{"id":21051,"date":"2024-12-05T17:14:59","date_gmt":"2024-12-05T09:14:59","guid":{"rendered":"http:\/\/192.168.10.115\/?p=21051"},"modified":"2024-12-05T17:14:59","modified_gmt":"2024-12-05T09:14:59","slug":"2024-12-05-%e5%90%8c%e6%97%b6%e4%bc%b0%e8%ae%a1%e8%87%aa%e8%bd%a6%e5%92%8c%e7%9b%ae%e6%a0%87%e7%9a%84%e7%8a%b6%e6%80%81%ef%bc%81%e4%b8%8a%e4%ba%a4%e6%9c%80%e6%96%b0conf-slammot%ef%bc%9a%e4%b8%80","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2024\/12\/05\/21051\/","title":{"rendered":"2024-12-05 \u540c\u65f6\u4f30\u8ba1\u81ea\u8f66\u548c\u76ee\u6807\u7684\u72b6\u6001\uff01\u4e0a\u4ea4\u6700\u65b0Conf SLAMMOT\uff1a\u4e00\u79cd\u57fa\u4e8e\u7f6e\u4fe1\u5f15\u5bfc\u6570\u636e\u5173\u8054\u7684LiDAR SLAMMOT\u65b9\u6cd5"},"content":{"rendered":"\n<p><strong>\u540c\u65f6\u5b9a\u4f4d\u3001\u5efa\u56fe\u4e0e\u79fb\u52a8\u76ee\u6807\u8ddf\u8e2a<\/strong><\/p>\n\n\n\n<p><strong>\u540c\u65f6\u5b9a\u4f4d\u4e0e\u5efa\u56fe<\/strong>\uff08SLAM\uff09\u548c<strong>\u591a\u76ee\u6807\u8ddf\u8e2a<\/strong>\uff08MOT\uff09\u662f\u81ea\u52a8\u9a7e\u9a76\u6216\u673a\u5668\u4eba\u7cfb\u7edf\u4e2d\u7684\u4e24\u4e2a\u57fa\u672c\u95ee\u9898\u3002<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>SLAM\u7684\u76ee\u6807\uff1a\u540c\u65f6\u6784\u5efa\u5468\u56f4\u9759\u6001\u73af\u5883\u7684\u6a21\u578b\uff0c\u5e76\u5728\u6240\u6784\u5efa\u7684\u5730\u56fe\u4e2d\u7cbe\u786e\u4f30\u8ba1\u8f66\u8f86\u7684\u4f4d\u59ff\u3002<\/li>\n\n\n\n<li>MOT\u5219\u4e13\u6ce8\u4e8e\uff1a\u611f\u77e5\u5e76\u4f30\u8ba1\u5468\u56f4\u79fb\u52a8\u76ee\u6807\u7684\u72b6\u6001\u3002<\/li>\n<\/ul>\n\n\n\n<p>\u76ee\u524d\uff0cSLAM\u548cMOT\u7684\u89e3\u51b3\u65b9\u6848\u901a\u5e38\u662f\u5206\u5f00\u5e94\u7528\u7684\uff0c\u5e76\u4f9d\u8d56\u4e8e\u67d0\u4e9b\u5047\u8bbe\u3002<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u5927\u591a\u6570SLAM\u65b9\u6cd5<strong>\u4f9d\u8d56\u4e8e\u9759\u6001\u73af\u5883\u5047\u8bbe<\/strong>\u3002\u5c3d\u7ba1\u5df2\u6709\u8bb8\u591a\u6210\u719f\u7684SLAM\u89e3\u51b3\u65b9\u6848\u88ab\u63d0\u51fa\u7528\u4e8e\u5355\u8f66\u5e94\u7528\uff0c\u4f46\u5728\u5305\u542b\u5927\u91cf\u79fb\u52a8\u76ee\u6807\u7684\u52a8\u6001\u73af\u5883\u4e2d\uff0c\u8fd9\u4e9b\u65b9\u6cd5\u4ecd\u9762\u4e34\u663e\u8457\u6311\u6218\uff0c\u53ef\u80fd\u4f1a\u5bfc\u81f4\u6027\u80fd\u4e0b\u964d\u751a\u81f3\u5931\u8d25\u3002<\/li>\n\n\n\n<li>\u53e6\u4e00\u65b9\u9762\uff0c\u591a\u76ee\u6807\u8ddf\u8e2a\u901a\u5e38<strong>\u5047\u8bbe\u8f66\u8f86\u4f4d\u59ff\u662f\u5df2\u77e5\u7684\u51c6\u786e\u5148\u9a8c\u4fe1\u606f<\/strong>\uff0c\u800c\u5f88\u5c11\u5173\u6ce8\u5176\u4f30\u8ba1\u3002\u8fd9\u79cd\u4f9d\u8d56\u6027\u4f7f\u5f97\u4f20\u7edf\u7684MOT\u65b9\u6cd5\u5bf9\u8f66\u8f86\u4f4d\u59ff\u4f30\u8ba1\u7684\u7cbe\u5ea6\u6781\u4e3a\u654f\u611f\u3002\u7136\u800c\uff0c\u5728\u672a\u77e5\u52a8\u6001\u73af\u5883\u4e2d\uff0c\u5f88\u96be\u4fdd\u8bc1\u5b58\u5728\u53ef\u9760\u7684\u9759\u6001\u7ed3\u6784\uff0c\u8fd9\u901a\u5e38\u4f1a\u5bfc\u81f4\u4e0d\u53ef\u9760\u7684\u4f4d\u59ff\u4f30\u8ba1\u3002<\/li>\n<\/ul>\n\n\n\n<p>\u56e0\u6b64\uff0c\u7531\u4e8e\u4e0a\u8ff0\u4e24\u4e2a\u6311\u6218\u4e4b\u95f4\u7684\u5185\u5728\u76f8\u4e92\u4f9d\u8d56\u6027\uff0c\u5c06SLAM\u548c\u591a\u76ee\u6807\u8ddf\u8e2a\u7ed3\u5408\u8d77\u6765\u662f\u4e00\u79cd\u53ef\u884c\u7684\u89e3\u51b3\u65b9\u6848\u3002<strong>SLAMMOT\uff0c\u5373\u540c\u65f6\u5b9a\u4f4d\u3001\u5efa\u56fe\u4e0e\u79fb\u52a8\u76ee\u6807\u8ddf\u8e2a<\/strong>\uff0c\u901a\u8fc7\u5c06SLAM\u4e0eMOT\u7ed3\u5408\uff0c\u80fd\u591f\u5728\u52a8\u6001\u73af\u5883\u4e2d\u540c\u65f6\u4f30\u8ba1\u81ea\u8f66\u548c\u79fb\u52a8\u76ee\u6807\u7684\u72b6\u6001\u3002SLAMMOT\u4e0d\u4ec5\u80fd\u5728\u590d\u6742\u52a8\u6001\u73af\u5883\u4e2d\u65e0\u6cd5\u6ee1\u8db3\u5047\u8bbe\u6761\u4ef6\u65f6\uff0c\u4fdd\u8bc1SLAM\u6216MOT\u7684\u6027\u80fd\uff0c\u8fd8\u80fd\u591f\u4f7f\u4e8c\u8005\u4e92\u76f8\u53d7\u76ca\u3002\u5177\u4f53\u800c\u8a00\uff0c\u5bf9\u4e8eSLAM\uff0c\u8003\u8651\u79fb\u52a8\u76ee\u6807\u7684\u5f71\u54cd\u53ef\u4ee5\u5c06\u5b83\u4eec\u4ece\u7b80\u5355\u7684\u52a8\u