{"id":18599,"date":"2024-11-05T17:37:12","date_gmt":"2024-11-05T09:37:12","guid":{"rendered":"http:\/\/192.168.10.115\/?p=18599"},"modified":"2024-11-05T17:37:12","modified_gmt":"2024-11-05T09:37:12","slug":"2024-11-05-xrdslam%ef%bc%9a%e5%9f%ba%e4%ba%8e%e6%b7%b1%e5%ba%a6%e5%ad%a6%e4%b9%a0%e7%9a%84%e6%a8%a1%e5%9d%97%e5%8c%96slam%ef%bc%81%e7%81%b5%e6%b4%bb%e7%bb%84%e5%90%88%e4%b8%8d%e5%90%8c%e7%ae%97","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2024\/11\/05\/18599\/","title":{"rendered":"2024-11-05 XRDSLAM\uff1a\u57fa\u4e8e\u6df1\u5ea6\u5b66\u4e60\u7684\u6a21\u5757\u5316SLAM\uff01\u7075\u6d3b\u7ec4\u5408\u4e0d\u540c\u7b97\u6cd5\uff01\uff08\u5546\u6c64&\u6d59\u5927\uff09"},"content":{"rendered":"\n

0. \u8bba\u6587\u4fe1\u606f<\/strong><\/p>\n\n\n\n

\u6807\u9898\uff1aXRDSLAM: A Flexible and Modular Framework for Deep Learning based SLAM<\/p>\n\n\n\n

\u4f5c\u8005\uff1aXiaomeng Wang, Nan Wang, Guofeng Zhang<\/p>\n\n\n\n

\u673a\u6784\uff1aSenseTime Research\u3001State Key Lab of CAD&CG, Zhejiang University<\/p>\n\n\n\n

\u539f\u6587\u94fe\u63a5\uff1ahttps:\/\/arxiv.org\/abs\/2410.23690<\/p>\n\n\n\n

\u4ee3\u7801\u94fe\u63a5\uff1ahttps:\/\/github.com\/openxrlab\/xrdslam<\/p>\n\n\n\n

OenXRLab\uff1ahttps:\/\/github.com\/openxrlab<\/p>\n\n\n\n

1. \u5bfc\u8bfb<\/strong><\/p>\n\n\n\n

\u672c\u6587\u63d0\u51fa\u4e86\u4e00\u4e2a\u7075\u6d3b\u7684SLAM\u6846\u67b6XRDSLAM\u3002\u5b83\u91c7\u7528\u6a21\u5757\u5316\u4ee3\u7801\u8bbe\u8ba1\u548c\u591a\u8fdb\u7a0b\u8fd0\u884c\u673a\u5236\uff0c\u63d0\u4f9b\u9ad8\u5ea6\u53ef\u91cd\u7528\u7684\u57fa\u7840\u6a21\u5757\uff0c\u5982\u7edf\u4e00\u6570\u636e\u96c6\u7ba1\u7406\u3001\u4e09\u7ef4\u53ef\u89c6\u5316\u3001\u7b97\u6cd5\u914d\u7f6e\u548c\u5ea6\u91cf\u8bc4\u4f30\u3002\u53ef\u4ee5\u5e2e\u52a9\u5f00\u53d1\u8005\u5feb\u901f\u642d\u5efa\u5b8c\u6574\u7684SLAM\u7cfb\u7edf\uff0c\u7075\u6d3b\u7ec4\u5408\u4e0d\u540c\u7684\u7b97\u6cd5\u6a21\u5757\uff0c\u8fdb\u884c\u6807\u51c6\u5316\u7684\u57fa\u51c6\u6d4b\u8bd5\uff0c\u8fdb\u884c\u7cbe\u5ea6\u548c\u6548\u7387\u7684\u6bd4\u8f83\u3002\u5728\u8fd9\u4e2a\u6846\u67b6\u4e2d\uff0c\u6211\u4eec\u96c6\u6210\u4e86\u51e0\u79cd\u4e0d\u540c\u7c7b\u578b\u7684SLAM\u7b97\u6cd5\uff0c\u5305\u62ec\u57fa\u4e8eNeRF\u548c3DGS\u7684SLAM\u7b97\u6cd5\uff0c\u751a\u81f3\u662f\u91cc\u7a0b\u8ba1\u6216\u91cd\u5efa\u7b97\u6cd5\uff0c\u8fd9\u5c55\u793a\u4e86\u7075\u6d3b\u6027\u548c\u53ef\u6269\u5c55\u6027\u3002\u6211\u4eec\u8fd8\u5bf9\u8fd9\u4e9b\u96c6\u6210\u7b97\u6cd5\u8fdb\u884c\u4e86\u5168\u9762\u7684\u6bd4\u8f83\u548c\u8bc4\u4ef7\uff0c\u5206\u6790\u4e86\u5404\u81ea\u7684\u7279\u70b9\u3002\u6700\u540e\uff0c\u6211\u4eec\u5c06\u6240\u6709\u4ee3\u7801\u3001\u914d\u7f6e\u548c\u6570\u636e\u8d21\u732e\u7ed9\u5f00\u6e90\u793e\u533a\uff0c\u8be5\u793e\u533a\u65e8\u5728\u4fc3\u8fdb\u5f00\u6e90\u751f\u6001\u7cfb\u7edf\u5185SLAM\u6280\u672f\u7684\u5e7f\u6cdb\u7814\u7a76\u548c\u5f00\u53d1\u3002<\/p>\n\n\n\n

