{"id":19287,"date":"2024-11-15T15:20:30","date_gmt":"2024-11-15T07:20:30","guid":{"rendered":"http:\/\/192.168.10.115\/?p=19287"},"modified":"2024-11-15T15:20:30","modified_gmt":"2024-11-15T07:20:30","slug":"2024-11-15-jetson-slam%ef%bc%9a%e5%b7%b2%e7%9f%a5%e6%9c%80%e5%bf%ab%e6%9c%80%e7%b2%be%e7%a1%ae%e7%9a%84%e8%a7%86%e8%a7%89slam","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2024\/11\/15\/19287\/","title":{"rendered":"2024-11-15 Jetson-SLAM\uff1a\u5df2\u77e5\u6700\u5feb\u6700\u7cbe\u786e\u7684\u89c6\u89c9SLAM"},"content":{"rendered":"\n

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

\u6807\u9898\uff1aHigh-Speed Stereo Visual SLAM for Low-Powered Computing Devices<\/p>\n\n\n\n

\u4f5c\u8005\uff1aAshish Kumar, Jaesik Park, Laxmidhar Behera<\/p>\n\n\n\n

\u673a\u6784\uff1aIndian Institute of Technology (IIT)\u3001Seoul National University (SNU)<\/p>\n\n\n\n

\u539f\u6587\u94fe\u63a5\uff1ahttps:\/\/arxiv.org\/abs\/2410.04090<\/p>\n\n\n\n

\u4ee3\u7801\u94fe\u63a5\uff1ahttps:\/\/github.com\/ashishkumar822\/Jetson-SLAM<\/p>\n\n\n\n

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

\u6211\u4eec\u63d0\u51fa\u4e86\u4e00\u4e2a\u7cbe\u786e\u7684\u548cGPU\u52a0\u901f\u7684\u7acb\u4f53\u89c6\u89c9SLAM\u8bbe\u8ba1\uff0c\u79f0\u4e3aJetson-SLAM\u3002\u5b83\u5728NVIDIA\u7684\u4f4e\u529f\u801710W Jetson-NX\u5d4c\u5165\u5f0f\u8ba1\u7b97\u673a\u4e0a\u663e\u793a\u51fa60FPS\u4ee5\u4e0a\u7684\u5e27\u5904\u7406\u901f\u7387\uff0c\u5728\u684c\u9762\u7ea7200W GPUs\u4e0a\u663e\u793a\u51fa200FPS\u4ee5\u4e0a\u7684\u5e27\u5904\u7406\u901f\u7387\uff0c\u5373\u4f7f\u5728\u7acb\u4f53\u58f0\u914d\u7f6e\u548c\u591a\u5c3a\u5ea6\u8bbe\u7f6e\u4e2d\u4e5f\u662f\u5982\u6b64\u3002\u6211\u4eec\u7684\u8d21\u732e\u6709\u4e09\u4e2a\u65b9\u9762:(1)\u4e00\u79cd\u6709\u754c\u6821\u6b63\u6280\u672f\uff0c\u4ee5\u9632\u6b62\u5728\u5feb\u901f\u68c0\u6d4b\u4e2d\u5c06\u8bb8\u591a\u975e\u89d2\u70b9\u6807\u8bb0\u4e3a\u89d2\u70b9\uff0c\u63d0\u9ad8SLAM\u51c6\u786e\u6027\u3002(2)\u4e00\u79cd\u65b0\u7684\u91d1\u5b57\u5854\u5254\u9664\u548c\u805a\u96c6(PyCA)\u6280\u672f\uff0c\u901a\u8fc7\u5229\u7528GPU\u8bbe\u5907\uff0c\u5728\u9ad8\u901f\u6291\u5236\u5197\u4f59\u7279\u5f81\u7684\u540c\u65f6\uff0c\u4ea7\u751f\u9c81\u68d2\u7684\u7279\u5f81\u3002PyCA\u4f7f\u7528\u6211\u4eec\u9488\u5bf9GPU\u7684\u65b0\u7684\u591a\u4f4d\u7f6e\u6bcf\u7ebf\u7a0b\u5254\u9664\u7b56\u7565(MLPT)\u548c\u7ebf\u7a0b\u9ad8\u6548Warp-Allocation (TEWA)\u65b9\u6848\uff0c\u4f7fJetson-SLAM\u5728\u5d4c\u5165\u5f0f\u8bbe\u5907\u4e0a\u5b9e\u73b0\u9ad8\u7cbe\u5ea6\u548c\u9ad8\u901f\u5ea6\u3002(3)Jetson-SLAM\u56fe\u4e66\u9986\u901a\u8fc7\u6570\u636e\u5171\u4eab\u673a\u5236\u5b9e\u73b0\u8d44\u6e90\u6548\u7387\u3002\u6211\u4eec\u5728\u4e09\u4e2a\u5177\u6709\u6311\u6218\u6027\u7684\u6570\u636e\u96c6\u4e0a\u7684\u5b9e\u9a8c:KITTI\u3001EuRoC\u548cKAIST-VIO\uff0c\u4ee5\u53ca\u4e24\u4e2a\u9ad8\u5ea6\u7cbe\u786e\u7684SLAM\u540e\u7aef:Full-BA\u548cICE-BA\u8868\u660e\uff0cJetson-SLAM\u662f\u53ef\u7528\u7684\u6700\u5feb\u7684\u7cbe\u786e\u548cGPU\u52a0\u901fSLAM\u7cfb\u7edf\u3002<\/p>\n\n\n\n