6001\u5e72\u6270\u8f6c\u53d8\u4e3a\u589e\u5f3a\u4f4d\u59ff\u4f30\u8ba1\u7684\u8f85\u52a9\u4fe1\u606f\u3002\u800c\u5bf9\u4e8eMOT\uff0cSLAM\u4ea7\u751f\u7684\u51c6\u786e\u8f66\u8f86\u4f4d\u59ff\u4f30\u8ba1\u80fd\u591f\u663e\u8457\u63d0\u5347\u76ee\u6807\u72b6\u6001\u7684\u4f30\u8ba1\u3002<\/p>\n\n\n\n<p>\u8fd1\u5e74\u6765\uff0cSLAMMOT\u6280\u672f\u53d6\u5f97\u4e86\u663e\u8457\u8fdb\u5c55\uff0c\u4f8b\u5982\u57fa\u4e8e\u89c6\u89c9\u7684SLAMMOT\u65b9\u6cd5\u548c\u57fa\u4e8eLiDAR\u7684\u65b9\u6cd5\u3002\u5c3d\u7ba1\u57fa\u4e8e\u89c6\u89c9\u7684\u65b9\u6cd5\u5728\u673a\u5668\u4eba\u548c\u667a\u80fd\u8f66\u8f86\u9886\u57df\u4e2d\u53d1\u6325\u7740\u91cd\u8981\u4f5c\u7528\uff0c\u4f46LiDAR\u7684\u4f18\u52bf\u2014\u2014\u4f8b\u5982\u9002\u5e94\u5404\u79cd\u5929\u6c14\u6761\u4ef6\u3001\u8ddd\u79bb\u6d4b\u91cf\u7684\u9ad8\u7cbe\u5ea6\u3001\u9ad8\u6d4b\u8ddd\u51c6\u786e\u6027\u4ee5\u53ca\u8f83\u5bbd\u7684\u6c34\u5e73\u89c6\u91ce\u2014\u2014\u5438\u5f15\u4e86\u66f4\u591a\u7814\u7a76\u8005\u7684\u5173\u6ce8\u3002\u7136\u800c\uff0c\u73b0\u6709\u7684\u57fa\u4e8eLiDAR\u7684SLAMMOT\u65b9\u6cd5\u4ecd\u9762\u4e34\u4e00\u4e9b\u6311\u6218\u3002\u5927\u591a\u6570\u73b0\u6709\u7684SLAMMOT\u65b9\u6cd5\u76f4\u63a5\u91c7\u7528\u67d0\u79cd\u5173\u8054\u7b56\u7565\uff0c\u5728\u76ee\u6807\u9884\u6d4b\u7ed3\u679c\u4e0e\u68c0\u6d4b\u4e4b\u95f4\u8fdb\u884c\u6570\u636e\u5173\u8054\u3002\u7136\u800c\uff0c\u76ee\u6807\u9884\u6d4b\u5e76\u4e0d\u603b\u662f\u51c6\u786e\u7684\uff0c\u7279\u522b\u662f\u5bf9\u4e8e\u8fde\u7eed\u5e27\u4e2d\u56e0\u4e34\u65f6\u906e\u6321\u6216\u76ee\u6807\u8ddd\u79bb\u8f83\u8fdc\u800c\u5bfc\u81f4\u6f0f\u68c0\u7684\u76ee\u6807\uff0c\u5176\u9884\u6d4b\u8bef\u5dee\u53ef\u80fd\u4f1a\u7531\u4e8e\u7f3a\u4e4f\u72b6\u6001\u66f4\u65b0\u800c\u7d2f\u79ef\u3002\u540c\u65f6\uff0c\u4e00\u4e9b\u4f4e\u8d28\u91cf\u7684\u68c0\u6d4b\u7ed3\u679c\u4e5f\u53ef\u80fd\u5f71\u54cd\u6570\u636e\u5173\u8054\u7684\u7ed3\u679c\u3002\u4e0d\u51c6\u786e\u7684\u9884\u6d4b\u548c\u4f4e\u8d28\u91cf\u7684\u68c0\u6d4b\u53ef\u80fd\u4f1a\u5bfc\u81f4\u5339\u914d\u8f68\u8ff9\u7684\u72b6\u6001\u4e0d\u7a33\u5b9a\uff0c\u751a\u81f3\u6700\u7ec8\u5bfc\u81f4\u8ddf\u8e2a\u5931\u8d25\uff0c\u4ece\u800c\u540c\u65f6\u964d\u4f4eSLAMMOT\u7684\u6027\u80fd\u3002\u8fd9\u79cd\u8ddf\u8e2a\u95ee\u9898\u5728\u4e25\u91cd\u60c5\u51b5\u4e0b\u53ef\u80fd\u5a01\u80c1\u9a7e\u9a76\u5b89\u5168\u3002\u56e0\u6b64\uff0c\u5728SLAMMOT\u7684\u8ddf\u8e2a\u8fc7\u7a0b\u4e2d\uff0c\u5fc5\u987b\u5728\u6570\u636e\u5173\u8054\u4e2d\u8003\u8651\u9884\u6d4b\u548c\u68c0\u6d4b\u7684\u7f6e\u4fe1\u5ea6\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"884\" height=\"674\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/12\/\u56fe\u7247-241.png\" alt=\"\" class=\"wp-image-21052\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/12\/\u56fe\u7247-241.png 884w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/12\/\u56fe\u7247-241-300x229.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/12\/\u56fe\u7247-241-768x586.png 768w\" sizes=\"(max-width: 884px) 100vw, 884px\" \/><\/figure>\n\n\n\n<p><strong>Conf SLAMMOT<\/strong>[1]\u662f\u7d27\u8026\u5408\u57fa\u4e8eLiDAR\u7684SLAMMOT\u89e3\u51b3\u65b9\u6848\uff0c\u8be5\u65b9\u6cd5\u5728\u591a\u76ee\u6807\u8ddf\u8e2a\u4e2d\u6267\u884c\u57fa\u4e8e\u7f6e\u4fe1\u5f15\u5bfc\u7684\u6570\u636e\u5173\u8054\uff0c\u80fd\u591f\u5728\u52a8\u6001\u73af\u5883\u4e2d\u540c\u65f6\u4f30\u8ba1\u81ea\u8f66\u4e0e\u79fb\u52a8\u76ee\u6807\u7684\u72b6\u6001\uff0c\u5e76\u89e3\u51b3\u7531\u4e34\u65f6\u906e\u6321\u6216\u76ee\u6807\u8ddd\u79bb\u8fc7\u8fdc\u5f15\u8d77\u7684\u8fde\u7eed\u6f0f\u68c0\u95ee\u9898\u3002\u56fe1\u5c55\u793a\u4e86\u6240\u63d0\u51fa\u7684Conf SLAMMOT\u5728KITTI Tracking\u6570\u636e\u96c6\u4e0a\u7684\u7ed3\u679c\u3002Conf