2. \u5f15\u8a00<\/strong><\/p>\n\n\n\n

SLAM (Simultaneous Localization and Mapping) \u6280\u672f\u5728\u81ea\u52a8\u9a7e\u9a76\u3001\u673a\u5668\u4eba\u6280\u672f\u4ee5\u53ca\u589e\u5f3a\u73b0\u5b9e\/\u865a\u62df\u73b0\u5b9e\uff08AR\/VR\uff09\u7b49\u9886\u57df\u53d1\u6325\u7740\u81f3\u5173\u91cd\u8981\u7684\u4f5c\u7528\u3002\u901a\u8fc7\u5206\u6790\u548c\u878d\u5408\u4f20\u611f\u5668\u6570\u636e\uff0cSLAM\u6280\u672f\u80fd\u591f\u5b9e\u73b0\u8bbe\u5907\u7684\u7cbe\u786e\u516d\u81ea\u7531\u5ea6\uff086DoF\uff09\u5b9a\u4f4d\uff0c\u5e76\u5b9e\u65f6\u6784\u5efa\u73af\u5883\u5730\u56fe\uff0c\u4e3a\u81ea\u52a8\u9a7e\u9a76\u3001\u673a\u5668\u4eba\u5bfc\u822a\u4ee5\u53caAR\/VR\u7b49\u5e94\u7528\u63d0\u4f9b\u57fa\u7840\u80fd\u529b\u3002\u5728SLAM\u7b97\u6cd5\u7684\u8bbe\u8ba1\u4e2d\uff0c\u5730\u56fe\u7684\u8868\u793a\u5f62\u5f0f\u81f3\u5173\u91cd\u8981\u3002\u4f20\u7edfSLAM\u7b97\u6cd5\u901a\u5e38\u57fa\u4e8e\u7a00\u758f\u6216\u534a\u7a20\u5bc6\u7684\u70b9\u4e91\u6765\u8868\u793a\u573a\u666f\uff0c\u5e76\u901a\u8fc7\u624b\u52a8\u7f16\u5199\u7684\u89c4\u5219\u6765\u7ba1\u7406\u5730\u56fe\uff0c\u8fd9\u9650\u5236\u4e86SLAM\u6280\u672f\u7684\u53d1\u5c55\u3002<\/p>\n\n\n\n

\u8fd1\u5e74\u6765\uff0c\u795e\u7ecf\u8f90\u5c04\u573a\uff08NeRF\uff09\u548c\u4e09\u7ef4\u9ad8\u65af\u6e85\u5c04\uff083DGS\uff09\u7b49\u6280\u672f\u5728\u65b0\u9896\u89c6\u89d2\u5408\u6210\u65b9\u9762\u53d6\u5f97\u4e86\u663e\u8457\u8fdb\u5c55\u3002\u57fa\u4e8e\u5b66\u4e60\u7684\u573a\u666f\u8868\u793a\u5229\u7528\u4e86\u8bf8\u5982\u53ef\u5fae\u6e32\u67d3\u3001\u8fde\u7eed\u5efa\u6a21\u3001\u566a\u58f0\u5904\u7406\u548c\u7a7a\u6d1e\u586b\u5145\u7b49\u4f18\u52bf\uff0c\u4e3aSLAM\u9886\u57df\u6ce8\u5165\u4e86\u65b0\u7684\u6d3b\u529b\u3002\u4e00\u4e9b\u6700\u65b0\u7684\u5de5\u4f5c\u5c1d\u8bd5\u5c06NeRF\u548c3DGS\u878d\u5165SLAM\u7cfb\u7edf\u3002\u4e00\u4e9b\u65b9\u6cd5\u76f4\u63a5\u4f7f\u7528RGB-D\u6570\u636e\u4f5c\u4e3a\u989c\u8272\u548c\u6df1\u5ea6\u76d1\u7763\u6765\u8bad\u7ec3\u7f51\u7edc\u53c2\u6570\u5e76\u4f18\u5316\u59ff\u6001\u3002\u5176\u4ed6\u65b9\u6cd5\u4ec5\u4f9d\u8d56RGB\u6570\u636e\uff0c\u901a\u8fc7\u6dfb\u52a0\u6b63\u5219\u5316\u7ea6\u675f\u6765\u4f18\u5316\u7f51\u7edc\u548c\u59ff\u6001\u3002\u4e00\u4e9b\u52aa\u529b\u8fd8\u5c06\u8fd9\u4e9b\u65b0\u6280\u672f\u4e0e\u4f20\u7edfSLAM\u65b9\u6cd5\u76f8\u7ed3\u5408\uff0c\u5f15\u5165\u4e86\u8bf8\u5982ICP\u548cORB-SLAM\u7b49\u6280\u672f\u3002\u6b64\u5916\uff0c\u4e00\u4e9b\u5de5\u4f5c\u8fd8\u5c1d\u8bd5\u6574\u5408\u989d\u5916\u7684\u7f51\u7edc\u6765\u63d0\u4f9b\u8bf8\u5982\u6df1\u5ea6\u5148\u9a8c\u3001\u5149\u6d41\u548c\u6cd5\u7ebf\u7b49\u5148\u9a8c\u4fe1\u606f\uff0c\u65e8\u5728\u63d0\u9ad8\u8bad\u7ec3\u901f\u5ea6\u548c\u91cd\u5efa\u8d28\u91cf\u3002<\/p>\n\n\n\n

