{"id":21122,"date":"2024-12-06T17:19:17","date_gmt":"2024-12-06T09:19:17","guid":{"rendered":"http:\/\/192.168.10.115\/?p=21122"},"modified":"2024-12-06T17:19:17","modified_gmt":"2024-12-06T09:19:17","slug":"2024-12-06-%e6%94%af%e6%8c%81%e4%bb%bb%e6%84%8f%e6%8e%92%e5%88%97%e7%9a%84%e5%a4%9a%e7%9b%b8%e6%9c%ba%e7%b3%bb%e7%bb%9f%ef%bc%81%e6%ad%a6%e5%a4%a7%e5%bc%80%e6%ba%90mcvo%ef%bc%9a%e5%85%8b%e6%9c%8d","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2024\/12\/06\/21122\/","title":{"rendered":"2024-12-06 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\/><\/figure>\n\n\n\n<p><strong>MCVO<\/strong>[1]\u662f\u4e00\u79cd\u901a\u7528\u7684\u591a\u76f8\u673a\u89c6\u89c9\u91cc\u7a0b\u8ba1\u7cfb\u7edf\uff0c\u8be5\u7cfb\u7edf\u53ea\u9700\u8981\u591a\u4e2a\u521a\u6027\u6346\u7ed1\u7684\u76f8\u673a\uff0c\u65e0\u8bba\u5176\u65b9\u5411\u548c\u4f4d\u7f6e\u5982\u4f55\u3002\u6211\u4eec\u9996\u5148\u4ece\u7cbe\u5ea6\u4e0e\u6548\u7387\u7684\u89d2\u5ea6\u5206\u6790\u4e86\u6700\u65b0\u7684\u7279\u5f81\u5173\u8054\u65b9\u6cd5\uff0c\u5e76\u8bbe\u8ba1\u4e86\u4e00\u79cd\u57fa\u4e8e\u5b66\u4e60\u7684\u7279\u5f81\u63d0\u53d6\u4e0e\u8ddf\u8e2a\u6846\u67b6\uff0c\u4ee5\u8f6c\u79fb\u591a\u89c6\u9891\u6d41\u5904\u7406\u5bf9CPU\u7684\u8ba1\u7b97\u538b\u529b\u3002\u63a5\u7740\uff0c\u6211\u4eec\u57fa\u4e8e\u6bcf\u4e2a\u76f8\u673a\u7684\u5bf9\u9f50\u4f4d\u59ff\u4e4b\u95f4\u7684\u521a\u6027\u7ea6\u675f\uff0c\u521d\u59cb\u5316SLAM\u7cfb\u7edf\u4ee5\u83b7\u5f97\u771f\u5b9e\u5c3a\u5ea6\u7684\u4f4d\u59ff\u3002\u5728\u540e\u7aef\u4e2d\uff0c\u6211\u4eec\u878d\u5408\u591a\u76f8\u673a\u7279\u5f81\u5b9e\u73b0\u9c81\u68d2\u7684\u4f4d\u59ff\u4f30\u8ba1\u4e0e\u5c3a\u5ea6\u4f18\u5316\u3002\u591a\u76f8\u673a\u7279\u5f81\u8fdb\u4e00\u6b65\u88ab\u6574\u5408\u5230\u8bcd\u888b\uff08BoW\uff09\u4e2d\u7528\u4e8e\u56de\u73af\u68c0\u6d4b\u3002\u901a\u8fc7\u5728KITTI-360\u548cMultiCamData\u6570\u636e\u96c6\u4e0a\u7684\u4e25\u683c\u6d4b\u8bd5\u4e0e\u5b9e\u9645\u5b9e\u73b0\uff0c\u6211\u4eec\u65e8\u5728\u5c55\u793a\u8be5\u7cfb\u7edf\u5728\u5404\u79cd\u9886\u57df\u589e\u5f3a\u81ea\u4e3b\u4ee3\u7406\u80fd\u529b\u7684\u7075\u6d3b\u6027\u4e0e\u901a\u7528\u6027\u3002<\/p>\n\n\n\n<p><strong>\u4ee3\u7801\u4ed3\u5e93<\/strong>\uff1ahttps:\/\/github.com\/JunhaoWang615\/MCVO<\/p>\n\n\n\n<p><strong>\u7cfb\u7edf\u4eae\u70b9<\/strong>\uff1a<\/p>\n\n\n\n<ol 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class=\"wp-block-list\">\n<li>\u63d0\u51fa\u4e86\u4e00\u79cd\u9002\u7528\u4e8e\u4efb\u610f\u6392\u5217\u591a\u76f8\u673a\u7684\u901a\u7528\u89c6\u89c9SLAM\u7cfb\u7edf\u6846\u67b6\uff0c\u5e76\u5728\u524d\u7aef\u591a\u76f8\u673a\u7279\u5f81\u68c0\u6d4b\u4e0e\u5339\u914d\u3001\u7cfb\u7edf\u521d\u59cb\u5316\u3001\u540e\u7aef\u4f18\u5316\u548c\u56de\u73af\u68c0\u6d4b\u65b9\u9762\u8fdb\u884c\u4e86\u521b\u65b0\u8bbe\u8ba1\u3002<\/li>\n\n\n\n<li>\u7efc\u5408\u8003\u8651\u4e86\u73b0\u6709\u6700\u5148\u8fdb\u7684\u7279\u5f81\u5173\u8054\u65b9\u6cd5\uff0c\u5e76\u8bbe\u8ba1\u4e86\u57fa\u4e8eSuperPoint\u7684\u63d0\u53d6\u5668\u548cLK\u8ddf\u8e2a\u524d\u7aef\uff0