SLAMMOT\u5305\u542b\u4e00\u4e2aSLAM\u6a21\u5757\u3001\u4e00\u4e2a\u76ee\u6807\u68c0\u6d4b\u6a21\u5757\u3001\u4e00\u4e2a\u57fa\u4e8e\u7f6e\u4fe1\u5f15\u5bfc\u6570\u636e\u5173\u8054\u7684\u591a\u76ee\u6807\u8ddf\u8e2a\u6a21\u5757\uff08\u4f9d\u8d56\u4e8e\u56e0\u5b50\u56fe\uff09\uff0c\u4ee5\u53ca\u7528\u4e8e\u8026\u5408\u548c\u8ddf\u8e2a\u7684\u8054\u5408\u56fe\u4f18\u5316\u540e\u7aef\u3002\u9700\u8981\u6ce8\u610f\u7684\u662f\uff0cSLAM\u548c\u76ee\u6807\u68c0\u6d4b\u6a21\u5757\u662f\u53ef\u66ff\u4ee3\u7684\uff0c\u53ef\u4ee5\u91c7\u7528\u5404\u81ea\u9886\u57df\u4e2d\u4efb\u4f55\u5177\u6709\u4ee3\u8868\u6027\u7684\u89e3\u51b3\u65b9\u6848\u3002\u57fa\u4e8e\u56e0\u5b50\u56fe\u7684\u8ddf\u8e2a\u65b9\u6cd5\u5229\u7528\u9884\u6d4b\u548c\u68c0\u6d4b\u7684\u7f6e\u4fe1\u5ea6\u8fdb\u884c\u9690\u5f0f\u6570\u636e\u5173\u8054\uff0c\u4e0d\u4ec5\u53ef\u4ee5\u907f\u514d\u67d0\u4e9b\u57fa\u4e8e\u6ee4\u6ce2\u65b9\u6cd5\u4e2d\u7531\u4e8e\u9519\u8bef\u521d\u59cb\u5206\u914d\u5bfc\u81f4\u7684\u6027\u80fd\u4e0b\u964d\uff0c\u8fd8\u80fd\u5904\u7406\u5982\u8fde\u7eed\u6f0f\u68c0\u7b49\u95ee\u9898\u3002\u7531SLAM\u6a21\u5757\u548c\u76ee\u6807\u8ddf\u8e2a\u6a21\u5757\u5206\u522b\u63d0\u4f9b\u7684\u5c40\u90e8\u56e0\u5b50\u56fe\u88ab\u96c6\u6210\u5230Conf SLAMMOT\u7684\u56fe\u4f18\u5316\u540e\u7aef\u4e2d\uff0c\u81ea\u8f66\u548c\u76ee\u6807\u7684\u72b6\u6001\u88ab\u8054\u5408\u4f18\u5316\u3002\u6240\u63d0\u51fa\u7684\u65b9\u6cd5\u5728\u591a\u79cd\u573a\u666f\u4e0b\u7684SLAM\u548c\u591a\u76ee\u6807\u8ddf\u8e2a\u4efb\u52a1\u4e2d\u5747\u53d6\u5f97\u4e86\u4f18\u5f02\u7684\u7ed3\u679c\u3002<\/p>\n\n\n\n<p><strong>\u4e3b\u8981\u4eae\u70b9<\/strong>\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u63d0\u51fa\u4e86\u4e00\u79cd\u57fa\u4e8eLiDAR\u7684SLAMMOT\u65b9\u6cd5\uff0c\u8be5\u65b9\u6cd5\u5c06SLAM\u4e0e\u57fa\u4e8e\u7f6e\u4fe1\u5f15\u5bfc\u6570\u636e\u5173\u8054\u7684\u591a\u76ee\u6807\u8ddf\u8e2a\u7d27\u5bc6\u7ed3\u5408\uff0c\u80fd\u591f\u540c\u65f6\u4f30\u8ba1\u81ea\u8f66\u548c\u79fb\u52a8\u76ee\u6807\u7684\u72b6\u6001\uff0c\u7279\u522b\u662f\u5728\u6f0f\u68c0\u573a\u666f\u4e0b\u5b9e\u73b0\u53ef\u9760\u7684\u8ddf\u8e2a\u3002<\/li>\n\n\n\n<li>\u8bbe\u8ba1\u4e86\u4e00\u4e2a\u9884\u6d4b\u5668\uff0c\u8be5\u9884\u6d4b\u5668\u91c7\u7528\u6052\u8f6c\u7387\u548c\u901f\u5ea6\u6a21\u578b\u6765\u4f30\u8ba1\u76ee\u6807\u7684\u672a\u6765\u72b6\u6001\uff0c\u5e76\u5229\u7528\u9884\u6d4b\u7f6e\u4fe1\u6a21\u578b\u548c\u68c0\u6d4b\u7f6e\u4fe1\u5206\u6570\u901a\u8fc7\u7075\u6d3b\u8c03\u6574\u6570\u636e\u5173\u8054\u7684\u9690\u5f0f\u641c\u7d22\u8303\u56f4\u6765\u5f15\u5bfc\u6570\u636e\u5173\u8054\u3002<\/li>\n\n\n\n<li>\u57fa\u4e8e\u56e0\u5b50\u56fe\u7684\u8ddf\u8e2a\u65b9\u6cd5\u5229\u7528\u9884\u6d4b\u548c\u68c0\u6d4b\u7684\u7f6e\u4fe1\u5ea6\u8fdb\u884c\u6570\u636e\u5173\u8054\uff0c\u907f\u514d\u4e86\u67d0\u4e9b\u57fa\u4e8e\u6ee4\u6ce2\u65b9\u6cd5\u4e2d\u7684\u9519\u8bef\u521d\u59cb\u5206\u914d\u95ee\u9898\uff0c\u5e76\u6709\u6548\u6062\u590d\u4e86\u7531\u4e8e\u76ee\u6807\u906e\u6321\u6216\u8ddd\u79bb\u8f83\u8fdc\u5f15\u8d77\u7684\u8fde\u7eed\u6f0f\u68c0\u8ddf\u8e2a\u95ee\u9898\u3002<\/li>\n<\/ul>\n\n\n\n<p><strong>\u5177\u4f53\u65b9\u6cd5<\/strong><\/p>\n\n\n\n<p><strong>\u6846\u67b6\u6982\u8ff0<\/strong><\/p>\n\n\n\n<p>\u6240\u63d0\u51fa\u7684Conf SLAMMOT\u89e3\u51b3\u65b9\u6848\u5728\u57fa\u4e8e\u56fe\u4f18\u5316\u7684LiDAR SLAM\u57fa\u7840\u4e0a\u8fdb\u884c\u4e86\u6269\u5c55\u3002Conf SLAMMOT\u7684\u67b6\u6784\u5982\u56fe2\u6240\u793a\uff0c\u4e3b\u8981\u5305\u62ec\u4e00\u4e2a\u53ef\u66ff\u6362\u7684LiDAR\u91cc\u7a0b\u8ba1\u6a21\u5757\u3001\u4e00\u4e2a\u53ef\u66ff\u6362\u7684\u79fb\u52a8\u76ee\u6807\u68c0\u6d4b\u6a21\u5757\uff0c\u4ee5\u53ca\u4e00\u4e2a\u8054\u5408\u56fe\u4f18\u5316\u540e\u7aef\uff0c\u8fd9\u662f\u4e00\u4e2a\u5728\u52a8\u6001\u73af\u5883\u4e2d\u7d27\u8026\u5408LiDAR SLAM\u548c\u591a\u76ee\u6807\u8ddf\u8e2a\u7684\u65b9\u6cd5\uff0c\u7528\u4e8e\u540c\u65f6\u4f30\u8ba1\u81ea\u8f66\u548c\u79fb\u52a8\u76ee\u6807\u7684\u72b6\u6001\u30023D\u70b9\u4e91\u4fe1\u606f\u5206\u522b\u4f5c\u4e3aLiDAR\u91cc\u7a0b\u8ba1\u6a21\u5757\u548c\u79fb\u52a8\u76ee\u6807\u68c0\u6d4b\u7f51\u7edc\u7684\u8f93\u5165\u3002\u6240\u4f7f\u7528\u7684LiDAR SLAM\u65b9\u6cd5\uff08\u672c\u65b9\u6848\u4e2d\u91c7\u7528LeGO-LOAM\u6a21\u5757\uff09\u7531LiDAR\u91cc\u7a0b\u8ba1\u6a21\u5757\u548c\u7cfb\u7edf\u6574\u4f53\u7684\u5c40\u90e8\u56fe\u4f18\u5316\u540e\u7aef\u7ec4\u6210\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"890\" height=\"590\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/12\/\u56fe\u7247-242.png\" alt=\"\" class=\"wp-image-21053\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/12\/\u56fe\u7247-242.png 890w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/12\/\u56fe\u7247-242-300x199.