\u7136\u800c\uff0c\u968f\u7740\u65b0\u8bba\u6587\u548c\u6280\u672f\u7684\u4e0d\u65ad\u6d8c\u73b0\uff0c\u8ddf\u8e2a\u8fdb\u5c55\u548c\u6574\u5408\u4ee3\u7801\u53d8\u5f97\u8d8a\u6765\u8d8a\u5177\u6709\u6311\u6218\u6027\u3002\u8bb8\u591a\u7814\u7a76\u5b9e\u73b0\u5206\u6563\u5728\u72ec\u7acb\u7684\u4ee3\u7801\u4ed3\u5e93\u4e2d\uff0c\u7f3a\u4e4f\u7edf\u4e00\u7684\u5f00\u53d1\u548c\u8bc4\u4f30\u8fc7\u7a0b\u3002\u8fd9\u4f7f\u5f97\u516c\u5e73\u548c\u5168\u9762\u7684\u6bd4\u8f83\u53d8\u5f97\u975e\u5e38\u56f0\u96be\u3002\u6b64\u5916\uff0cSLAM\u7cfb\u7edf\u7684\u590d\u6742\u6027\u4e3a\u4ece\u5934\u5f00\u59cb\u6784\u5efa\u4e00\u4e2a\u5b8c\u6574\u7684SLAM\u7cfb\u7edf\u8bbe\u7f6e\u4e86\u8f83\u9ad8\u7684\u6280\u672f\u58c1\u5792\u548c\u5f00\u53d1\u6210\u672c\u3002\u53d7NeRF\u9886\u57dfNeRFStudio\u6210\u529f\u7684\u542f\u53d1\uff0c\u6211\u4eec\u63a8\u51fa\u4e86XRDSLAM\uff0c\u4e00\u4e2a\u57fa\u4e8e\u6df1\u5ea6\u5b66\u4e60\u7684\u53ef\u6269\u5c55\u4e14\u591a\u529f\u80fdSLAM\u6846\u67b6\u3002\u63a8\u8350\u8bfe\u7a0b\uff1a\u5f7b\u5e95\u641e\u61c2\u89c6\u89c9-\u60ef\u6027SLAM\uff1a\u57fa\u4e8eVINS-Fusion<\/a>\u3002<\/p>\n\n\n\n

3. \u6548\u679c\u5c55\u793a<\/strong><\/p>\n\n\n\n

XRDSLAM\u81ea\u52a8\u4fdd\u5b58SLAM\u7cfb\u7edf\u7684\u7ed3\u679c\uff0c\u5e76\u4f7f\u7528Evaluation\u6a21\u5757\u6765\u8bc4\u4f30\u8f68\u8ff9\u548c\u91cd\u5efa\u7ed3\u679c\u3002\u8868I\u5c55\u793a\u4e86\u57283D\u53ef\u89c6\u5316\u5668\u4e2d\u8fd0\u884c\u7684\u5404\u79cd\u7b97\u6cd5\u7684\u622a\u56fe\uff0c\u5305\u62ec5\u79cdSLAM\u65b9\u6cd5\u3001\u4e00\u79cd\u91cc\u7a0b\u8ba1\u65b9\u6cd5\u548c\u4e00\u79cd\u589e\u91cf\u91cd\u5efa\u65b9\u6cd5\uff0c\u5b83\u4eec\u90fd\u88ab\u96c6\u6210\u5230\u4e86XRDSLAM\u4e2d\u3002<\/p>\n\n\n\n