c\u8f6c\u79fb\u4e86CPU\u8ba1\u7b97\u538b\u529b\uff0c\u6539\u5584\u4e86\u7279\u5f81\u5339\u914d\u7684\u7a33\u5b9a\u6027\uff0c\u4ece\u800c\u4fdd\u8bc1\u4e86\u591a\u76f8\u673aSLAM\u7684\u7a33\u5b9a\u6027\u4e0e\u6548\u7387\u3002<\/li>\n\n\n\n<li>\u63d0\u51fa\u4e86\u57fa\u4e8e\u591a\u76f8\u673a\u8f68\u8ff9\u4e00\u81f4\u6027\u7684SLAM\u5c3a\u5ea6\u4f30\u8ba1\u7b56\u7565\uff0c\u80fd\u591f\u517c\u5bb9\u4e0d\u540c\u7684\u76f8\u673a\u6a21\u578b\uff0c\u65e0\u8bba\u662f\u5426\u5177\u6709\u89c6\u573a\u91cd\u53e0\uff0c\u5c55\u73b0\u51fa\u5f3a\u5927\u7684\u901a\u7528\u6027\u548c\u7a33\u5b9a\u6027\u3002<\/li>\n<\/ul>\n\n\n\n<p><strong>\u5177\u4f53\u65b9\u6cd5<\/strong><\/p>\n\n\n\n<p>\u901a\u7528\u591a\u76f8\u673a\u89c6\u89c9\u91cc\u7a0b\u8ba1\u6846\u67b6\u5982\u56fe2\u6240\u793a\u3002\u8be5\u6846\u67b6\u7684\u4e3b\u8981\u8f93\u5165\u4e3a\u540c\u6b65\u7684\u591a\u76f8\u673a\u89c6\u9891\u5e8f\u5217\uff0c\u8fd9\u4e9b\u76f8\u673a\u88ab\u521a\u6027\u7ed1\u5b9a\u5e76\u9884\u5148\u6821\u51c6\uff0c\u5df2\u77e5\u5176\u5185\u53c2\u548c\u5916\u53c2\u3002\u8f93\u51fa\u4e3a\u5b9e\u9645\u73af\u5883\u4e2d\u7684\u516c\u5236\u5c3a\u5ea6\u516d\u81ea\u7531\u5ea6\uff086-DoF\uff09\u673a\u5668\u4eba\u4f4d\u59ff\u3002\u6574\u4e2a\u7ba1\u9053\u7531\u56db\u4e2a\u4e3b\u8981\u7ec4\u4ef6\u7ec4\u6210\uff1a\u524d\u7aef\u7279\u5f81\u63d0\u53d6\u3001\u4f4d\u59ff\u4e0e\u516c\u5236\u5c3a\u5ea6\u521d\u59cb\u5316\u3001\u540e\u7aef\u4f18\u5316\uff0c\u4ee5\u53ca\u56de\u73af\u68c0\u6d4b\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"582\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/12\/\u56fe\u7247-287-1024x582.png\" alt=\"\" class=\"wp-image-21124\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/12\/\u56fe\u7247-287-1024x582.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/12\/\u56fe\u7247-287-300x171.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/12\/\u56fe\u7247-287-768x437.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/12\/\u56fe\u7247-287.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<ol class=\"wp-block-list\">\n<li><strong>\u524d\u7aef\u7279\u5f81\u63d0\u53d6<\/strong><br>\u4e3a\u4e86\u52a0\u901f\u591a\u76f8\u673a\u7279\u5f81\u5173\u8054\u7684\u524d\u7aef\u5904\u7406\uff0c\u6211\u4eec\u91c7\u7528GPU\u52a0\u901f\u7684\u7279\u5f81\u63d0\u53d6\u548c\u4e09\u4f18\u5148\u7ea7\u7279\u5f81\u9009\u62e9\u65b9\u6cd5\u3002<\/li>\n\n\n\n<li><strong>\u4f4d\u59ff\u4e0e\u516c\u5236\u5c3a\u5ea6\u521d\u59cb\u5316<\/strong><br>\u5229\u7528\u591a\u76f8\u673a\u7684\u4f4d\u59ff\u548c\u5916\u53c2\uff0c\u521d\u59cb\u5316\u591a\u76f8\u673a\u7cfb\u7edf\u7684\u516c\u5236\u5c3a\u5ea6\u4f4d\u59ff\u3002<\/li>\n\n\n\n<li><strong>\u540e\u7aef\u4f18\u5316<\/strong><br>\u4e3a\u4e86\u786e\u4fdd\u8fd0\u52a8\u5c3a\u5ea6\u7684\u771f\u5b9e\u6027\uff0c\u5728\u540e\u7aef\u4f18\u5316\u8fc7\u7a0b\u4e2d\u5bf9\u5c3a\u5ea6\u504f\u5dee\u8fdb\u884c\u81ea\u9002\u5e94\u4fee\u6b63\u3002<\/li>\n\n\n\n<li><strong>\u56de\u73af\u68c0\u6d4b<\/strong><br>\u9274\u4e8e\u591a\u76f8\u673a\u7cfb\u7edf\u8f83\u5927\u7684\u89c6\u573a\uff0c\u8bbe\u8ba1\u