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/12\/\u56fe\u7247-242-768x509.png 768w\" sizes=\"(max-width: 890px) 100vw, 890px\" \/><\/figure>\n\n\n\n<p>\u5728\u76ee\u6807\u68c0\u6d4b\u6a21\u5757\u4e2d\uff0c\u91c7\u7528\u5148\u8fdb\u7684\u57fa\u4e8e\u6df1\u5ea6\u5b66\u4e60\u7684\u65b9\u6cd5PV-RCNN\u3002\u5bf9\u4e8e\u7cfb\u7edf\u7684\u76ee\u6807\u8ddf\u8e2a\u90e8\u5206\uff0c\u53d7\u5230FG-3DMOT\u7684\u542f\u53d1\uff0c\u91c7\u7528\u6700\u5927\u6df7\u5408\u6a21\u578b\uff08max-mixture model\uff09\u5c06\u76ee\u6807\u9884\u6d4b\u72b6\u6001\u4e0e\u68c0\u6d4b\u7ed3\u679c\u8fdb\u884c\u9690\u5f0f\u5173\u8054\uff0c\u5e76\u7ed3\u5408\u9884\u6d4b\u7f6e\u4fe1\u6a21\u578b\u5b9e\u73b0\u57fa\u4e8e\u7f6e\u4fe1\u5f15\u5bfc\u7684\u6570\u636e\u5173\u8054\u3002\u4e3a\u5c55\u793a\u6211\u4eec\u5728\u6570\u636e\u5173\u8054\u65b9\u9762\u7684\u6539\u8fdb\uff0c\u6211\u4eec\u5728\u6846\u67b6\u4e2d\u5c06\u8fd9\u79cd\u9690\u5f0f\u6570\u636e\u5173\u8054\u4f5c\u4e3a\u4e00\u4e2a\u6a21\u5757\u5c55\u793a\u51fa\u6765\u3002\u9700\u8981\u6ce8\u610f\u7684\u662f\uff0c\u8fd9\u79cd\u9690\u5f0f\u6570\u636e\u5173\u8054\u662f\u4f5c\u4e3a\u56e0\u5b50\u56fe\u4f18\u5316\u7684\u4e00\u90e8\u5206\u88ab\u7ba1\u7406\u7684\uff0c\u5e76\u4e0e\u6574\u4f53\u7cfb\u7edf\u8054\u5408\u4f18\u5316\u3002\u6700\u7ec8\uff0c\u8054\u5408\u56e0\u5b50\u56fe\u4f18\u5316\u540e\u7aef\u540c\u65f6\u8f93\u51fa\u81ea\u8f66\u548c\u79fb\u52a8\u76ee\u6807\u7684\u72b6\u6001\u4f30\u8ba1\u7ed3\u679c\u3002<\/p>\n\n\n\n<p><strong>LiDAR \u91cc\u7a0b\u8ba1\u6a21\u5757<\/strong><\/p>\n\n\n\n<p>\u5728\u6240\u63d0\u51fa\u7684Conf SLAMMOT\u89e3\u51b3\u65b9\u6848\u4e2d\uff0cSLAM\u6a21\u5757\u53ef\u4ee5\u91c7\u7528\u4efb\u4f55\u5177\u6709\u4ee3\u8868\u6027\u7684LiDAR SLAM\u6846\u67b6\u3002\u7531\u4e8e\u7cfb\u7edf\u4e2d\u5305\u542b\u591a\u4e2a\u5b50\u6a21\u5757\uff0c\u56e0\u6b64\u5728\u8ba1\u7b97\u8d44\u6e90\u6709\u9650\u7684\u6761\u4ef6\u4e0b\uff0c\u9700\u8981\u8003\u8651\u6bcf\u4e2a\u6a21\u5757\u7684\u8f7b\u91cf\u5316\u7279\u6027\u3002\u6b64\u5916\uff0cIMU\u5e76\u4e0d\u662f\u5fc5\u8981\u7684\u4f20\u611f\u5668\u3002\u56e0\u6b64\uff0c\u672c\u65b9\u6848\u4e2dLiDAR\u91cc\u7a0b\u8ba1\u6a21\u5757\u91c7\u7528\u4e86LeGO-LOAM\uff0c\u5176\u5728\u4fdd\u6301\u8f83\u9ad8\u5b9a\u4f4d\u548c\u5efa\u56fe\u7cbe\u5ea6\u7684\u540c\u65f6\uff0c\u76f8\u8f83\u4e8eLOAM\u6d88\u8017\u66f4\u5c11\u7684\u8ba1\u7b97\u8d44\u6e90\u3002<\/p>\n\n\n\n<p>LeGO-LOAM\u63a5\u6536\u6765\u81ea3D LiDAR\u7684\u8f93\u5165\uff0c\u5e76\u8f93\u51fa6\u81ea\u7531\u5ea6\uff086-DoF\uff09\u7684\u81ea\u8f66\u4f4d\u59ff\u4f30\u8ba1\u548c3D\u70b9\u4e91\u5730\u56fe\u3002\u8be5\u6846\u67b6\u5206\u4e3a\u4e94\u4e2a\u5b50\u6a21\u5757\uff1a\u5206\u5272\u3001\u7279\u5f81\u63d0\u53d6\u3001LiDAR\u91cc\u7a0b\u8ba1\u3001LiDAR\u5efa\u56fe\u548c\u8f68\u8ff9\u6574\u5408\u3002LeGO-LOAM\u9996\u5148\u5c06\u539f\u59cb\u70b9\u4e91\u6295\u5f71\u4e3a\u8ddd\u79bb\u56fe\u50cf\uff0c\u5e76\u5728\u7279\u5f81\u63d0\u53d6\u4e4b\u524d\u533a\u5206\u5730\u9762\u70b9\u548c\u5206\u5272\u70b9\u3002\u7136\u540e\uff0c\u5b83\u5339\u914d\u76f8\u540c\u7c7b\u522b\u7684\u7279\u5f81\u70b9\uff0c\u5e76\u5728\u540e\u7aef\u96c6\u6210iSAM2\u4f18\u5316\u5668\u3002\u6700\u7ec8\uff0c\u901a\u8fc7\u8be5\u6a21\u5757\u83b7\u5f97\u7684\u81ea\u8f66\u4f4d\u59ff\u4f30\u8ba1\u5c06\u63d0\u4f9b\u7ed9\u591a\u76ee\u6807\u8ddf\u8e2a\u6a21\u5757\u548c\u8054\u5408\u56fe\u4f18\u5316\u540e\u7aef\u4f7f\u7528\u3002<\/p>\n\n\n\n<p><strong>\u76ee\u6807\u68c0\u6d4b\u6a21\u5757<\/strong><\/p>\n\n\n\n<p>\u5728Conf