\u6b64\u5916\uff0cXRDSLAM\u53ef\u4ee5\u7075\u6d3b\u5730\u652f\u6301\u5404\u79cd\u573a\u666f\u7f16\u7801\u683c\u5f0f\u548c\u5efa\u56fe\u65b9\u6cd5\uff0c\u5982NICE-SLAM\u7684\u591a\u5206\u8fa8\u7387\u7279\u5f81\u7f51\u683c\u3001Co-SLAM\u7684\u54c8\u5e0c\u7f51\u683c\u3001Vox-Fusion\u7684\u7a00\u758f\u4f53\u7d20\u516b\u53c9\u6811\u3001Point-SLAM\u7684\u795e\u7ecf\u70b9\u4e91\u4ee5\u53caSplaTAM\u76843DGS\u3002<\/p>\n\n\n\n

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

\u6211\u4eec\u4f7f\u7528Python\u7684tqdm\u5e93\u6765\u8ba1\u7b97\u6bcf\u5e27\u7684\u8fd0\u884c\u65f6\u95f4\uff0c\u5e76\u8ba1\u7b97\u6bcf\u4e2a\u7b97\u6cd5\u7684\u6bcf\u79d2\u5e27\u6570\uff08FPS\uff09\u3002\u8868I\u603b\u7ed3\u4e86\u6211\u4eec\u5728\u4e0b\u91c7\u6837\u7684Replica\/office0\u6570\u636e\u96c6\uff08\u5206\u8fa8\u7387\u4e3a600\u00d7340\uff09\u4e0a\u8fd0\u884cXRDSLAM\u7684\u57fa\u51c6\u6d4b\u8bd5\u7ed3\u679c\u3002\u6d4b\u8bd5\u662f\u5728NVIDIA GTX 1080Ti\u663e\u5361\uff08\u5177\u670912GB\u5185\u5b58\uff09\u4e0a\u8fdb\u884c\u7684\u3002\u7531\u4e8eNeuralRecon\u4ec5\u652f\u6301640×480\u7684\u5206\u8fa8\u7387\uff0c\u56e0\u6b64\u5c06\u539f\u59cb\u56fe\u50cf\u88c1\u526a\u5e76\u8c03\u6574\u5927\u5c0f\u5230\u8be5\u5206\u8fa8\u7387\u8fdb\u884c\u6d4b\u8bd5\u3002<\/p>\n\n\n\n

\u4ece\u8868I\u4e2d\u53ef\u4ee5\u770b\u51fa\uff0c\u5728\u96c6\u6210\u5230XRDSLAM\u4e2d\u7684\u7b97\u6cd5\u4e2d\uff0cNeuralRecon\u7684\u6548\u7387\u6700\u9ad8\u3002\u5728SLAM\u7b97\u6cd5\u4e2d\uff0c\u4f7f\u7528\u54c8\u5e0c\u7f51\u683c\u7684Co-SLAM\u5728\u6548\u7387\u65b9\u9762\u8868\u73b0\u6700\u4f73\uff0c\u800cPoint-SLAM\u548cSplatTAM\u76f8\u5bf9\u6548\u7387\u8f83\u4f4e\u3002\u5c3d\u7ba1SplatTAM\u5728\u56fe\u50cf\u6e32\u67d3\u65b9\u9762\u66f4\u9ad8\u6548\uff0c\u4f46\u7531\u4e8e\u9700\u8981\u5904\u7406\u6bcf\u5e27\u548c\u66f4\u591a\u7684\u8fed\u4ee3\u6b21\u6570\uff0c\u6574\u4f53\u7cfb\u7edf\u6548\u7387\u5e76\u4e0d\u7406\u60f3\u3002<\/p>\n\n\n\n

\u6b64\u5916\uff0cXRDSLAM\u4e2d\u7684NICE-SLAM\u7684FPS\u4e0e\u8bba\u6587\u4e2d\u7684\u7ed3\u679c\u6709\u5f88\u5927\u4e0d\u540c\uff0c\u8fd9\u4e3b\u8981\u662f\u56e0\u4e3a\u539f\u59cb\u7684NICE-SLAM\u9ed8\u8ba4\u5728\u8fd0\u884c\u8fc7\u7a0b\u4e2d\u63d0\u53d6\u7f51\u683c\uff0c\u5bfc\u81f4\u8017\u65f6\u66f4\u957f\u3002XRDSLAM\u6807\u51c6\u5316\u4e86\u6570\u636e\u4fdd\u5b58\u8fc7\u7a0b\uff0c\u4f7f\u5f97\u7b97\u6cd5\u6027\u80fd\u7684\u6bd4\u8f83\u66f4\u52a0\u516c\u5e73\u3002\u5f71\u54cd\u7b97\u6cd5\u6548\u7387\u7684\u56e0\u7d20\u4e0d\u4ec5\u5305\u62ec\u6570\u636e\u4fdd\u5b58\u548c\u7b97\u6cd5\u81ea\u8eab\u7684\u5904\u7406\u8fc7\u7a0b\uff0c\u8fd8\u5305\u62ec\u8fed\u4ee3\u6b21\u6570\u3001\u91c7\u6837\u70b9\u6570\u91cf\u548c\u6570\u636e\u5904\u7406\u95f4\u9694\u5e27\u3002\u4e3a\u786e\u4fdd\u4e0e\u539f\u59cb\u7b97\u6cd5\u7684\u51c6\u786e\u6027\u4e00\u81f4\uff0c\u5728\u8bc4\u4f30\u9636\u6bb5\u4f7f\u7528\u4e86\u539f\u59cb\u7b97\u6cd5\u7684\u9ed8\u8ba4\u914d\u7f6e\u3002<\/p>\n\n\n\n