4e86\u4e00\u79cd\u66f4\u9c81\u68d2\u7684\u591a\u76f8\u673a\u5168\u5411\u56de\u73af\u68c0\u6d4b\u7b97\u6cd5\u3002\u901a\u8fc7\u56de\u73af\u68c0\u6d4b\uff0c\u8fdb\u4e00\u6b65\u5728\u4f4d\u59ff\u56fe\u7ea6\u675f\u4e0b\u4f18\u5316\u6574\u4f53\u8f68\u8ff9\u3002<\/li>\n<\/ol>\n\n\n\n<p>\u6846\u67b6\u8bbe\u8ba1\u65e8\u5728\u5145\u5206\u5229\u7528\u591a\u76f8\u673a\u7684\u89c6\u573a\u4f18\u52bf\uff0c\u5b9e\u73b0\u66f4\u9c81\u68d2\u548c\u51c6\u786e\u7684\u72b6\u6001\u4f30\u8ba1\uff0c\u540c\u65f6\u4fdd\u6301\u7cfb\u7edf\u7684\u9ad8\u6548\u6027\u548c\u901a\u7528\u6027\u3002<\/p>\n\n\n\n<p><strong>\u9ad8\u6548\u7684\u591a\u76f8\u673a\u524d\u7aef<\/strong><\/p>\n\n\n\n<p>MCVO\u524d\u7aef\u4e3b\u8981\u8d1f\u8d23\u5904\u7406\u591a\u76f8\u673a\u56fe\u50cf\uff0c\u63d0\u53d6\u548c\u5339\u914d\u6709\u6548\u7279\u5f81\uff0c\u5e76\u4e3a\u540e\u7aef\u4f18\u5316\u63d0\u4f9b\u53ef\u9760\u7684\u7279\u5f81\u70b9\u3002<\/p>\n\n\n\n<p><strong>1. \u63d0\u5347\u7279\u5f81\u68c0\u6d4b\u8d28\u91cf\u4e0e\u5173\u8054\u6548\u7387<\/strong><\/p>\n\n\n\n<p>\u968f\u7740\u76f8\u673a\u6570\u91cf\u7684\u589e\u52a0\uff0c\u63d0\u53d6\u548c\u8ddf\u8e2a\u7684\u7279\u5f81\u6570\u91cf\u663e\u8457\u589e\u957f\uff0c\u4e3a\u5b9e\u65f6\u6027\u80fd\u5e26\u6765\u4e86\u5de8\u5927\u7684\u8ba1\u7b97\u8d1f\u62c5\u3002\u4e3a\u4e86\u89e3\u51b3\u8fd9\u4e9b\u95ee\u9898\uff0c\u6211\u4eec\u5728\u7279\u5f81\u63d0\u53d6\u4e2d\u91c7\u7528\u4e86SuperPoint\uff0c\u5e76\u5229\u7528LK\u5149\u6d41\u6cd5\u8fdb\u884c\u7279\u5f81\u8ddf\u8e2a\u3002\u8fd9\u4e00\u8fc7\u7a0b\u901a\u8fc7GPU\u52a0\u901f\uff0c\u5927\u5e45\u51cf\u5c11\u4e86\u591a\u76f8\u673a\u5f15\u8d77\u7684CPU\u4f7f\u7528\u7387\uff0c\u540c\u65f6\u63d0\u5347\u4e86\u56fe\u50cf\u6d41\u5904\u7406\u6027\u80fd\u3002<\/p>\n\n\n\n<p><strong>2. \u7279\u5f81\u9009\u62e9\u8fc7\u7a0b<\/strong><\/p>\n\n\n\n<p>\u4e3a\u4e86\u964d\u4f4e\u4f18\u5316\u9636\u6bb5\u7684CPU\u8d1f\u8f7d\u5e76\u63d0\u9ad8\u4f30\u8ba1\u6027\u80fd\uff0c\u6211\u4eec\u8bbe\u8ba1\u4e86\u7279\u5f81\u9009\u62e9\u8fc7\u7a0b\u3002\u4f20\u7edf\u7684\u56db\u53c9\u6811\u7b97\u6cd5\u503e\u5411\u4e8e\u5728\u7eb9\u7406\u4e30\u5bcc\u533a\u57df\u5c06\u65b0\u7279\u5f81\u70b9\u5206\u5e03\u5728\u5df2\u6709\u7279\u5f81\u9644\u8fd1\uff0c\u8fd9\u53ef\u80fd\u7531\u4e8e\u7ea6\u675f\u4e0d\u8db3\u800c\u964d\u4f4e\u4f18\u5316\u7cbe\u5ea6\u3002\u6211\u4eec\u7684\u7279\u5f81\u9009\u62e9\u7b97\u6cd5\u901a\u8fc7\u4ee5\u4e0b\u4e09\u79cd\u4f18\u5148\u7ea7\uff0c\u907f\u514d\u4e86\u7279\u5f81\u70b9\u7684\u8fc7\u5ea6\u96c6\u4e2d\uff0c\u4ece\u800c\u786e\u4fdd\u7279\u5f81\u70b9\u7684\u5747\u5300\u5206\u5e03\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u6570\u91cf\u4f18\u5148\uff08Quantity priority\uff09\uff1a<\/strong> \u4f18\u5148\u9009\u62e9\u7279\u5f81\u70b9\u6570\u91cf\u8f83\u591a\u7684\u8282\u70b9\u4ee5\u63d0\u5347\u5904\u7406\u6548\u7387\u3002<\/li>\n\n\n\n<li><strong>\u8ddf\u8e2a\u4f18\u5148\uff08Tracked feature priority\uff09\uff1a<\/strong> \u901a\u8fc7\u907f\u514d\u5728\u8ddf\u8e2a\u70b9\u9644\u8fd1\u6dfb\u52a0\u65e0\u7528\u7279\u5f81\u70b9\uff0c\u964d\u4f4e\u7eb9\u7406\u4e30\u5bcc\u533a\u57df\u7684\u70b9\u5bc6\u5ea6\u3002<\/li>\n\n\n\n<li><strong>\u9ad8\u5206\u4f18\u5148\uff08High