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

\u5398\u7c73\u7ea7\u7cbe\u5ea6\u7684\u5c40\u90e8\u5b9a\u4f4d\u7cfb\u7edf\u5bf9\u4e8e\u590d\u6742\u7684\u673a\u5668\u4eba\u548c\u81ea\u4e3b\u98de\u884c\u7cfb\u7edf\u7cbe\u786e\u6267\u884c\u5bfc\u822a\u3001\u63a7\u5236\u548c\u89c6\u89c9\u4f3a\u670d\u4efb\u52a1\u81f3\u5173\u91cd\u8981\u3002\u89c6\u89c9\u91cc\u7a0b\u8ba1\uff08VO\uff09\u53ef\u7528\u4e8e\u6b64\u76ee\u7684\uff0c\u4f46\u5b83\u4f1a\u4e22\u5f03\u65e9\u671f\u7684\u73af\u5883\u89c2\u6d4b\u6570\u636e\uff0c\u7f3a\u4e4f\u5168\u5c40\u4e00\u81f4\u6027\u3002\u8fd9\u4f1a\u5bfc\u81f4\u4f4d\u59ff\u4f30\u8ba1\u968f\u65f6\u95f4\u6f02\u79fb\uff0c\u5373\u4f7f\u667a\u80fd\u4f53\u5728\u540c\u4e00\u533a\u57df\u5185\u5bfc\u822a\u3002<\/p>\n\n\n\n

\u76f8\u6bd4\u4e4b\u4e0b\uff0c\u89c6\u89c9SLAM\u63d0\u4f9b\u4e86\u65e0\u6f02\u79fb\u7684\u5b9a\u4f4d\u548c\u5efa\u56fe\u80fd\u529b\uff0c\u4ece\u800c\u80fd\u591f\u7cbe\u786e\u6267\u884c\u81ea\u4e3b\u4efb\u52a1\u3002\u5728\u6b64\u80cc\u666f\u4e0b\uff0c\u7acb\u4f53\u89c6\u89c9SLAM\u56e0\u5176\u9ad8\u5ea6\u7cbe\u786e\u7684\u5ea6\u91cf\u6027\u80fd\u548c\u4f4e\u6210\u672c\u7684\u4f20\u611f\u5668\u9700\u6c42\u800c\u7279\u522b\u5f15\u4eba\u6ce8\u76ee\u3002\u7136\u800c\uff0c\u5176\u8ba1\u7b97\u5bc6\u96c6\u578b\u7684\u524d\u7aef\uff08\u7279\u5f81\u68c0\u6d4b-\u63d0\u53d6-\u5339\u914d\u3001\u7acb\u4f53\u5339\u914d\uff09\u548c\u540e\u7aef\uff08\u56fe\u4f18\u5316\u3001\u56de\u73af\u68c0\u6d4b\u3001\u5b9a\u4f4d\u548c\u5efa\u56fe\uff09\u4f1a\u8fc5\u901f\u8017\u5c3d\u4f4e\u529f\u8017\u8bbe\u5907\u7684\u8ba1\u7b97\u80fd\u529b\u3002\u6b64\u5916\uff0c\u8fd9\u4e9b\u8bbe\u5907\u7684\u6709\u9650\u8ba1\u7b97\u80fd\u529b\u8feb\u4f7fSLAM\u7cfb\u7edf\u4e22\u5f03\u4e2d\u95f4\u5e27\uff0c\u4ece\u800c\u5bfc\u81f4\u5e27\u7387\u964d\u4f4e\u548c\u8ddf\u8e2a\u5931\u8d25\u3002<\/p>\n\n\n\n