\u8868I\u8fd8\u63d0\u4f9b\u4e86XRDSLAM\u5728Replica\/office0\u6570\u636e\u96c6\uff08\u4e0b\u91c7\u6837\u5206\u8fa8\u7387\u4e3a600×340\uff09\u4e0a\u8fd0\u884c\u65f6\u7684GPU\u5185\u5b58\u5cf0\u503c\u4f7f\u7528\u91cf\uff08\u4ee5GB\u4e3a\u5355\u4f4d\uff09\u3002\u5728\u6d4b\u8bd5\u671f\u95f4\uff0cVox-Fusion\u7684GPU\u5185\u5b58\u6700\u521d\u98d9\u5347\u5230\u5927\u7ea610GB\uff0c\u7136\u540e\u4e0b\u964d\u5e76\u7a33\u5b9a\u57284-6GB\u4e4b\u95f4\u3002SplaTAM\u7684\u5185\u5b58\u4f7f\u7528\u91cf\u4e0e\u5206\u8fa8\u7387\u5bc6\u5207\u76f8\u5173\uff0c\u4e3b\u8981\u662f\u56e0\u4e3a\u5b83\u4f7f\u7528RGB-D\u70b9\u4e91\u8fdb\u884cGS\u521d\u59cb\u5316\u3002\u57fa\u4e8e\u795e\u7ecf\u70b9\u4e91\u7684Point-SLAM\u968f\u7740\u70b9\u4e91\u5730\u56fe\u7684\u6269\u5c55\uff0c\u5185\u5b58\u6d88\u8017\u4e0d\u65ad\u589e\u52a0\u3002\u57fa\u4e8e\u56fa\u5b9a\u5206\u8fa8\u7387\u4f53\u7d20\u7f51\u683c\u548c\u6bcf\u5e27\u6052\u5b9a\u6570\u91cf\u6837\u672c\u7684CoSLAM\u548cNICE-SLAM\u5177\u6709\u76f8\u5bf9\u7a33\u5b9a\u7684\u5185\u5b58\u4f7f\u7528\u91cf\u3002\u4f5c\u4e3a\u589e\u91cf\u91cd\u5efa\u65b9\u6cd5\u7684NeuralRecon\uff0c\u968f\u7740\u5730\u56fe\u7684\u589e\u957f\uff0c\u5185\u5b58\u6d88\u8017\u4e5f\u5728\u4e0d\u65ad\u589e\u52a0\u3002<\/p>\n\n\n\n

4. \u4e3b\u8981\u8d21\u732e<\/strong><\/p>\n\n\n\n

\u672c\u6587\u7684\u4e3b\u8981\u8d21\u732e\u5982\u4e0b\uff1a<\/p>\n\n\n\n

\u6a21\u5757\u5316\u8bbe\u8ba1\uff1aXRDSLAM\u91c7\u7528\u591a\u8fdb\u7a0b\u673a\u5236\u548c\u6a21\u5757\u5316\u4ee3\u7801\u8bbe\u8ba1\uff0c\u5c06\u8ddf\u8e2a\u3001\u6620\u5c04\u548c\u53ef\u89c6\u5316\u8fc7\u7a0b\u89e3\u8026\u3002\u8be5\u6846\u67b6\u63d0\u4f9b\u4e86\u6a21\u5757\u5316\u7684\u6570\u636e\u8f93\u5165\/\u8f93\u51fa\u3001\u914d\u7f6e\u89e3\u6790\u3001\u53ef\u89c6\u5316\u548c\u7ed3\u679c\u5bfc\u51fa\u529f\u80fd\u6a21\u5757\uff0c\u4f7f\u7528\u6237\u80fd\u591f\u7075\u6d3b\u7ec4\u5408\u548c\u66ff\u6362\u4e0d\u540c\u7684\u7b97\u6cd5\u6a21\u5757\uff0c\u4ee5\u5b9e\u73b0\u5feb\u901f\u8fed\u4ee3\u548c\u4f18\u5316\u3002<\/p>\n\n\n\n