score feature priority\uff09\uff1a<\/strong> \u4f18\u5148\u9009\u62e9\u5f97\u5206\u8f83\u9ad8\u7684\u7279\u5f81\u70b9\u3002<\/li>\n<\/ul>\n\n\n\n<h4 class=\"wp-block-heading\"><strong><\/strong><strong>3. \u7279\u5f81\u5206\u5e03\u7ed3\u679c<\/strong><\/h4>\n\n\n\n<p>\u4e0e\u57fa\u4e8e\u5206\u6570\u7684\u9009\u62e9\u65b9\u6cd5\u76f8\u6bd4\uff0c\u672c\u6587\u63d0\u51fa\u7684\u65b9\u6cd5\u80fd\u591f\u5b9e\u73b0\u66f4\u5747\u5300\u7684\u7279\u5f81\u5206\u5e03\u5e76\u63d0\u9ad8\u9c81\u68d2\u6027\uff08\u5982\u56fe3\u6240\u793a\uff09\u3002\u7ea2\u8272\u70b9\u8868\u793a\u8ddf\u8e2a\u7279\u5f81\uff0c\u84dd\u8272\u70b9\u8868\u793a\u65b0\u6dfb\u52a0\u7684\u7279\u5f81\u3002\u901a\u8fc7\u8fd9\u79cd\u5206\u5e03\u7b56\u7565\uff0c\u6211\u4eec\u5728\u7279\u5f81\u68c0\u6d4b\u548c\u5339\u914d\u7684\u7a33\u5b9a\u6027\u4e0e\u7cbe\u5ea6\u65b9\u9762\u53d6\u5f97\u4e86\u663e\u8457\u6539\u8fdb\u3002<\/p>\n\n\n\n<p>\u8fd9\u79cd\u9ad8\u6548\u7684\u591a\u76f8\u673a\u524d\u7aef\u8bbe\u8ba1\uff0c\u4e0d\u4ec5\u80fd\u591f\u7f13\u89e3\u591a\u76f8\u673a\u7cfb\u7edf\u5bf9\u8ba1\u7b97\u8d44\u6e90\u7684\u9ad8\u8981\u6c42\uff0c\u8fd8\u4e3a\u540e\u7eed\u7684\u4f4d\u59ff\u4f30\u8ba1\u548c\u4f18\u5316\u63d0\u4f9b\u4e86\u5f3a\u6709\u529b\u7684\u4fdd\u969c\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"870\" height=\"680\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/12\/\u56fe\u7247-288.png\" alt=\"\" class=\"wp-image-21125\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/12\/\u56fe\u7247-288.png 870w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/12\/\u56fe\u7247-288-300x234.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/12\/\u56fe\u7247-288-768x600.png 768w\" sizes=\"(max-width: 870px) 100vw, 870px\" \/><\/figure>\n\n\n\n<p><strong>\u591a\u76f8\u673a\u521d\u59cb\u5316<\/strong><\/p>\n\n\n\n<p>MCVO\u7cfb\u7edf\u7684\u521d\u59cb\u5316\u9636\u6bb5\u65e8\u5728\u4f30\u8ba1\u521d\u59cb\u4f4d\u59ff\u5e76\u786e\u5b9a\u8fd0\u52a8\u7684\u516c\u5236\u5c3a\u5ea6\u3002\u8be5\u8fc7\u7a0b\u5305\u62ec\u4e3a\u6bcf\u4e2a\u76f8\u673a\u7684\u4f4d\u59ff\u521d\u59cb\u5316\u4ee5\u53ca\u6574\u4f53\u7cfb\u7edf\u7684\u516c\u5236\u5c3a\u5ea6\u4f30\u8ba1\u3002<\/p>\n\n\n\n<p><strong>1. \u4f4d\u59ff\u521d\u59cb\u5316<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"664\" height=\"127\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/12\/0601.png\" alt=\"\" class=\"wp-image-21127\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/12\/0601.png 664w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/12\/0601-300x57.png 300w\" sizes=\"(max-width: 664px) 100vw, 664px\" \/><\/figure>\n\n\n\n<p><strong>2. \u516c\u5236\u5c3a\u5ea6\u4f30\u8ba1<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"668\" height=\"360\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/12\/0602.png\" alt=\"\" class=\"wp-image-21128\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/12\/0602.png 