\u5728\u6570\u636e\u91c7\u96c6\u3001\u63a7\u5236\u3001\u6293\u53d6\u548c\u8ba1\u7b97\u5bc6\u96c6\u578b\u7684\u6df1\u5ea6\u7f51\u7edc\u7b49\u5171\u5b58\u6a21\u5757\u5171\u4eab\u8ba1\u7b97\u8d44\u6e90\u7684\u60c5\u51b5\u4e0b\uff0c\u8fd9\u79cd\u60c5\u51b5\u4f1a\u53d8\u5f97\u66f4\u52a0\u56f0\u96be\u3002\u5b83\u5f88\u5bb9\u6613\u5bfc\u81f4\u7cfb\u7edf\u707e\u96be\u6027\u6545\u969c\uff0c\u4f8b\u5982\uff0c\u7531\u4e8e\u4f4d\u7f6e\u53cd\u9988\u5ef6\u8fdf\uff0c\u63a7\u5236\u7cfb\u7edf\u504f\u79bb\u671f\u671b\u8f68\u8ff9\u3002\u56e0\u6b64\uff0c\u57fa\u4e8e\u65e0\u4eba\u673a\u7684\u81ea\u4e3b\u64cd\u7eb5\u7cfb\u7edf\u5728\u8fdc\u7a0b\u8ba1\u7b97\u673a\u4e0a\u6267\u884cSLAM\u3002\u5176\u4ed6\u5de5\u4f5c\u63a2\u7d22\u4e86\u7528\u4e8eSLAM\u7684\u7f51\u7edc\u8ba1\u7b97\uff0c\u4f46\u4e0d\u9002\u5408\u5b64\u7acb\u7684\u673a\u5668\u4eba\u7cfb\u7edf\u3002<\/p>\n\n\n\n

\u5c3d\u7ba1\u5df2\u6709\u52a0\u901fVO\u7cfb\u7edf\u7684\u52aa\u529b\uff0c\u4f46SLAM\u4ecd\u672a\u53d7\u5230\u5173\u6ce8\u3002\u4f8b\u5982\uff0c\u6700\u8fd1\u5de5\u4f5c\u4ec5\u5c06\u73b0\u6709VO\u7cfb\u7edf\u7684\u8fd0\u884c\u65f6\u5728Jetson\u8bbe\u5907\u4e0a\u8fdb\u884c\u4e86\u57fa\u51c6\u6d4b\u8bd5\u3002\u5728VO\u4e2d\uff0c\u901a\u8fc7\u5c06\u56fe\u50cf\u5212\u5206\u4e3a\u7f51\u683c\uff0c\u5e76\u4ece\u6bcf\u4e2a\u7f51\u683c\u4e2d\u9009\u62e9\u4e00\u4e2a\u7279\u5f81\u6765\u9650\u5236\u7279\u5f81\u6570\u91cf\u662f\u4e00\u79cd\u5e38\u7528\u65b9\u6cd5\u3002<\/p>\n\n\n\n

\u5728\u591a\u5c3a\u5ea6\u8bbe\u7f6e\u4e2d\uff0c\u5176\u4e0d\u53ef\u914d\u7f6e\u76842\u500d\u7f29\u653e\u56e0\u5b50\u4f1a\u5927\u5e45\u964d\u4f4e\u56fe\u50cf\u5206\u8fa8\u7387\uff0c\u4ece\u800c\u5bfc\u81f4\u7279\u5f81\u6570\u91cf\u51cf\u5c11\uff0c\u5e76\u4e14\u65e0\u8bba\u5c3a\u5ea6\u6570\u91cf\u5982\u4f55\uff0c\u6bcf\u4e2a\u7f51\u683c\u4e2d\u7684\u7279\u5f81\u90fd\u4f1a\u8fdb\u4e00\u6b65\u7f29\u51cf\u5230\u4ec5\u4e00\u4e2a\uff0c\u4ece\u800c\u5728SLAM\u4e2d\u5bfc\u81f4\u7279\u5f81\u70b9\u4e0d\u8db3\uff0c\u9020\u6210\u8ddf\u8e2a\u5931\u8d25\u3002\u6b64\u5916\uff0c\u5f53\u90e8\u7f72\u5230\u5d4c\u5165\u5f0f\u8ba1\u7b97\u8bbe\u5907\u65f6\uff0c\u5bf9\u4e8e\u8f83\u5c0f\u7684\u7f51\u683c\uff0c\u5b83\u6548\u7387\u4e0d\u9ad8\u3002<\/p>\n\n\n\n

ORB-SLAM2\u3001ICE-BA\u662f\u9ad8\u5ea6\u7cbe\u786e\u7684SLAM\u7cfb\u7edf\u3002\u7136\u800c\uff0c\u5176\u590d\u6742\u7684\u4ec5CPU\u5de5\u4f5c\u91cf\u4f7f\u5176\u901f\u5ea6\u53d8\u6162\u5e76\u8017\u5c3d\u4f4e\u529f\u8017\u8bbe\u5907\u7684\u8ba1\u7b97\u80fd\u529b\u3002SLAMCore\u662fCPU\u9ad8\u6548\u7684SLAM\uff0c\u4f46\u5b83\u4e0d\u662f\u5f00\u6e90\u7684\uff0c\u5e76\u4e14\u6ca1\u6709\u4e0e\u6df1\u5ea6\u7f51\u7edc\u4e00\u8d77\u8fdb\u884c\u57fa\u51c6\u6d4b\u8bd5\u3002\u5c3d\u7ba1\u5b58\u5728\u8fd9\u4e9b\u9650\u5236\uff0c\u4f46\u9ad8\u901fSLAM\u7cfb\u7edf\u662f\u5f53\u524d\u65f6\u4ee3\u7684\u9700\u6c42\uff0c\u5728\u73b0\u4ee3\u81ea\u4e3b\u7cfb\u7edf\u4e2d\u5177\u6709\u5e7f\u9614\u7684\u5e94\u7528\u524d\u666f\u3002<\/p>\n\n\n\n