SLAMMOT\u89e3\u51b3\u65b9\u6848\u4e2d\uff0c\u76ee\u6807\u68c0\u6d4b\u6a21\u5757\u53ef\u4ee5\u91c7\u7528\u4efb\u4f55\u5177\u6709\u4ee3\u8868\u6027\u7684\u68c0\u6d4b\u65b9\u6cd5\u3002\u672c\u6587\u4e2d\u4f7f\u7528\u4e86PV-RCNN\uff0c\u8fd9\u662f\u4e00\u79cd\u80fd\u591f\u4ee5\u8f83\u4f4e\u5185\u5b58\u6d88\u8017\u5b9e\u73b0\u7cbe\u786e3D\u76ee\u6807\u68c0\u6d4b\u7684\u5148\u8fdb\u6846\u67b6\u3002PV-RCNN\u7ed3\u5408\u4e863D\u4f53\u7d20\u5377\u79ef\u795e\u7ecf\u7f51\u7edc\uff08Voxel CNN\uff09\u548c\u7a00\u758f\u5377\u79ef\u4e0e\u57fa\u4e8ePointNet\u7684\u7f51\u7edc\u7684\u4f18\u70b9\uff0c\u4ece\u800c\u5b66\u4e60\u5230\u66f4\u5177\u533a\u5206\u6027\u7684\u70b9\u4e91\u7279\u5f81\u3002<\/p>\n\n\n\n<p>\u8be5\u65b9\u6cd5\u91c7\u75283D\u4f53\u7d20\u7a00\u758f\u5377\u79ef\u795e\u7ecf\u7f51\u7edc\u4f5c\u4e3a\u4e3b\u5e72\u7f51\u7edc\uff0c\u5e76\u5229\u7528\u4f53\u7d20\u96c6\u62bd\u8c61\u6a21\u5757\u5c063D\u573a\u666f\u8f6c\u6362\u4e3a\u5173\u952e\u70b9\uff0c\u7136\u540e\u901a\u8fc7\u5173\u952e\u70b9\u5230\u7f51\u683c\u7684\u533a\u57df\u5174\u8da3\uff08RoI\uff09\u7279\u5f81\u62bd\u8c61\u6a21\u5757\u8fdb\u884c\u7cbe\u70bc\uff0c\u7528\u4e8e\u751f\u6210\u68c0\u6d4b\u63d0\u8bae\u7684\u7f6e\u4fe1\u5ea6\u9884\u6d4b\u548c\u4f4d\u7f6e\u7cbe\u70bc\u3002\u8be5\u6846\u67b6\u7684\u4e24\u6b65\u7b56\u7565\u6709\u6548\u5730\u7ed3\u5408\u4e86\u57fa\u4e8e\u4f53\u7d20\u548c\u57fa\u4e8e\u70b9\u7684\u7279\u5f81\u5b66\u4e60\uff0c\u5728\u65e0\u9700\u989d\u5916\u4f20\u611f\u5668\u8f93\u5165\u7684\u60c5\u51b5\u4e0b\uff0c\u5c55\u793a\u4e86\u5728\u70b9\u4e91\u6570\u636e\u76843D\u76ee\u6807\u68c0\u6d4b\u4e2d\u7684\u9ad8\u6548\u6027\u548c\u51c6\u786e\u6027\u3002PV-RCNN\u521b\u65b0\u6027\u7684\u68c0\u6d4b\u65b9\u6cd5\u4ee5\u53ca\u5728KITTI\u57fa\u51c6\u6d4b\u8bd5\u4e2d\u7684\u8868\u73b0\uff0c\u4f7f\u5176\u6210\u4e3a\u81ea\u52a8\u9a7e\u9a76\u76ee\u6807\u68c0\u6d4b\u9886\u57df\u7684\u4e00\u79cd\u6d41\u884c\u89e3\u51b3\u65b9\u6848\u3002<\/p>\n\n\n\n<p><strong>\u76ee\u6807\u72b6\u6001\u9884\u6d4b<\/strong><\/p>\n\n\n\n<p>\u5bf9\u4e8e\u76ee\u6807\u72b6\u6001\u9884\u6d4b\uff0c\u8003\u8651\u5230\u9884\u6d4b\u7cbe\u5ea6\u548c\u6548\u7387\uff0c\u5927\u591a\u6570\u5f53\u524d\u76843D\u76ee\u6807\u68c0\u6d4b\u7b97\u6cd5\u901a\u5e38\u91c7\u7528\u8fd0\u52a8\u6a21\u578b\u6765\u9884\u6d4b\u76ee\u6807\u7684\u672a\u6765\u72b6\u6001\u3002\u5e38\u7528\u7684\u6a21\u578b\u5305\u62ec\u6052\u901f\u6a21\u578b\uff08Constant Velocity, CV\uff09\u3001\u6052\u52a0\u901f\u6a21\u578b\uff08Constant Acceleration, CA\uff09\u548c\u6052\u8f6c\u7387\u4e0e\u901f\u5ea6\u6a21\u578b\uff08Constant Turn Rate and Velocity, CTRV\uff09\u3002<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u6052\u901f\u6a21\u578b\uff08CV\uff09<\/strong> \u5047\u8bbe\u76ee\u6807\u4ee5\u6052\u5b9a\u901f\u5ea6\u8fd0\u52a8\uff0c\u5ffd\u7565\u52a0\u901f\u5ea6\u7684\u5f71\u54cd\u3002\u8be5\u6a21\u578b\u5728\u76ee\u6807\u8fd0\u52a8\u5e73\u7a33\u3001\u6ca1\u6709\u6025\u8f6c\u5f2f\u6216\u52a0\u901f\u53d8\u5316\u7684\u60c5\u51b5\u4e0b\u8868\u73b0\u826f\u597d\u3002<\/li>\n\n\n\n<li><strong>\u6052\u52a0\u901f\u6a21\u578b\uff08CA\uff09<\/strong> \u5047\u8bbe\u76ee\u6807\u4ee5\u6052\u5b9a\u52a0\u901f\u5ea6\u8fd0\u52a8\uff0c\u9002\u7528\u4e8e\u52a0\u901f\u5ea6\u76f8\u5bf9\u7a33\u5b9a\u7684\u573a\u666f\u3002<\/li>\n\n\n\n<li><strong>\u6052\u8f6c\u7387\u4e0e\u901f\u5ea6\u6a21\u578b\uff08CTRV\uff09<\/strong> \u5047\u8bbe\u76ee\u6807\u5728\u8f6c\u5f2f\u65f6\u4fdd\u6301\u6052\u5b9a\u8f6c\u7387\u4e0e\u901f\u5ea6\uff0c\u9002\u7528\u4e8e\u6d89\u53ca\u66f2\u7ebf\u8fd0\u52a8\u7684\u60c5\u51b5\u3002<\/li>\n<\/ul>\n\n\n\n<p>\u6b64\u5916\uff0c\u4e00\u4e9b\u57fa\u4e8e\u5b66\u4e60\u7684\u8ddf\u8e2a\u65b9\u6cd5\u63a2\u7d22\u901a\u8fc7\u795e\u7ecf\u7f51\u7edc\u4ece\u5386\u53f2\u8f68\u8ff9\u6570\u636e\u4e2d\u5b66\u4e60\u76ee\u6807\u4f4d\u7f6e\u7684\u53d8\u6362\u6765\u9884\u6d4b\u72b6\u6001\u3002\u7136\u800c\uff0c\u4e0e\u4e0a\u8ff0\u8fd0\u52a8\u6a21\u578b\u76f8\u6bd4\uff0c\u8fd9\u4e9b\u65b9\u6cd5\u901a\u5e38\u6162\u6570\u500d\uff0c\u5e76\u5728\u5b9e\u9645\u5e94\u7528\u4e2d\u9762\u4e34\u6311\u6218\u3002\u56e0\u6b64\uff0c\u672c\u6587\u5728\u7efc\u5408\u9884\u6d4b\u7cbe\u5ea6\u548c\u6548\u7387\u7684\u540c\u65f6\uff0c\u9488\u5bf9\u6f0f\u68c0\u95ee\u