668w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/12\/0602-300x162.png 300w\" sizes=\"(max-width: 668px) 100vw, 668px\" \/><\/figure>\n\n\n\n<p><strong>3. \u5c3a\u5ea6\u6821\u6b63<\/strong><\/p>\n\n\n\n<p>\u6839\u636e\u4f18\u5316\u540e\u7684\u5c3a\u5ea6\u53c2\u6570\u8c03\u6574\u76f8\u673a\u4f4d\u59ff\uff0c\u5e76\u4f7f\u7528\u66f4\u65b0\u540e\u7684\u4f4d\u59ff\u91cd\u65b0\u4e09\u89d2\u5316\u6240\u6709\u7279\u5f81\u70b9\uff0c\u83b7\u5f97\u5176\u516c\u5236\u6df1\u5ea6\u3002\u5728\u5b8c\u6210\u521d\u59cb\u4f4d\u59ff\u4e0e\u5c3a\u5ea6\u4f30\u8ba1\u540e\uff0c\u8fdb\u5165\u57fa\u4e8e\u6ed1\u52a8\u7a97\u53e3\u7684\u540e\u7aef\u4f18\u5316\u9636\u6bb5\u4ee5\u8fdb\u4e00\u6b65\u63d0\u5347\u72b6\u6001\u4f30\u8ba1\u7684\u7cbe\u5ea6\u548c\u7a33\u5b9a\u6027\u3002<\/p>\n\n\n\n<p>\u672c\u6587\u63d0\u51fa\u7684\u591a\u76f8\u673a\u521d\u59cb\u5316\u7b56\u7565\uff0c\u4e0d\u4ec5\u89e3\u51b3\u4e86\u591a\u76f8\u673a\u7cfb\u7edf\u4e2d\u56e0\u72ec\u7acb\u4f30\u8ba1\u5bfc\u81f4\u7684\u5c3a\u5ea6\u4e0d\u4e00\u81f4\u95ee\u9898\uff0c\u8fd8\u4e3a\u540e\u7eed\u7684\u9c81\u68d2\u4f4d\u59ff\u4f30\u8ba1\u548c\u4f18\u5316\u6253\u4e0b\u4e86\u575a\u5b9e\u57fa\u7840\u3002<\/p>\n\n\n\n<p><strong>\u5c3a\u5ea6\u6821\u6b63\u4e0e\u540e\u7aef\u4f18\u5316<\/strong><\/p>\n\n\n\n<p>\u5728\u5b8c\u6210\u516c\u5236\u5c3a\u5ea6\u7684\u521d\u59cb\u4f4d\u59ff\u4f30\u8ba1\u540e\uff0c\u672c\u6587\u5728\u540e\u7aef\u4f18\u5316\u9636\u6bb5\u4f7f\u7528\u7eaf\u89c6\u89c9\u7684\u6346\u7ed1\u8c03\u6574\uff08bundle adjustment\uff09\uff0c\u901a\u8fc7\u6574\u5408\u6240\u6709\u76f8\u673a\u63d0\u53d6\u7684\u7279\u5f81\uff0c\u8fdb\u4e00\u6b65\u4f18\u5316\u72b6\u6001\u4f30\u8ba1\u3002<\/p>\n\n\n\n<p><strong>1. \u540e\u7aef\u4f18\u5316<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"672\" height=\"355\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/12\/0603.png\" alt=\"\" class=\"wp-image-21129\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/12\/0603.png 672w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/12\/0603-300x158.png 300w\" sizes=\"(max-width: 672px) 100vw, 672px\" \/><\/figure>\n\n\n\n<p><strong>2. \u5c3a\u5ea6\u6821\u6b63<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"665\" height=\"183\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/12\/0604.png\" alt=\"\" class=\"wp-image-21130\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/12\/0604.png 665w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/12\/0604-300x83.png 300w\" sizes=\"(max-width: 665px) 100vw, 665px\" \/><\/figure>\n\n\n\n<p><strong>3. \u6821\u6b63\u6548\u679c<\/strong><\/p>\n\n\n\n<p>\u8fd9\u79cd\u5c3a\u5ea6\u6821\u6b63\u65b9\u6cd5\u4e0d\u4ec5\u80fd\u6709\u6548\u51cf\u5c11\u7d2f\u79ef\u7684\u5c3a\u5ea6\u8bef\u5dee\uff0c\u8fd8\u80fd\u5728\u4e0d\u5f71\u54cd\u7cfb\u7edf\u7a33\u5b9a\u6027\u7684\u60c5\u51b5\u4e0b\uff0c\u7ef4\u6301\u4f4d\u59ff\u548c\u6df1\u5ea6\u4f30\u8ba1\u7684\u9ad8\u7cbe\u5ea6\u3002<\/p>\n\n\n\n<p>\u672c\u6587\u7684\u540e\u7aef\u4f18\u5316\u4e0e\u5c3a\u5ea6\u6821\u6b63\u7b56\u7565\u663e\u8457\u63d0\u5347\u4e86\u591a\u76f8\u673a\u7cfb\u