{"id":23920,"date":"2025-01-10T17:20:41","date_gmt":"2025-01-10T09:20:41","guid":{"rendered":"http:\/\/192.168.10.115\/?p=23920"},"modified":"2025-01-10T17:20:41","modified_gmt":"2025-01-10T09:20:41","slug":"2025-01-10-%e6%ad%a6%e6%b1%89%e5%a4%a7%e5%ad%a6%e7%8f%9e%e7%8f%88%e5%ae%9e%e9%aa%8c%e5%ae%a4%e6%96%b0%e4%bd%9c%ef%bc%81%e9%80%80%e5%8c%96%e7%8e%af%e5%a2%83%e4%b8%8blidar-slam%e7%9a%84%e5%ae%9e","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2025\/01\/10\/23920\/","title":{"rendered":"2025-01-10 \u6b66\u6c49\u5927\u5b66\u73de\u73c8\u5b9e\u9a8c\u5ba4\u65b0\u4f5c\uff01\u9000\u5316\u73af\u5883\u4e0bLiDAR SLAM\u7684\u5b9e\u65f6\u611f\u77e5\u548c\u8865\u507f\u7b97\u6cd5\uff01"},"content":{"rendered":"\n<h2 class=\"wp-block-heading\" id=\"h_17290609669_0\"><strong>0. \u8bba\u6587\u4fe1\u606f<\/strong><\/h2>\n\n\n\n<p>\u6807\u9898\uff1aA Real-time Degeneracy Sensing and Compensation Method for Enhanced LiDAR SLAM<\/p>\n\n\n\n<p>\u4f5c\u8005\uff1aZongbo Liao, Xuanxuan Zhang, Tianxiang Zhang, Zhi Li, Zhenqi Zheng, Zhichao Wen, You Li<\/p>\n\n\n\n<p>\u673a\u6784\uff1aHubei Luojia Laborotary, Wuhan University\u3001CASIC\u3001<\/p>\n\n\n\n<p>\u539f\u6587\u94fe\u63a5\uff1a<a href=\"https:\/\/link.zhihu.com\/?target=https%3A\/\/arxiv.org\/abs\/2412.07513\" target=\"_blank\" rel=\"noreferrer noopener\">https:\/\/arxiv.org\/abs\/2412.07513<\/a><\/p>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"h_17290609669_1\"><strong>1. \u5bfc\u8bfb<\/strong><\/h2>\n\n\n\n<p>\u6fc0\u5149\u96f7\u8fbe\u5e7f\u6cdb\u5e94\u7528\u4e8e\u540c\u6b65\u5b9a\u4f4d\u548c\u5730\u56fe\u7ed8\u5236(SLAM)\u4ee5\u53ca\u81ea\u52a8\u9a7e\u9a76\u3002<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=252479834&amp;content_type=Article&amp;match_order=1&amp;q=%E6%BF%80%E5%85%89%E9%9B%B7%E8%BE%BE%E9%87%8C%E7%A8%8B%E8%AE%A1&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">\u6fc0\u5149\u96f7\u8fbe\u91cc\u7a0b\u8ba1<\/a>\u5728\u591a\u4f20\u611f\u5668\u878d\u5408\u4e2d\u5177\u6709\u91cd\u8981\u610f\u4e49\u3002\u7136\u800c\uff0c\u5728\u4e00\u4e9b\u975e\u7ed3\u6784\u5316\u73af\u5883\u4e2d\uff0c<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=252479834&amp;content_type=Article&amp;match_order=1&amp;q=%E7%82%B9%E4%BA%91%E9%85%8D%E5%87%86&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">\u70b9\u4e91\u914d\u51c6<\/a>\u7531\u4e8e\u5176\u7a00\u758f\u7684\u51e0\u4f55\u7279\u5f81\u800c\u65e0\u6cd5\u7ea6\u675f\u6fc0\u5149\u96f7\u8fbe\u7684\u59ff\u6001\uff0c\u5bfc\u81f4\u591a\u4f20\u611f\u5668\u878d\u5408\u7cbe\u5ea6\u9000\u5316\u3002\u4e3a\u4e86\u89e3\u51b3\u8fd9\u4e2a\u95ee\u9898\uff0c\u6211\u4eec\u63d0\u51fa\u4e86\u4e00\u79cd\u65b0\u7684\u5b9e\u65f6\u65b9\u6cd5\u6765\u68c0\u6d4b\u548c\u8865\u507f\u