\u7edf\u4e00\u6d41\u7a0b\uff1a\u6846\u67b6\u63d0\u4f9b\u4e86\u4e00\u4e2a\u7edf\u4e00\u7684SLAM\u5f00\u53d1\u6d41\u7a0b\uff0c\u5305\u542b\u53ef\u91cd\u7528\u7684\u7ec4\u4ef6\uff0c\u4f7f\u5f00\u53d1\u8005\u80fd\u591f\u8f7b\u677e\u521b\u5efa\u5b8c\u6574\u7684SLAM\u7b97\u6cd5\u3002\u5b83\u8fd8\u6807\u51c6\u5316\u4e86\u6570\u636e\u5904\u7406\u548c\u8bc4\u4f30\uff0c\u4f7f\u4e0d\u540cSLAM\u7b97\u6cd5\u4e4b\u95f4\u80fd\u591f\u8fdb\u884c\u516c\u5e73\u6709\u6548\u7684\u8bc4\u4f30\u3002\u5177\u4f53\u6765\u8bf4\uff0c\u6211\u4eec\u8bbe\u8ba1\u4e86\u4e00\u4e2a\u4e13\u7528\u7684Model\u7c7b\u6765\u7ba1\u7406\u6df1\u5ea6\u5b66\u4e60\u6a21\u578b\u7684\u6240\u6709\u64cd\u4f5c\uff0c\u4ece\u800c\u4f7f\u5f00\u53d1\u8005\u66f4\u5bb9\u6613\u6784\u5efa\u57fa\u4e8e\u5b66\u4e60\u7684\u7b97\u6cd5\u3002<\/p>\n\n\n\n

\u96c6\u6210SOTA\u7b97\u6cd5\uff1a\u6211\u4eec\u96c6\u6210\u4e86\u6700\u5148\u8fdb\u7684\uff08SOTA\uff09SLAM\u7b97\u6cd5\uff0c\u8fd9\u9a8c\u8bc1\u4e86\u6846\u67b6\u7684\u7075\u6d3b\u6027\u548c\u53ef\u6269\u5c55\u6027\uff0c\u540c\u65f6\u4e5f\u4fc3\u8fdb\u4e86\u5f00\u6e90\u793e\u533a\u5bf9\u4e0d\u540c\u7b97\u6cd5\u7684\u5b66\u4e60\u548c\u6bd4\u8f83\u3002<\/p>\n\n\n\n

\u5f00\u6e90\u4ee3\u7801\uff1a\u6240\u6709\u4ee3\u7801\u3001\u914d\u7f6e\u548c\u6570\u636e\u5747\u516c\u5f00\u53ef\u7528\uff0c\u65e8\u5728\u4fc3\u8fdb\u793e\u533a\u9a71\u52a8\u7684\u5f00\u53d1\u548c\u8fd9\u4e9b\u6280\u672f\u7684\u5e7f\u6cdb\u5e94\u7528\u3002\u8fd9\u9879\u5de5\u4f5c\u5c5e\u4e8eOpenXRLab\u7684\u4e00\u90e8\u5206\u3002<\/p>\n\n\n\n

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

XRDSLAM\u63d0\u4f9b\u4e86\u4e00\u4e2a\u9ad8\u5ea6\u53ef\u914d\u7f6e\u3001\u9ad8\u6548\u4e14\u6613\u4e8e\u6269\u5c55\u7684\u6846\u67b6\u3002\u53d7NeRFStudio\u542f\u53d1\uff0cXRDSLAM\u91c7\u7528\u4e86\u6a21\u5757\u5316\u4ee3\u7801\u8bbe\u8ba1\uff0c\u901a\u8fc7\u7ee7\u627f\u548c\u591a\u6001\u6027\u7ec4\u7ec7SLAM\uff08\u5373\u65f6\u5b9a\u4f4d\u4e0e\u5730\u56fe\u6784\u5efa\uff09\u7ec4\u4ef6\u3002\u5b83\u901a\u8fc7\u4e00\u4e2a\u96c6\u4e2d\u7ba1\u7406\u7684\u914d\u7f6e\u7c7b\u5904\u7406\u53c2\u6570\uff0c\u5e76\u5229\u7528\u591a\u8fdb\u7a0b\u5e76\u884c\u5904\u7406\u52a0\u901f\u8ddf\u8e2a\u3001\u5efa\u56fe\u548c\u53ef\u89c6\u5316\u4efb\u52a1\uff0c\u4ece\u800c\u663e\u8457\u63d0\u5347\u7cfb\u7edf\u6027\u80fd\u3002XRDSLAM\u7ed3\u5408\u4e86\u7075\u6d3b\u7684\u914d\u7f6e\u3001\u8d44\u6e90\u5171\u4eab\u548c\u591a\u8fdb\u7a0b\u673a\u5236\uff0c\u6253\u9020\u4e86\u4e00\u4e2a\u591a\u529f\u80fd\u4e14\u9ad8\u6548\u7684\u5f00\u53d1\u5e73\u53f0\u3002<\/p>\n\n\n\n