\u5728\u89c6\u89c9SLAM\u4e2d\uff0c\u901f\u5ea6\u4e3b\u8981\u53d7\u524d\u7aef\u8d1f\u8f7d\u7684\u5f71\u54cd\uff0c\u8be5\u8d1f\u8f7d\u968f\u56fe\u50cf\u5206\u8fa8\u7387\u800c\u53d8\u5316\uff0c\u5728\u7acb\u4f53\u6a21\u5f0f\u4e0b\uff08\u6211\u4eec\u5173\u6ce8\u7684\u6a21\u5f0f\uff09\u4f1a\u52a0\u500d\u3002\u6b64\u5916\uff0c\u524d\u7aef\u4ea7\u751f\u7684\u7279\u5f81\u6570\u91cf\u4f1a\u5f71\u54cd\u540e\u7aef\u8d1f\u8f7d\u3002\u56e0\u6b64\uff0c\u6211\u4eec\u4ece\u96f6\u5f00\u59cb\u5f00\u53d1\u4e86\u4e00\u4e2aGPU\u52a0\u901f\u7684\u524d\u7aef\uff0c\u8be5\u524d\u7aef\u5229\u7528\u5d4c\u5165\u5f0f\u8ba1\u7b97\u673a\u7684\u7247\u4e0aGPU\uff0c\u4ee5\u9ad8\u901f\u4ea7\u751f\u6570\u91cf\u8db3\u591f\u5c11\u4f46\u5f71\u54cd\u8f83\u5927\u7684\u7279\u5f81\u3002\u7136\u800c\uff0c\u5728\u6b64\u52aa\u529b\u4e2d\uff0cGPU\u6838\u5fc3\u7684\u7a00\u7f3a\u6027\u6210\u4e3a\u9650\u5236\u53ef\u5b9e\u73b0\u6700\u5927\u901f\u5ea6\u7684\u74f6\u9888\uff0c\u800c\u6838\u5fc3\u7684\u4f4e\u6548\u4f7f\u7528\u4f1a\u964d\u4f4eGPU\u541e\u5410\u91cf\u3002\u6211\u4eec\u901a\u8fc7\u7b97\u6cd5\u548c\u7cfb\u7edf\u5f00\u53d1\u7684\u8d21\u732e\u89e3\u51b3\u4e86\u8fd9\u4e2a\u95ee\u9898\uff0c\u4ece\u800c\u5f97\u51fa\u4e86\u8fc4\u4eca\u4e3a\u6b62\u53ef\u7528\u7684\u9ad8\u901f\u3001\u7cbe\u786e\u4e14\u8d44\u6e90\u9ad8\u6548\u7684GPU\u52a0\u901fSLAM\u7cfb\u7edf\uff0c\u79f0\u4e3aJetson-SLAM\u3002<\/p>\n\n\n\n

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

\uff08a\uff09Jetson-SLAM\u7684GPU\u52a0\u901f\u4e14\u8d44\u6e90\u9ad8\u6548\u7684\u524d\u7aef-\u4e2d\u7aef\u8bbe\u8ba1\u8f93\u51fa\uff1b\uff08b\uff09\u8f93\u51fa\u8f68\u8ff9\uff1b\uff08c\uff09\u5728Jetson-NX\u5d4c\u5165\u5f0f\u8ba1\u7b97\u673a\u4e0a\u7684\u6bcf\u79d2\u5e27\u6570\uff08FPS\uff09\u57fa\u51c6\u6d4b\u8bd5\uff1b\u4ee5\u53ca\uff08d\uff09\u5728KITTI\u5e8f\u5217\u4e0a\u7684SLAM\u6027\u80fd\u3002<\/p>\n\n\n\n

