4e0d\u65ad\u4f18\u5316\u3002\u5728\u81ea\u8f66\u4f4d\u59ff\u4f18\u5316\u540e\uff0c\u4ece\u81ea\u8f66\u4f4d\u59ff\u548c\u8f66\u4f4d\u89c2\u5bdf\u914d\u51c6\u7684\u5168\u5c40\u8f66\u4f4d\u4f4d\u59ff\u4e5f\u9700\u8981\u66f4\u65b0\u3002\u56e0\u6b64\uff0c\u6211\u4eec\u4f7f\u7528\u5168\u5c40\u8f66\u4f4d\u7ba1\u7406\u6a21\u5757\u6765\u5b58\u50a8\u548c\u7ba1\u7406\u591a\u4e2a\u8f66\u4f4d\u89c2\u6d4b\u5e27\u3002\u5f53\u65b0\u7684\u89c2\u6d4b\u5e27\u5230\u8fbe\u65f6\uff0c\u7ba1\u7406\u7cfb\u7edf\u5c06\u5f53\u524d\u89c2\u6d4b\u4e0e\u73b0\u6709\u7684\u5168\u5c40\u65f6\u9699\u76f8\u5173\u8054\u3002\u5426\u5219\uff0c\u5b83\u5c06\u521b\u5efa\u4e00\u4e2a\u65b0\u7684\u5168\u5c40\u8f66\u4f4d\u3002\u5f53\u81ea\u8f66\u7684\u4f4d\u59ff\u4f18\u5316\u6216\u65b0\u7684\u89c2\u5bdf\u5e27\u5230\u8fbe\u65f6\uff0c\u7ba1\u7406\u7cfb\u7edf\u4f1a\u66f4\u65b0\u5168\u5c40\u505c\u8f66\u4f4d\u3002<\/p>\n\n\n\n<figure 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class=\"wp-block-heading\"><strong>\u7ed3\u8bba<\/strong><\/h2>\n\n\n\n<p>\u672c\u6587\u4ecb\u7ecd\u4e86\u4e00\u79cd\u65b0\u578b\u7684\u5ba4\u5185\u505c\u8f66\u8ddf\u8e2a\u548c\u5efa\u56fe\u7cfb\u7edfGCSLAM\u3002GCSLAM\u7ed3\u5408\u4e86\u521b\u65b0\u7684\u56e0\u5b50\u56fe\u548c\u65b0\u9896\u7684\u8bef\u5dee\u9879\uff0c\u5728\u590d\u6742\u7684\u505c\u8f66\u73af\u5883\u4e2d\u5b9e\u73b0\u4e86\u7a33\u5065\u548c\u9ad8\u7cbe\u5ea6\u7684\u5efa\u56fe\u3002\u6b64\u5916\uff0c\u6211\u4eec\u8fd8\u5f00\u53d1\u4e86\u4e00\u4e2a\u57fa\u4e8e\u5730\u56fe\u7684\u5b9a\u4f4d\u5b50\u7cfb\u7edfSF-Loc\u3002SF-Loc\u57fa\u4e8e\u4e00\u79cd\u65b0\u7684\u56e0\u5b50\u56fe\u5c06\u914d\u51c6\u7ed3\u679c\u548c\u91cc\u7a0b\u8ba1\u4f4d\u59ff\u878d\u5408\u5728\u4e00\u8d77\uff0c\u6709\u6548\u5730\u63d0\u9ad8\u4e86\u5b9a\u4f4d\u7cbe\u5ea6\u3002\u6211\u4eec\u901a\u8fc7\u771f\u5b9e\u4e16\u754c\u7684\u6570\u636e\u96c6\u9a8c\u8bc1\u4e86\u6211\u4eec\u7684\u7b97\u6cd5\uff0c\u8bc1\u660e\u4e86\u6211\u4eec\u7cfb\u7edf\u7684\u6709\u6548\u6027\u548c\u9c81\u68d2\u6027\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\"><strong>\u53c2\u8003<\/strong><\/h2>\n\n\n\n<p>[1] Towards Autonomous Indoor Parking: A Globally Consistent Semantic SLAM System and A Semantic Localization Subsystem<\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u4e0a\u4ea4\u7684\u5de5\u4f5c\uff1a\u672c\u6587\u63d0\u51fa\u4e86\u4e00\u79cd\u5168\u5c40\u4e00\u81f4\u7684\u8bed\u4e49SLA 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