\u5982\u56fe1\u6240\u793a\uff0cXRDSLAM\u6846\u67b6\u4e3b\u8981\u5904\u7406\u56db\u4e2a\u90e8\u5206\u7684\u4ea4\u4e92\uff1a<\/p>\n\n\n\n

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

\u6570\u636e\u96c6\u8f93\u5165\uff1a\u6846\u67b6\u9700\u8981\u4ece\u4e00\u4e2a\u6216\u591a\u4e2a\u4f20\u611f\u5668\u63a5\u6536\u6570\u636e\uff0c\u5982RGB\u56fe\u50cf\u3001\u6df1\u5ea6\u56fe\u50cf\u3001IMU\uff08\u60ef\u6027\u6d4b\u91cf\u5355\u5143\uff09\u6570\u636e\u7b49\u3002XRDSLAM\u901a\u8fc7\u591a\u4e2aDataset\u7c7b\u5904\u7406\u4e0d\u540c\u683c\u5f0f\u7684\u6570\u636e\u96c6\uff0c\u63d0\u4f9b\u4e86\u4e00\u4e2a\u7edf\u4e00\u7684\u6570\u636e\u52a0\u8f7d\u63a5\u53e3\u548c\u9884\u5904\u7406\u529f\u80fd\u3002<\/p>\n\n\n\n

\u6838\u5fc3SLAM\u7b97\u6cd5\uff1aXRDSLAM\u901a\u8fc7Algorithm\u548cModel\u7c7b\u7ec4\u7ec7\u6838\u5fc3SLAM\u7b97\u6cd5\u3002\u7528\u6237\u53ef\u4ee5\u901a\u8fc7\u7ee7\u627f\u548c\u66ff\u6362\u8fd9\u4e9b\u7c7b\u4e2d\u7684\u7ec4\u4ef6\u6765\u5feb\u901f\u5b9e\u73b0\u548c\u4f18\u5316SLAM\u7b97\u6cd5\u3002Model\u7c7b\u7531Algorithm\u7c7b\u8c03\u7528\u3002\u5f00\u53d1\u8005\u53ef\u4ee5\u901a\u8fc7Model\u7c7b\u8bbe\u8ba1\u548c\u7ba1\u7406\u6df1\u5ea6\u5b66\u4e60\u7b97\u6cd5\u3002<\/p>\n\n\n\n

\u53ef\u89c6\u5316\uff1aXRDSLAM\u63d0\u4f9b\u4e86\u5728\u7ebf\u548c\u79bb\u7ebf\u53ef\u89c6\u5316\u5de5\u5177\u3002\u5728\u7ebf\u53ef\u89c6\u5316\u5de5\u5177\u5b9e\u65f6\u663e\u793aSLAM\u7cfb\u7edf\u7684\u72b6\u6001\uff0c\u5305\u62ec2D\u56fe\u50cf\u6e32\u67d3\u548c3D\u573a\u666f\u8868\u793a\uff0c\u5e2e\u52a9\u7528\u6237\u8fdb\u884c\u8c03\u8bd5\u548c\u4f18\u5316\u3002\u79bb\u7ebf\u53ef\u89c6\u5316\u5de5\u5177\u7528\u4e8e\u6e32\u67d3\u548c\u663e\u793aSLAM\u7b97\u6cd5\u7684\u7ed3\u679c\uff0c\u652f\u6301\u4fdd\u5b58\u4e3a\u89c6\u9891\u6587\u4ef6\u4ee5\u4f9b\u540e\u7eed\u5206\u6790\u3002<\/p>\n\n\n\n

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

6. \u5b9e\u9a8c\u7ed3\u679c<\/strong><\/p>\n\n\n\n

\u8868II\u5c55\u793a\u4e86\u57288\u4e2aReplica\u6570\u636e\u96c6\u4e0a\uff0c\u591a\u4e2a\u539f\u59cb\u7b97\u6cd5\u53ca\u5176\u5728XRDSLAM\u4e2d\u96c6\u6210\u7248\u672c\uff08\u5e26\u2019\u2217\u2019\uff09\u7684\u5e73\u5747\u8bc4\u4f30\u6307\u6807\u7ed3\u679c\u3002\u539f\u59cb\u7248\u672c\u548cXRDSLAM\u96c6\u6210\u7248\u672c\u4e2d\u66f4\u597d\u7684\u7ed3\u679c\u4ee5\u7c97\u4f53\u7a81\u51fa\u663e\u793a\u3002\u5b8c\u6574\u7684\u8bc4\u4f30\u8868\u53ef\u5728\u6211\u4eec\u7684GitHub\u5b58\u50a8\u5e93\u4e2d\u67e5\u770b\u3002<\/p>\n\n\n\n