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

\u6211\u4eec\u6ce8\u610f\u8bb8\u591a\u5de5\u4f5c\u5c06\u8bb8\u591a\u975e\u89d2\u70b9\u9519\u8bef\u5730\u5206\u7c7b\u4e3a\u89d2\u70b9\u3002\u8fd9\u4e9b\u70b9\u672c\u8d28\u4e0a\u662f\u5177\u6709\u7c7b\u4f3c\u6563\u7c92\u566a\u58f0\u6216\u5fae\u5c0f\u6591\u70b9\u72b6\u5916\u89c2\u7684\u7edf\u8ba1\u79bb\u7fa4\u503c\u3002\u7531\u4e8e\u5176\u9ad8\u5ea6\u76f8\u4f3c\u7684\u5916\u89c2\u4f1a\u4f7f\u7acb\u4f53\u5339\u914d\u5668\u4ea7\u751f\u6df7\u6dc6\uff0c\u56e0\u6b64\u4e0d\u80fd\u7528\u4f5c\u5730\u56fe\u70b9\u3002\u4f8b\u5982\uff0c\u56fe2a\u4e2d\u7684\u6240\u6709\u5206\u5272\u50cf\u7d20\u90fd\u5f88\u4eae\u4e14Nb > Pmin\uff0c\u4f46\u5b83\u5e76\u4e0d\u662f\u4e00\u4e2a\u89d2\u70b9\u3002\u56fe2b\u5c55\u793a\u4e86\u4e00\u4e2a\u73b0\u5b9e\u4e16\u754c\u7684\u6848\u4f8b\u3002\u8fd9\u4e2a\u95ee\u9898\u9700\u8981\u89e3\u51b3\uff0c\u56e0\u4e3a\u524d\u7aef\u4e2d\u7684\u9519\u8bef\u4f1a\u4f20\u64ad\u5230\u5176\u4ed6SLAM\u7ec4\u4ef6\u3002\u56e0\u6b64\uff0c\u6211\u4eec\u65e8\u5728\u5728\u68c0\u6d4b\u9636\u6bb5\u672c\u8eab\u5c31\u4e22\u5f03\u8fd9\u4e9b\u70b9\uff0c\u56e0\u4e3a\u8fd9\u51cf\u5c11\u4e86\u5230\u8fbe\u7acb\u4f53\u5339\u914d\u5668\u7684\u7279\u5f81\u6570\u91cf\uff0c\u4ece\u800c\u964d\u4f4e\u4e86\u5339\u914d\u65f6\u95f4\u3002\u4e3a\u6b64\uff0c\u6211\u4eec\u63d0\u51fa\u4e86\u4e00\u79cd\u5173\u952e\u6539\u8fdb\u65b9\u6cd5\uff0c\u79f0\u4e3a\u6709\u754c\u6821\u6b63\uff0c\u5b83\u4e0d\u4ec5\u63d0\u9ad8\u4e86\u89d2\u70b9\u8d28\u91cf\uff0c\u8fd8\u663e\u8457\u63d0\u9ad8\u4e86Jetson-SLAM\u7684\u5ea6\u91cf\u7cbe\u5ea6\u3002<\/p>\n\n\n\n

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

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

\u6211\u4eec\u7684\u8d21\u732e\u5305\u62ec\uff1a<\/p>\n\n\n\n

a) \u6709\u754c\u6821\u6b63\uff1a\u9632\u6b62\u5c06\u975e\u89d2\u70b9\u8bef\u5206\u7c7b\u4e3aFAST\u7279\u5f81\u4e2d\u7684\u89d2\u70b9\uff0c\u5e76\u901a\u8fc7\u4ea7\u751f\u6709\u5f71\u54cd\u7684\u89d2\u70b9\u6765\u63d0\u9ad8SLAM\u7684\u51c6\u786e\u6027\u3002<\/p>\n\n\n\n

b) \u91d1\u5b57\u5854\u5254\u9664\u548c\u805a\u5408\uff08PyCA\uff09\uff1a\u901a\u8fc7\u6211\u4eec\u7684\u6bcf\u7ebf\u7a0b\u591a\u4f4d\u7f6e\uff08MLPT\uff09\u5254\u9664\u548c\u7ebf\u7a0b\u9ad8\u6548\u626d\u66f2\u5206\u914d\uff08TEWA\uff09\u6765\u4ea7\u751f\u9ad8\u8d28\u91cf\u7684\u591a\u5c3a\u5ea6\u7279\u5f81\uff0c\u5373\u4f7f\u5728GPU\u6838\u5fc3\u7a00\u7f3a\u7684\u60c5\u51b5\u4e0b\u4e5f\u80fd\u5b9e\u73b0\u9ad8\u901f\u5ea6\uff082000 FPS\uff09\u548c\u9ad8\u8ba1\u7b97\u6548\u7387\u3002<\/p>\n\n\n\n

c) Jetson-SLAM\u7684\u524d\u7aef-\u4e2d\u7aef-\u540e\u7aef\u8bbe\u8ba1\uff1a\u6211\u4eec\u5f00\u53d1\u4e86\u4e00\u4e2a\u65b0\u7684SLAM\u7ec4\u4ef6\uff0c\u79f0\u4e3a\u4e2d\u7aef\uff0c\u5b83\u5305\u542b\u7acb\u4f53\u5339\u914d\u3001\u7279\u5f81\u5339\u914d\u3001\u7279\u5f81\u8ddf\u8e2a\uff0c\u5e76\u6267\u884c\u6570\u636e\u5171\u4eab\uff0c\u4ee5\u907f\u514d\u5728SLAM\u7ec4\u4ef6\u4e4b\u95f4\u590d\u5236\u548c\u8bbf\u95ee\u6240\u9700\u4e2d\u95f4\u7ed3\u679c\u7684CPU-GPU\u5185\u5b58\u4f20\u8f93\u5f00\u9500\u3002<\/p>\n\n\n\n