7edf\u5728\u957f\u671f\u8fd0\u884c\u4e2d\u7684\u9c81\u68d2\u6027\u548c\u7cbe\u786e\u6027\uff0c\u786e\u4fdd\u4e86\u5728\u5730\u56fe\u6269\u5c55\u548c\u590d\u6742\u573a\u666f\u4e2d\u7684\u4e00\u81f4\u6027\u3002<\/p>\n\n\n\n<p><strong>\u591a\u76f8\u673a\u56de\u73af\u95ed\u5408<\/strong><\/p>\n\n\n\n<p>\u5c3d\u7ba1\u591a\u76f8\u673a\u89c6\u89c9\u91cc\u7a0b\u8ba1\uff08VO\uff09\u548c\u5c3a\u5ea6\u6821\u6b63\u80fd\u591f\u63d0\u4f9b\u9ad8\u7cbe\u5ea6\u7684\u72b6\u6001\u4f30\u8ba1\uff0c\u4f46\u968f\u7740\u8fd0\u884c\u65f6\u95f4\u7684\u589e\u52a0\uff0c\u7d2f\u79ef\u6f02\u79fb\u4ecd\u7136\u4e0d\u53ef\u907f\u514d\u3002\u4e3a\u4e86\u8fdb\u4e00\u6b65\u51cf\u5c11\u7d2f\u79ef\u8bef\u5dee\uff0c\u672c\u6587\u8bbe\u8ba1\u4e86\u4e00\u79cd\u591a\u76f8\u673a\u56de\u73af\u95ed\u5408\u6a21\u5757\uff0c\u901a\u8fc7\u5728\u4f4d\u59ff\u56fe\u4e2d\u5efa\u7acb\u56de\u73af\u8fde\u63a5\u6765\u4f18\u5316\u5168\u5c40\u72b6\u6001\u3002<\/p>\n\n\n\n<p><strong>1. \u56de\u73af\u68c0\u6d4b<\/strong><\/p>\n\n\n\n<p>\u5728MCVO\u7ba1\u9053\u4e2d\uff0c\u56de\u73af\u68c0\u6d4b\u91c7\u7528DBoW2\u7b97\u6cd5\u8fdb\u884c\u5730\u70b9\u8bc6\u522b\u3002\u672c\u6587\u7684\u5173\u952e\u5728\u4e8e\u5982\u4f55\u5229\u7528\u591a\u76f8\u673a\u7279\u5f81\u63d0\u5347\u56de\u73af\u68c0\u6d4b\u7684\u51c6\u786e\u6027\u4e0e\u9c81\u68d2\u6027\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u5c06\u6240\u6709\u76f8\u673a\u7684\u7279\u5f81\u5b58\u50a8\u5230\u5bf9\u5e94\u7684\u8bcd\u888b\uff08bag-of-words\uff09\u6a21\u578b\u4e2d\u3002<\/li>\n\n\n\n<li>\u901a\u8fc7\u6bd4\u8f83\u4e0d\u540c\u5e27\u4e4b\u95f4DBoW2\u6a21\u578b\u7684\u5339\u914d\u5206\u6570\uff0c\u8bc6\u522b\u6f5c\u5728\u7684\u56de\u73af\u5e27\u3002<\/li>\n\n\n\n<li>\u591a\u76f8\u673a\u63d0\u4f9b\u7684\u5bbd\u89c6\u573a\uff08FoV\uff09\u663e\u8457\u63d0\u9ad8\u4e86\u6f5c\u5728\u56de\u73af\u68c0\u6d4b\u7684\u6210\u529f\u7387\u3002<\/li>\n<\/ul>\n\n\n\n<p><strong>2. \u91cd\u5b9a\u4f4d<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"862\" height=\"484\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/12\/\u56fe\u7247-289.png\" alt=\"\" class=\"wp-image-21132\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/12\/\u56fe\u7247-289.png 862w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/12\/\u56fe\u7247-289-300x168.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/12\/\u56fe\u7247-289-768x431.png 768w\" sizes=\"(max-width: 862px) 100vw, 862px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"657\" height=\"332\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/12\/0605-1.png\" alt=\"\" class=\"wp-image-21133\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/12\/0605-1.png 657w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/12\/0605-1-300x152.png 300w\" sizes=\"(max-width: 657px) 100vw, 657px\" \/><\/figure>\n\n\n\n<p><strong>3. \u4f4d\u59ff\u56fe\u4f18\u5316<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"660\" height=\"223\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/12\/0606.png\" alt=\"\" class=\"wp-image-21134\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/12\/0606.png 