6fc0\u5149\u96f7\u8fbe\u7684\u9000\u5316\u3002\u672c\u6587\u9996\u5148\u5f15\u5165\u4e86\u610f\u4e49\u660e\u786e\u7684\u7b80\u5e76\u56e0\u5b50\uff0c\u5b83\u53ef\u4ee5\u5ea6\u91cf\u6fc0\u5149\u96f7\u8fbe\u7684\u7b80\u5e76\u5ea6\u3002\u7136\u540e\uff0c\u57fa\u4e8e\u5bc6\u5ea6\u7684\u5e26\u566a\u58f0\u5e94\u7528\u7a7a\u95f4\u805a\u7c7b(DBSCAN)\u805a\u7c7b\u65b9\u6cd5\u81ea\u9002\u5e94\u5730\u611f\u77e5\u9000\u5316\uff0c\u5177\u6709\u66f4\u597d\u7684\u73af\u5883\u6cdb\u5316\u80fd\u529b\u3002\u6700\u540e\uff0c\u5229\u7528\u7b80\u5e76\u611f\u77e5\u7ed3\u679c\u878d\u5408\u6fc0\u5149\u96f7\u8fbe\u548c\u60ef\u6027\u6d4b\u91cf\u5355\u5143\uff0c\u4ece\u800c\u6709\u6548\u62b5\u6297\u7b80\u5e76\u6548\u5e94\u3002\u5728\u6211\u4eec\u7684\u6570\u636e\u96c6\u4e0a\u7684\u5b9e\u9a8c\u8868\u660e\u4e86\u8be5\u65b9\u6cd5\u7684\u9ad8\u7cbe\u5ea6\u548c<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=252479834&amp;content_type=Article&amp;match_order=1&amp;q=%E9%B2%81%E6%A3%92%E6%80%A7&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">\u9c81\u68d2\u6027<\/a>\uff0c\u5e76\u9a8c\u8bc1\u4e86\u6211\u4eec\u7684\u7b97\u6cd5\u5bf9\u4e0d\u540c\u73af\u5883\u548c\u6fc0\u5149\u96f7\u8fbe\u626b\u63cf\u6a21\u6001\u7684\u9002\u5e94\u6027\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"h_17290609669_2\"><strong>2. \u6548\u679c\u5c55\u793a<\/strong><\/h2>\n\n\n\n<p>\u6fc0\u5149\u96f7\u8fbe\u5bf9\u9000\u5316\u51e0\u4f55\u73af\u5883\u7684\u9002\u5e94\u6027\u4e0d\u8db3\u5bfc\u81f4\u72b6\u6001\u4f30\u8ba1\u8bef\u5dee\uff0c\u7ed9\u6fc0\u5149\u96f7\u8fbeSLAM\u5e26\u6765\u6311\u6218\u3002\u73b0\u6709\u7684\u7b97\u6cd5\u4f7f\u7528\u542b\u4e49\u4e0d\u660e\u786e\u7684\u5ea6\u91cf\u6765\u786e\u5b9a\u6fc0\u5149\u96f7\u8fbe\u662f\u5426\u9000\u5316\uff0c\u8fd9\u53ef\u4ee5\u66f4\u6709\u6548\u5730\u6d4b\u91cf\u6fc0\u5149\u96f7\u8fbe\u7684\u9000\u5316\u7a0b\u5ea6\u5e76\u89e3\u51b3\u6fc0\u5149\u96f7\u8fbe\u7684\u9000\u5316\u95ee\u9898\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic4.zhimg.com\/v2-ab9c37fac4548e5f9b2df8e98237b43b_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u8f68\u8ff9\u7ed3\u679c\u663e\u793a\uff0c\u8f68\u8ff9\u4e0a\u65b9\u7684\u5706\u5708\u8868\u793aLIO-SAM\u6216OUR\u5728\u8be5\u4f4d\u7f6e\u6f02\u79fb\uff0c\u5e76\u663e\u793a\u4e86\u9000\u5316\u73af\u5883\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic4.zhimg.com\/v2-fb21ce3e6b1b4ec814a344a91665a291_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u9000\u5316\u8865\u507f\u524d\u540e\u70b9\u4e91\u914d\u51c6\u7684<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=252479834&amp;content_type=Article&amp;match_order=1&amp;q=%E5%9D%87%E6%96%B9%E6%A0%B9%E8%AF%AF%E5%B7%AE&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">\u5747\u65b9\u6839\u8bef\u5dee<\/a>(RMSE)\u3002\u56fe(a)\u3001(b)\u548c(c)\u5206\u522b\u8868\u793a\u6821\u56ed\u3001xhl\u548cdegenerate 