\u5c3d\u7ba1\u6211\u4eec\u5728\u524d\u7aef\u548c\u7cfb\u7edf\u8bbe\u8ba1\u4e0a\u505a\u51fa\u4e86\u8d21\u732e\uff0c\u4f46\u4e2d\u7aef\u548c\u540e\u7aef\u7684\u6027\u80fd\u4e5f\u5f97\u5230\u4e86\u63d0\u5347\u3002\u8fd9\u4f7f\u5f97Jetson-SLAM\u5728\u8fbe\u523060FPS\u4ee5\u4e0a\uff08\u5206\u8fa8\u7387\u4e3a432\u00d7240\uff09\u65f6\u65e2\u9ad8\u6548\u53c8\u51c6\u786e\uff0c\u5373\u4f7f\u5728Jetson-NX\u7684\u7acb\u4f53\u6a21\u5f0f\u4e0b\u8fbe\u5230\u516b\u4e2a\u5c3a\u5ea6\uff0c\u5e76\u4e14\u4e0eVGG\u6df1\u5ea6\u795e\u7ecf\u7f51\u7edc\u4e00\u8d77\u4f7f\u7528\u65f6\u4e5f\u662f\u5982\u6b64\u3002\u9ad8\u901f\u51cf\u5c11\u4e86\u76f8\u673a\u65cb\u8f6c\u671f\u95f4\u7684\u8ddf\u8e2a\u5931\u8d25\uff08\u89c6\u9891\uff09\uff0c\u5e76\u4fc3\u8fdb\u4e86\u4ecd\u7136\u4f9d\u8d56\u5916\u90e8\u5b9a\u4f4d\u7cfb\u7edf\u7684\u81ea\u4e3b\u65e0\u4eba\u673a\u7684\u5f00\u53d1\u3002<\/p>\n\n\n\n

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

\u6211\u4eec\u9610\u8ff0\u4e86\u7cfb\u7edf\u5f00\u53d1\u7684\u8d21\u732e\uff0c\u5373\u65b0\u7684\u524d\u7aef-\u4e2d\u7aefJetson-SLAM\u8bbe\u8ba1\uff08\u56fe7\uff09\u4ee5\u53ca\u4e3a\u5b9e\u73b0\u4fe1\u606f\u6d41\u4f18\u5316\u800c\u8fdb\u884c\u7684\u6218\u7565\u6574\u5408\u3002\u5c3d\u7ba1\u524d\u7aef\u5df2\u6709\u6240\u6210\u5c31\uff0c\u4f46\u8fd9\u4e9b\u8d21\u732e\u5bf9\u4e8e\u5b9e\u73b0\u8d44\u6e90\u9ad8\u6548\u5229\u7528\u81f3\u5173\u91cd\u8981\uff0c\u56e0\u4e3a\u5f53\u524d\u7684SLAM\u7ec4\u4ef6\u662f\u591a\u8bbe\u5907\u9a7b\u7559\u7684\uff08CPU\u548cGPU\uff09\u3002<\/p>\n\n\n\n

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

\u5fae\u79d2\u7ea7\u9ad8\u6548\u7684FAST\u68c0\u6d4b<\/strong>\uff1a\u6211\u4eec\u4f7f\u7528\u4e24\u4e2a16\u4f4d\u6574\u6570Bb\u548cBd\uff0c\u5176\u4e2d\u6bcf\u4e2a\u4f4d\u8868\u793aBresenham\u8def\u5f84\u4e0a\u768416\u4e2a\u4f4d\u7f6e\u4e4b\u4e00\u3002\u5f53Bb\u4e2d\u7684Lp\u4e3a\u4eae\u3001Bd\u4e2d\u7684Lp\u4e3a\u6697\u65f6\uff0c\u5bf9\u5e94\u4f4d\u4e3a’1’\uff0c\u800c’0’\u4f4d\u5219\u8868\u793aLp\u76f8\u4f3c\u3002\u4e3a\u4e86\u52a0\u901f\u8fd9\u4e00\u8fc7\u7a0b\uff0c\u6211\u4eec\u6784\u5efa\u4e86\u4e00\u4e2a\u67e5\u627e\u8868\uff0c\u5176\u4e2d\u57fa\u4e8e\u6240\u63d0\u51fa\u7684\u6709\u754c\u6821\u6b63\u6280\u672f\uff0c\u6240\u670916\u4f4d\u7ec4\u5408\u90fd\u5df2\u9884\u5148\u8ba1\u7b97\u4e3a\u89d2\u70b9\u6216\u975e\u89d2\u70b9\u3002\u6211\u4eec\u4f7f\u7528\u5706\u4e0a\u7edd\u5bf9\u5dee\u503c(|Ic\u2212Ip|)\u7684\u603b\u548c\u4f5c\u4e3a\u89d2\u70b9\u54cd\u5e94\u3002<\/p>\n\n\n\n