660w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/12\/0606-300x101.png 300w\" sizes=\"(max-width: 660px) 100vw, 660px\" \/><\/figure>\n\n\n\n<p><strong>4. \u6548\u679c\u9a8c\u8bc1<\/strong><\/p>\n\n\n\n<p>\u672c\u6587\u7684\u591a\u76f8\u673a\u56de\u73af\u95ed\u5408\u6a21\u5757\u4e0d\u4ec5\u63d0\u5347\u4e86\u957f\u671f\u8fd0\u884c\u4e2d\u7684\u5168\u5c40\u4e00\u81f4\u6027\uff0c\u8fd8\u663e\u8457\u51cf\u5c11\u4e86\u7531\u4e8e\u6f02\u79fb\u5f15\u8d77\u7684\u5b9a\u4f4d\u8bef\u5dee\uff0c\u8fdb\u4e00\u6b65\u9a8c\u8bc1\u4e86\u7cfb\u7edf\u5728\u590d\u6742\u573a\u666f\u4e0b\u7684\u9c81\u68d2\u6027\u548c\u9ad8\u7cbe\u5ea6\u3002<\/p>\n\n\n\n<p><strong>\u5b9e\u9a8c\u6548\u679c<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"528\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/12\/\u56fe\u7247-290-1024x528.png\" alt=\"\" class=\"wp-image-21135\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/12\/\u56fe\u7247-290-1024x528.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/12\/\u56fe\u7247-290-300x155.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/12\/\u56fe\u7247-290-768x396.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/12\/\u56fe\u7247-290.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=\"864\" height=\"874\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/12\/\u56fe\u7247-291.png\" alt=\"\" class=\"wp-image-21136\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/12\/\u56fe\u7247-291.png 864w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/12\/\u56fe\u7247-291-297x300.png 297w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/12\/\u56fe\u7247-291-768x777.png 768w\" sizes=\"(max-width: 864px) 100vw, 864px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"878\" height=\"322\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/12\/\u56fe\u7247-292.png\" alt=\"\" class=\"wp-image-21137\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/12\/\u56fe\u7247-292.png 878w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/12\/\u56fe\u7247-292-300x110.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/12\/\u56fe\u7247-292-768x282.png 768w\" sizes=\"(max-width: 878px) 100vw, 878px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"742\" height=\"1024\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/12\/\u56fe\u7247-293-742x1024.png\" alt=\"\" class=\"wp-image-21138\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/12\/\u56fe\u7247-293-742x1024.png 742w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/12\/\u56fe\u7247-293-217x300.png 217w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/12\/\u56fe\u7247-293-768x1060.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/12\/\u56fe\u7247-293-725x1000.png 725w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/12\/\u56fe\u7247-293.png 822w\" sizes=\"(max-width: 742px) 100vw, 742px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"870\" height=\"294\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/12\/\u56fe\u7247-294.png\" alt=\"\" class=\"wp-image-21139\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/12\/\u56fe\u7247-294.png 870w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/12\/\u56fe\u7247-294-300x101.