9898\uff08\u5982\u8f6c\u5f2f\u573a\u666f\u4e2d\u76ee\u6807\u66f4\u6613\u4e22\u5931\uff09\uff0c\u91c7\u7528CTRV\u6a21\u578b\u9884\u6d4b\u76ee\u6807\u7684\u672a\u6765\u72b6\u6001\u3002<\/p>\n\n\n\n<p>\u5728\u83b7\u5f97\u76ee\u6807\u72b6\u6001\u9884\u6d4b\u548c\u68c0\u6d4b\u7ed3\u679c\u540e\uff0c\u5927\u591a\u6570\u4f20\u7edf\u65b9\u6cd5\u76f4\u63a5\u5c06\u4e8c\u8005\u8fdb\u884c\u663e\u5f0f\u6216\u9690\u5f0f\u5173\u8054\uff0c\u4ee5\u89e3\u51b3\u5206\u914d\u95ee\u9898\u3002\u7136\u800c\uff0c\u76ee\u6807\u7684\u9884\u6d4b\u72b6\u6001\u5e76\u4e0d\u603b\u662f\u51c6\u786e\uff0c\u4f8b\u5982\u5728\u8fde\u7eed\u6f0f\u68c0\u7684\u60c5\u51b5\u4e0b\uff0c\u9884\u6d4b\u8bef\u5dee\u53ef\u80fd\u4f1a\u663e\u8457\u7d2f\u79ef\uff0c\u4ece\u800c\u6269\u5927\u6062\u590d\u8ddf\u8e2a\u65f6\u7684\u76ee\u6807\u53ef\u80fd\u68c0\u6d4b\u8303\u56f4\u3002\u540c\u65f6\uff0c\u68c0\u6d4b\u7ed3\u679c\u7684\u8d28\u91cf\u4e5f\u9700\u8981\u88ab\u8003\u8651\u3002\u56e0\u6b64\uff0c\u6211\u4eec\u5728\u5f53\u524d\u7cfb\u7edf\u4e2d\u5f15\u5165\u4e86\u9884\u6d4b\u7f6e\u4fe1\u6a21\u578b\uff0c\u4f7f\u6570\u636e\u5173\u8054\u5bf9\u6bcf\u4e2a\u9884\u6d4b\u7684\u8d28\u91cf\u66f4\u4e3a\u654f\u611f\u3002<\/p>\n\n\n\n<p>\u9884\u6d4b\u7f6e\u4fe1\u5ea6\u7684\u66f4\u65b0\u516c\u5f0f\u4e3a\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"668\" height=\"119\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/12\/120501.png\" alt=\"\" class=\"wp-image-21056\" style=\"width:895px;height:auto\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/12\/120501.png 668w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/12\/120501-300x53.png 300w\" sizes=\"(max-width: 668px) 100vw, 668px\" \/><\/figure>\n\n\n\n<p><strong>\u57fa\u4e8e\u7f6e\u4fe1\u5f15\u5bfc\u7684\u9690\u5f0f\u6570\u636e\u5173\u8054<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"673\" height=\"880\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/12\/120502.png\" alt=\"\" class=\"wp-image-21055\" style=\"width:898px;height:auto\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/12\/120502.png 673w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/12\/120502-229x300.png 229w\" sizes=\"(max-width: 673px) 100vw, 673px\" \/><\/figure>\n\n\n\n<p><strong>\u68c0\u6d4b\u7ed3\u679c\u548c\u9884\u6d4b\u7ed3\u679c\u7684\u7ba1\u7406\u7b56\u7565<\/strong><\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u672a\u5339\u914d\u7684\u68c0\u6d4b\u7ed3\u679c<\/strong>\uff1a\u7f6e\u4fe1\u5ea6\u8f83\u4f4e\u7684\u68c0\u6d4b\u76f4\u63a5\u4e22\u5f03\uff0c\u8f83\u9ad8\u7f6e\u4fe1\u5ea6\u7684\u68c0\u6d4b\u521d\u59cb\u5316\u4e3a\u65b0\u76ee\u6807\u8f68\u8ff9\u3002<\/li>\n\n\n\n<li><strong>\u672a\u5339\u914d\u7684\u9884\u6d4b\u7ed3\u679c<\/strong>\uff1a\u5206\u4e3a\u4e24\u79cd\u60c5\u51b5\uff1a\n<ul class=\"wp-block-list\">\n<li>\u76ee\u6807\u81ea\u7136\u4ece\u89c6\u91ce\u4e2d\u6d88\u5931\u3002<\/li>\n\n\n\n<li>\u76ee\u6807\u88ab\u5176\u4ed6\u7269\u4f53\u6682\u65f6\u906e\u6321\u6216\u8ddd\u79bb\u8fc7\u8fdc\u5bfc\u81f4\u6f0f\u68c0\u3002<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"655\" height=\"124\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/12\/120503.png\" alt=\"\" class=\"wp-image-21057\" style=\"width:891px;height:auto\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/12\/120503.png 655w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/12\/120503-300x57.png 300w\" sizes=\"(max-width: 655px) 100vw, 655px\" \/><\/figure>\n\n\n\n<p><strong>\u8054\u5408\u56e0\u5b50\u56fe\u4f18\u5316<\/strong><\/p>\n\n\n\n<p>\u6240\u63d0\u51fa\u7684\u8054\u5408\u56e0\u5b50\u56fe\u4f18\u5316\u540e\u7aef\u5c06SLAM\u548c\u591a\u76ee\u6807\u8ddf\u8e2a\u8026\u5408\u5728\u4e00\u8d77\uff0c\u4ece\u800c\u5b9e\u73b0\u5bf9\u81ea\u8f66\u72b6\u6001\u548c\u79fb\u52a8\u76ee\u6807\u72b6\u6001\u7684\u8054\u5408\u4f18\u5316\u4f30\u8ba1\u3002\u8be5\u540e\u7aef\u5728LiDAR SLAM\u6a21\u5757\u7684\u56e0\u5b50\u56fe\u4f18\u5316\u57fa\u7840\u4e0a\u8fdb\u884c\u4e86\u6269\u5c55\uff0c\u5e76\u4e0e\u57fa\u4e8e\u56e0\u5b50\u56fe\u7684\u8ddf\u8e2a\u65b9\u6cd5\u96c6\u6210\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"1014\" height=\"878\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/12\/\u56fe\u7247-243.png\" alt=\"\" class=\"wp-image-21058\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/12\/\u56fe\u7247-243.png 1014w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/12\/\u56fe\u7247-243-300x260.