\u7cbe\u7b80\u7684\u591a\u5c3a\u5ea6\u68c0\u6d4b\u4e0e\u63d0\u53d6<\/strong>\uff1a\u6211\u4eec\u7684\u524d\u7aef\u4e13\u6ce8\u4e8e\u9ad8\u901fSLAM\uff0c\u4f46\u4e5f\u53ef\u4ee5\u4f5c\u4e3a\u4ec5\u6267\u884c\u68c0\u6d4b\u7684VO\u524d\u7aef\u4f7f\u7528\u3002\u76f8\u6bd4\u4e4b\u4e0b\uff0cSLAM\u8fd8\u9700\u8981\u4e3a\u5730\u56fe\u5143\u7d20\u8ba1\u7b97\u63cf\u8ff0\u7b26\uff0c\u8fd9\u4f7f\u5f97SLAM\u6bd4VO\u66f4\u6162\u3002\u591a\u5c3a\u5ea6\u8bbe\u7f6e\u8ba1\u7b97\u66f4\u4e3a\u5bc6\u96c6\uff0c\u4e14GPU\u6838\u5fc3\u7684\u7a00\u7f3a\u6027\u963b\u6b62\u4e86\u591a\u4e2a\u4efb\u52a1\u7684\u5e76\u53d1\u6267\u884c\u3002\u56e0\u6b64\uff0c\u6211\u4eec\u91c7\u7528CUDA\u6d41\u4ee5\u52a0\u5feb\u6267\u884c\u901f\u5ea6\uff0c\u8fd9\u6837\u5f53GPU\u91ca\u653e\u4e00\u4e2a\u5c3a\u5ea6\u7684\u8ba1\u7b97\u8d44\u6e90\u65f6\uff0c\u5176CPU\u5de5\u4f5c\u5f00\u59cb\uff0c\u540c\u65f6GPU\u88ab\u5206\u914d\u7ed9\u53e6\u4e00\u4e2a\u5c3a\u5ea6\u3002\u5728\u63d0\u53d6\u65b9\u9762\uff0c\u7531\u4e8eORB\u63cf\u8ff0\u7b26\u7684\u901f\u5ea6\u548c\u552f\u4e00\u6027\uff0c\u6211\u4eec\u9009\u62e9\u4e86\u5b83\uff0c\u4f46\u73b0\u6709\u5b9e\u73b0\u662f\u5bf9\u6bcf\u4e2a\u5c3a\u5ea6\u8fdb\u884c\u4e32\u884c\u63d0\u53d6\u7684\u3002\u7531\u4e8e\u6211\u4eec\u5df2\u7ecf\u51c6\u5907\u597d\u4e86\u591a\u5c3a\u5ea6\u5173\u952e\u70b9\uff0c\u56e0\u6b64\u6211\u4eec\u4e00\u6b21\u6027\u5bf9\u6240\u6709\u5c3a\u5ea6\u8fdb\u884c\u63d0\u53d6\u3002\u4e3a\u6b64\uff0c\u6211\u4eec\u901a\u8fc7CUDA\u6d41\u5e76\u884c\u5316\u9ad8\u65af\u6ee4\u6ce2\uff0c\u8fd9\u5bf9\u4e8e\u9c81\u68d2\u6027\u81f3\u5173\u91cd\u8981\u3002\u7136\u540e\uff0cORB\u63d0\u53d6\uff08\u8fd9\u662f\u4e00\u4e2a\u975e\u5e38\u8017\u65f6\u7684\u6b65\u9aa4\uff0c\u4f1a\u963b\u6b62\u5185\u5b58\u5408\u5e76\uff09\u4e00\u6b21\u6027\u5728\u6240\u6709\u5c3a\u5ea6\u4e0a\u8fdb\u884c\uff0c\u4ece\u800c\u5b9e\u73b0\u9ad8\u901f\u591a\u5c3a\u5ea6\u68c0\u6d4b\u4e0e\u63d0\u53d6\uff08\u56fe10d\uff09\u3002<\/p>\n\n\n\n