\u4ece\u8868II\u4e2d\u53ef\u4ee5\u660e\u663e\u770b\u51fa\uff0c\u96c6\u6210\u5230XRDSLAM\u4e2d\u7684\u7b97\u6cd5\u5728\u51c6\u786e\u6027\u65b9\u9762\u4e0e\u539f\u59cb\u7248\u672c\u76f8\u5f53\u3002\u57283D\u91cd\u5efa\u8d28\u91cf\u65b9\u9762\uff0cPoint-SLAM\u5728\u51c6\u786e\u6027\u6307\u6807\u4e0a\u8868\u73b0\u6700\u4f73\u3002\u5728\u56fe\u50cf\u6e32\u67d3\u8d28\u91cf\u65b9\u9762\uff0cPoint-SLAM\u548cSplaTAM\u5747\u8868\u73b0\u51fa\u8272\u3002\u5728\u5b9a\u4f4d\u6307\u6807\u65b9\u9762\uff0cDPVO\u5177\u6709\u6700\u9ad8\u7684\u51c6\u786e\u6027\uff0c\u800cSplaTAM\u7684\u5b9a\u4f4d\u51c6\u786e\u6027\u4f18\u4e8e\u5176\u4ed6\u57fa\u4e8e\u795e\u7ecf\u7f51\u7edc\u7684\u5efa\u56fe\u65b9\u6cd5\u3002<\/p>\n\n\n\n

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

\u56fe3\u5c55\u793a\u4e86\u5728Replica\/room0\u6570\u636e\u96c6\u4e0a\u8fdb\u884c\u7f51\u683c\u91cd\u5efa\u65f6\uff0c\u51e0\u4e2a\u96c6\u6210\u5230XRDSLAM\u4e2d\u7684SLAM\u65b9\u6cd5\u7684\u5b9a\u6027\u7ed3\u679c\uff0c\u6027\u80fd\u4eceNICE-SLAM\u9010\u6b65\u63d0\u9ad8\u5230Co-SLAM\u3001Vox-Fusion\uff0c\u6700\u540e\u5230Point-SLAM\u3002<\/p>\n\n\n\n

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

7. \u603b\u7ed3 & \u672a\u6765\u5de5\u4f5c<\/strong><\/p>\n\n\n\n

\u672c\u6587\u4ecb\u7ecd\u4e86\u4e00\u79cd\u65b0\u7684\u901a\u7528SLAM\u6846\u67b6\u2014\u2014XRDSLAM\u3002\u8be5\u6846\u67b6\u63d0\u4f9b\u4e86\u4e00\u4e2a\u901a\u7528\u7684\u63a5\u53e3\u548c\u5de5\u5177\uff0c\u4f7f\u5f97\u5e73\u53f0\u6613\u4e8e\u4f7f\u7528\u3002\u5176\u6a21\u5757\u5316\u8bbe\u8ba1\u4fbf\u4e8e\u4e0d\u540c\u7b97\u6cd5\u7684\u96c6\u6210\u4e0e\u8fc1\u79fb\uff0c\u540c\u65f6\u63d0\u4f9b\u7edf\u4e00\u7684\u7ed3\u679c\u5bfc\u51fa\u4e0e\u8bc4\u4f30\u529f\u80fd\uff0c\u5b9e\u73b0\u4e86\u5bf9\u4e0d\u540cSLAM\u7b97\u6cd5\u7684\u516c\u5e73\u4fbf\u6377\u6bd4\u8f83\u3002XRDSLAM\u663e\u8457\u964d\u4f4e\u4e86\u4ee3\u7801\u5f00\u53d1\u6210\u672c\uff0c\u63d0\u9ad8\u4e86\u5f00\u53d1\u6548\u7387\uff0c\u63a8\u52a8\u4e86SLAM\u6280\u672f\u7684\u53d1\u5c55\u3002<\/p>\n\n\n\n

\u5728\u6b64\u5e73\u53f0\u4e0a\uff0c\u6211\u4eec\u6574\u5408\u4e86\u6700\u524d\u6cbf\u7684SLAM\u7b97\u6cd5\uff08\u5982Vox-Fusion\u3001NICE-SLAM\u3001SplaTAM\u7b49\uff09\uff0c\u5e76\u5728\u7edf\u4e00\u6846\u67b6\u4e0b\u8fdb\u884c\u4e86\u5ba2\u89c2\u8bc4\u4f30\uff0c\u79d1\u5b66\u5206\u6790\u4e86\u4e0d\u540c\u7b97\u6cd5\u7684\u51c6\u786e\u6027\u7279\u5f81\u548c\u8ba1\u7b97\u6548\u7387\u3002<\/p>\n\n\n\n

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