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/12\/\u56fe\u7247-243-768x665.png 768w\" sizes=\"(max-width: 1014px) 100vw, 1014px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"669\" height=\"406\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/12\/120504.png\" alt=\"\" class=\"wp-image-21059\" style=\"width:888px;height:auto\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/12\/120504.png 669w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/12\/120504-300x182.png 300w\" sizes=\"(max-width: 669px) 100vw, 669px\" \/><\/figure>\n\n\n\n<p><strong>\u5f02\u6b65\u72b6\u6001\u4f30\u8ba1<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"660\" height=\"141\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/12\/120506.png\" alt=\"\" class=\"wp-image-21060\" style=\"width:888px;height:auto\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/12\/120506.png 660w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/12\/120506-300x64.png 300w\" sizes=\"(max-width: 660px) 100vw, 660px\" \/><\/figure>\n\n\n\n<p><strong>\u8054\u5408\u4f18\u5316\u76ee\u6807<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"681\" height=\"239\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/12\/120507.png\" alt=\"\" class=\"wp-image-21061\" style=\"width:891px;height:auto\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/12\/120507.png 681w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/12\/120507-300x105.png 300w\" sizes=\"(max-width: 681px) 100vw, 681px\" \/><\/figure>\n\n\n\n<p><strong>\u4f18\u5316\u7ed3\u679c<\/strong><\/p>\n\n\n\n<p>\u901a\u8fc7\u8054\u5408\u56e0\u5b50\u56fe\u4f18\u5316\uff0c\u7cfb\u7edf\u80fd\u591f\u540c\u65f6\u4f30\u8ba1\u81ea\u8f66\u548c\u79fb\u52a8\u76ee\u6807\u7684\u72b6\u6001\uff0c\u540c\u65f6\u663e\u8457\u63d0\u5347\u8ddf\u8e2a\u7684\u7a33\u5b9a\u6027\u548c\u7cbe\u5ea6\uff0c\u5c24\u5176\u662f\u5728\u6f0f\u68c0\u573a\u666f\u4e2d\u8868\u73b0\u51fa\u8272\u3002\u8054\u5408\u4f18\u5316\u6846\u67b6\u7684\u7075\u6d3b\u6027\u548c\u9c81\u68d2\u6027\uff0c\u4f7f\u5176\u80fd\u591f\u9ad8\u6548\u5e94\u5bf9\u52a8\u6001\u73af\u5883\u4e2d\u7684\u590d\u6742\u6311\u6218\u3002<\/p>\n\n\n\n<p><strong>\u5b9e\u9a8c\u6548\u679c<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"1022\" height=\"406\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/12\/\u56fe\u7247-244.png\" alt=\"\" class=\"wp-image-21062\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/12\/\u56fe\u7247-244.png 1022w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/12\/\u56fe\u7247-244-300x119.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/12\/\u56fe\u7247-244-768x305.png 768w\" sizes=\"(max-width: 1022px) 100vw, 1022px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"994\" height=\"888\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/12\/\u56fe\u7247-245.png\" alt=\"\" class=\"wp-image-21063\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/12\/\u56fe\u7247-245.png 994w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/12\/\u56fe\u7247-245-300x268.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/12\/\u56fe\u7247-245-768x686.png 768w\" sizes=\"(max-width: 994px) 100vw, 994px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"541\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/12\/\u56fe\u7247-246-1024x541.png\" alt=\"\" class=\"wp-image-21064\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/12\/\u56fe\u7247-246-1024x541.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/12\/\u56fe\u7247-246-300x159.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/12\/\u56fe\u7247-246-768x406.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/12\/\u56fe\u7247-246.