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

\u4e2d\u7aef<\/strong>\uff1a\u5c3d\u7ba1\u7acb\u4f53\u89c6\u89c9SLAM\u5177\u6709\u9ad8\u7cbe\u5ea6\uff0c\u4f46\u5b83\u5bf9Jetson\u7c7b\u8bbe\u5907\u9020\u6210\u4e86\u5f88\u5927\u7684\u8ba1\u7b97\u8d1f\u62c5\u3002\u6b64\u5916\uff0c\u4e0eVO\u4e0d\u540c\uff0c\u7279\u5f81\u8ddf\u8e2a\u4e2d\u7684\u5730\u56fe\u70b9\u5706\u9525\u6295\u5f71\u4e5f\u5f88\u8017\u65f6\u3002\u56e0\u6b64\uff0c\u4e3a\u4e86\u5b9e\u73b0\u9ad8\u541e\u5410\u91cf\uff0c\u6211\u4eec\u5bf9\u4e24\u8005\u8fdb\u884c\u4e86\u5e76\u884c\u5316\uff0c\u5b83\u4eec\u73b0\u5728\u6784\u6210\u4e86\u4e2d\u7aef\u3002\u7136\u800c\uff0c\u7b80\u5355\u5730\u8fd9\u6837\u505a\u4f1a\u5bfc\u81f4\u6548\u7387\u4f4e\u4e0b\uff0c\u56e0\u4e3a\u7acb\u4f53\u5339\u914d\u9700\u8981\u63cf\u8ff0\u7b26\u548c\u56fe\u50cf\u5b58\u5728\u4e8eGPU\u5185\u5b58\u4e2d\u3002\u7531\u4e8e\u5b83\u4eec\u4e5f\u88ab\u8bb8\u591aSLAM\u7ec4\u4ef6\u4f7f\u7528\uff0c\u56e0\u6b64\u5728\u8d44\u6e90\u53d7\u9650\u7684\u5e73\u53f0\u4e0a\u521b\u5efa\u5b83\u4eec\u7684\u591a\u4e2a\u526f\u672c\u662f\u4e0d\u53ef\u53d6\u7684\u3002\u56e0\u6b64\uff0c\u6211\u4eec\u8bbe\u8ba1\u4e86\u4e00\u79cd\u4fe1\u606f\u6d41\uff0c\u5141\u8bb8\u524d\u7aef\u548c\u4e2d\u7aef\u4e4b\u95f4\u7684\u6570\u636e\u5171\u4eab\uff08\u56fe7\uff09\u3002\u5b83\u901a\u8fc7\u9632\u6b62\u6570\u636e\u91cd\u590d\u6765\u8282\u7701\u5185\u5b58\u6d88\u8017\uff0c\u4ece\u800c\u907f\u514d\u4e86CPU-GPU\u6570\u636e\u4f20\u8f93\u7684\u5f00\u9500\u3002\u5b9e\u73b0\u8fd9\u4e00\u4efb\u52a1\u5728\u7f16\u7a0b\u4e0a\u5f88\u590d\u6742\uff0c\u4f46\u6211\u4eec\u901a\u8fc7\u4e0b\u9762\u8ba8\u8bba\u7684\u540c\u6b65\u5171\u4eab\u5185\u5b58\u6765\u89e3\u51b3\u5b83\u3002<\/p>\n\n\n\n

\u540c\u6b65\u5171\u4eab\u5185\u5b58\uff08SSM\uff09\uff1a\u6211\u4eec\u91c7\u7528\u4e86\u540c\u6b65\u5185\u5b58\u539f\u8bed\uff0c\u5e76\u5728\u6b64\u57fa\u7840\u4e0a\u6784\u5efa\u4e86\u540c\u6b65\u5171\u4eab\u5185\u5b58\uff08SSM\uff09\uff0c\u5b83\u5c01\u88c5\u4e86CPU-GPU\u4f20\u8f93\u4ee5\u53ca\u5185\u5b58\u5206\u914d\/\u91ca\u653e\u8c03\u7528\u3002\u7531\u4e8e\u5e27\u4e4b\u95f4\u7684\u7279\u5f81\u6570\u91cf\u4e0d\u65ad\u53d8\u5316\uff0c\u7acb\u4f53\u5339\u914d\u548c\u8ddf\u8e2a\u9700\u8981\u53ef\u53d8\u5185\u5b58\u3002\u5728\u8fd9\u79cd\u60c5\u51b5\u4e0b\uff0cSSM\u901a\u8fc7\u4ec5\u5728\u8bf7\u6c42\u7684\u5185\u5b58\u8d85\u8fc7\u5f53\u524d\u5927\u5c0f\u65f6\u624d\u6267\u884c\u5206\u914d\/\u91ca\u653e\u8c03\u7528\uff0c\u6765\u51cf\u5c11\u52a8\u6001\u5185\u5b58\u5206\u914d\/\u91ca\u653e\u8c03\u7528\u3002\u6b64\u5916\uff0c\u5f53\u8bbf\u95eeCPU-GPU\u5185\u5b58\u65f6\uff0cSSM\u4f1a\u81ea\u52a8\u5c06\u5e95\u5c42\u6570\u636e\u4f20\u8f93\u5230\u76ee\u6807\u8bbe\u5907\uff0c\u4ece\u800c\u964d\u4f4e\u4e86\u6846\u67b6\u7684\u590d\u6742\u6027\u3002<\/p>\n\n\n\n

6. \u5b9e\u9a8c\u7ed3\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

7. \u603b\u7ed3<\/strong><\/p>\n\n\n\n

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