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/12\/\u56fe\u7247-294-768x260.png 768w\" sizes=\"(max-width: 870px) 100vw, 870px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"874\" height=\"386\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/12\/\u56fe\u7247-295.png\" alt=\"\" class=\"wp-image-21140\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/12\/\u56fe\u7247-295.png 874w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/12\/\u56fe\u7247-295-300x132.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/12\/\u56fe\u7247-295-768x339.png 768w\" sizes=\"(max-width: 874px) 100vw, 874px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"856\" height=\"534\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/12\/\u56fe\u7247-296.png\" alt=\"\" class=\"wp-image-21141\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/12\/\u56fe\u7247-296.png 856w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/12\/\u56fe\u7247-296-300x187.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/12\/\u56fe\u7247-296-768x479.png 768w\" sizes=\"(max-width: 856px) 100vw, 856px\" \/><\/figure>\n\n\n\n<p><strong>\u603b\u7ed3\u4e00\u4e0b<\/strong><\/p>\n\n\n\n<p>\u672c\u6587\u63d0\u51fa\u4e86\u4e00\u79cd\u901a\u7528\u7684\u591a\u76f8\u673a\u89c6\u89c9\u91cc\u7a0b\u8ba1\u7cfb\u7edf\uff0c\u80fd\u591f\u5728\u4e0d\u540c\u7c7b\u578b\u76f8\u673a\u7684\u4efb\u610f\u6392\u5217\u4e0b\u8fd0\u884c\uff0c\u65e0\u8bba\u89c6\u573a\u662f\u5426\u91cd\u53e0\u3002\u8be5\u7cfb\u7edf\u4e0d\u4ec5\u63d0\u9ad8\u4e86SLAM\u7cfb\u7edf\u7684\u7075\u6d3b\u6027\uff0c\u8fd8\u5b9e\u73b0\u4e86\u4ec5\u4f9d\u8d56\u89c6\u89c9\u4fe1\u606f\u7684\u771f\u5b9e\u5c3a\u5ea6\u4f4d\u59ff\u4f30\u8ba1\u3002\u8bbe\u8ba1\u7684\u57fa\u4e8e\u5b66\u4e60\u7684\u7279\u5f81\u5173\u8054\u524d\u7aef\u901a\u8fc7GPU\u6709\u6548\u7f13\u89e3\u4e86\u591a\u76f8\u673a\u6570\u636e\u5904\u7406\u5bf9CPU\u7684\u8ba1\u7b97\u538b\u529b\uff0c\u5e76\u63d0\u9ad8\u4e86\u7279\u5f81\u5339\u914d\u7684\u7a33\u5b9a\u6027\u3002\u5728\u5b9e\u9a8c\u4e2d\u9a8c\u8bc1\u4e86\u591a\u76f8\u673a\u7279\u5f81\u5728\u5c3a\u5ea6\u521d\u59cb\u5316\u3001\u540e\u7aef\u4f18\u5316\u548c\u56de\u73af\u68c0\u6d4b\u7b49\u65b9\u9762\u7684\u529f\u80fd\u3002\u4e0e\u5f53\u524d\u6700\u65b0\u6280\u672f\u7684\u5bf9\u6bd4\u8fdb\u4e00\u6b65\u8bc1\u660e\u4e86MCVO\u5728\u72b6\u6001\u4f30\u8ba1\u4e0a\u7684\u6709\u6548\u6027\u548c\u9c81\u68d2\u6027\u3002\u672a\u6765\u7684\u5de5\u4f5c\u5c06\u96c6\u4e2d\u4e8eMCVO\u5728\u66f4\u591a\u5e73\u53f0\u4e0a\u7684\u90e8\u7f72\u3002<\/p>\n\n\n\n<p><strong>\u53c2\u8003<\/strong><\/p>\n\n\n\n<p>[1] MCVO: A Generic Visual Odometry for Arbitrarily Arranged Multi-Cameras<br><\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u591a\u76f8\u673aSLAM\u7684\u9650\u5236 \u4f20\u7edf\u7684\u5355\u76ee\u6216\u53cc\u76eeSLAM 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