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"998\" height=\"730\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/12\/\u56fe\u7247-247.png\" alt=\"\" class=\"wp-image-21065\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/12\/\u56fe\u7247-247.png 998w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/12\/\u56fe\u7247-247-300x219.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/12\/\u56fe\u7247-247-768x562.png 768w\" sizes=\"(max-width: 998px) 100vw, 998px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"972\" height=\"1024\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/12\/\u56fe\u7247-248-972x1024.png\" alt=\"\" class=\"wp-image-21066\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/12\/\u56fe\u7247-248-972x1024.png 972w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/12\/\u56fe\u7247-248-285x300.png 285w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/12\/\u56fe\u7247-248-768x809.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/12\/\u56fe\u7247-248-949x1000.png 949w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/12\/\u56fe\u7247-248.png 1080w\" sizes=\"(max-width: 972px) 100vw, 972px\" \/><\/figure>\n\n\n\n<p><strong>\u603b\u7ed3\u4e00\u4e0b<\/strong><\/p>\n\n\n\n<p>Conf SLAMMOT\u7cfb\u7edf\u5c06LiDAR SLAM\u4e0e\u57fa\u4e8e\u7f6e\u4fe1\u5f15\u5bfc\u7684\u9690\u5f0f\u6570\u636e\u5173\u8054\u7684\u591a\u76ee\u6807\u8ddf\u8e2a\u7d27\u5bc6\u8026\u5408\u3002\u8be5\u65b9\u6cd5\u4e0d\u4ec5\u80fd\u591f\u5728\u52a8\u6001\u73af\u5883\u4e2d\u540c\u65f6\u4f18\u5316\u81ea\u8f66\u4e0e\u79fb\u52a8\u76ee\u6807\u7684\u72b6\u6001\u4f30\u8ba1\uff0c\u8fd8\u80fd\u901a\u8fc7\u7f6e\u4fe1\u5f15\u5bfc\u7684\u6570\u636e\u5173\u8054\u6709\u6548\u6062\u590d\u8fde\u7eed\u6f0f\u68c0\u7684\u76ee\u6807\u8ddf\u8e2a\uff0c\u4ece\u800c\u5b9e\u73b0\u66f4\u7a33\u5b9a\u7684\u540e\u7aef\u548c\u66f4\u9ad8\u7684\u4f30\u8ba1\u6027\u80fd\u3002\u4e0e\u5176\u4ed6\u57fa\u51c6\u65b9\u6cd5\u76f8\u6bd4\uff0c\u5404\u79cd\u5b9e\u9a8c\u8868\u660e\u8be5\u65b9\u6cd5\u5728\u81ea\u8f66\u4f4d\u59ff\u4f30\u8ba1\u548c\u76ee\u6807\u72b6\u6001\u4f30\u8ba1\u65b9\u9762\u53d6\u5f97\u4e86\u7ade\u4e89\u6027\u7684\u7cbe\u5ea6\u548c\u6027\u80fd\u3002\u6b64\u5916\uff0c\u5b9e\u9a8c\u7ed3\u679c\u8fd8\u8868\u660e\uff0cConf SLAMMOT\u5728\u7531\u4e8e\u906e\u6321\u6216\u76ee\u6807\u8ddd\u79bb\u8f83\u8fdc\u5bfc\u81f4\u6f0f\u68c0\u7684\u573a\u666f\u4e2d\u8868\u73b0\u4f18\u8d8a\uff0c\u8fd9\u5728\u5b9e\u9645\u5e94\u7528\u4e2d\u5177\u6709\u91cd\u8981\u610f\u4e49\u3002<\/p>\n\n\n\n<p>\u672a\u6765\u5de5\u4f5c\u65b9\u5411\u5305\u62ec\u5f15\u5165\u8bed\u4e49\u4fe1\u606f\u4ee5\u6539\u8fdb\u5bf9\u4e0d\u540c\u7c7b\u522b\u76ee\u6807\u6216\u73af\u5883\u7684\u611f\u77e5\u80fd\u529b\uff0c\u4ee5\u53ca\u5c06\u591a\u79cd\u8fd0\u52a8\u6a21\u578b\u96c6\u6210\u5230\u591a\u76ee\u6807\u8ddf\u8e2a\u4e2d\u4ee5\u5e94\u5bf9\u76ee\u6807\u7684\u6a21\u7cca\u8fd0\u52a8\u72b6\u6001\u548c\u4e0d\u89c4\u5219\u8fd0\u52a8\u6a21\u5f0f\uff0c\u4ece\u800c\u8fdb\u4e00\u6b65\u62d3\u5c55\u7814\u7a76\u3002<\/p>\n\n\n\n<p><strong>\u53c2\u8003<\/strong><\/p>\n\n\n\n<p>[1] LiDAR SLAMMOT based on Confidence-guided Data Association<\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u540c\u65f6\u5b9a\u4f4d\u3001\u5efa\u56fe\u4e0e\u79fb\u52a8\u76ee\u6807\u8ddf\u8e2a \u540c\u65f6\u5b9a\u4f4d\u4e0e\u5efa\u56fe\uff08 [&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-21051","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\/21051"}],"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=21051"}],"version-history":[{"count":1,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/21051\/revisions"}],"predecessor-version":[{"id":21067,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/21051\/revisions\/21067"}],"wp:attachment":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/media?parent=21051"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/categories?post=21051"},{"taxonomy":"post_tag","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/tags?post=21051"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}