00\u7684\u9000\u5316\u56e0\u5b50\u3002\u56fe\u4e2d\u7684\u9ec4\u8272\u56db\u89d2\u661f\u8868\u793a\u5728\u8be5\u65f6\u95f4\u6bb5\u5185\u53d1\u751f\u4e86\u6fc0\u5149\u96f7\u8fbe\u9000\u5316\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/picx.zhimg.com\/v2-91070b1288d8b10c5206137623653e6d_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u5efa\u56fe\u7ed3\u679c\u3002(a)\u00b7(h)\u5206\u522b\u8868\u793a Campus\u3001XHL\u3001Basement\u3001UzH\u3001Quad\u3001Construction\u548cdegenerate_00\u3001degenerate_01\u3002\u865a\u7ebf\u6846\u8868\u793a\u5730\u56fe\u7684\u53ef\u89c1\u91cd\u5f69\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic2.zhimg.com\/v2-9b848b3a4b2b2b4b94bdee83e945fafd_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"h_17290609669_3\"><strong>3. \u5f15\u8a00<\/strong><\/h2>\n\n\n\n<p>\u968f\u7740\u4eba\u5de5\u667a\u80fd\u548cSLAM\uff08<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=252479834&amp;content_type=Article&amp;match_order=1&amp;q=%E5%8D%B3%E6%97%B6%E5%AE%9A%E4%BD%8D%E4%B8%8E%E5%9C%B0%E5%9B%BE%E6%9E%84%E5%BB%BA&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">\u5373\u65f6\u5b9a\u4f4d\u4e0e\u5730\u56fe\u6784\u5efa<\/a>\uff09\u7b49\u6280\u672f\u7684\u53d1\u5c55\uff0c\u81ea\u52a8\u9a7e\u9a76\u8f66\u8f86\u9886\u57df\u53d6\u5f97\u4e86\u663e\u8457\u6210\u679c\u3002\u6fc0\u5149\u96f7\u8fbe\uff08LiDAR\uff09\u662fSLAM\u7b97\u6cd5\u4e2d\u7684\u4e00\u4e2a\u7814\u7a76\u70ed\u70b9\uff0c\u56e0\u4e3a\u5b83\u80fd\u591f\u76f4\u63a5\u611f\u77e5\u73af\u5883\u76843D\u7ed3\u6784\u4fe1\u606f\uff0c\u4e14\u4e0d\u6613\u53d7\u5929\u6c14\u6761\u4ef6\u548c\u5149\u7ebf\u7684\u5f71\u54cd\u3002\u7136\u800c\uff0c\u57fa\u4e8e\u6fc0\u5149\u96f7\u8fbe\u7684\u5b9a\u4f4d\u5f3a\u70c8\u4f9d\u8d56\u4e8e\u73af\u5883\u7684\u51e0\u4f55\u7279\u5f81\u3002\u5f53\u8f66\u8f86\u5feb\u901f\u79fb\u52a8\u6216\u5904\u4e8e\u9000\u5316\u51e0\u4f55\u7ed3\u6784\u4e2d\u65f6\uff0c\u6fc0\u5149\u96f7\u8fbe\u91cc\u7a0b\u8ba1\u5f88\u5bb9\u6613\u53d7\u5230\u5f71\u54cd\u3002\u5728\u9000\u5316\u51e0\u4f55\u73af\u5883\u4e2d\uff0c\u6fc0\u5149\u96f7\u8fbe\u626b\u63cf\u5339\u914d\u7b97\u6cd5\u5e94\u5177\u5907\u66f4\u5f3a\u7684\u9002\u5e94\u6027\u3002\u8fd9\u79cd\u60c5\u51b5\u4f1a\u5bfc\u81f4\u72b6\u6001\u4f30\u8ba1\u51fa\u73b0\u504f\u5dee\uff0c\u7ed9\u6fc0\u5149\u96f7\u8fbeSLAM\u7b97\u6cd5\u5e26\u6765\u5de8\u5927\u6311\u6218\u3002<\/p>\n\n\n\n<p>\u672c\u6587\u6240\u6307\u7684\u9000\u5316\u73af\u5883\u662f\u6307\u7531\u4e8e\u7f3a\u4e4f\u70b9\u4e91\u7ea6\u675f\uff0c\u5bfc\u81f4\u72b6\u6001\u4f30\u8ba1\u7684\u4e0d\u786e\u5b9a\u6027\u663e\u8457\u589e\u52a0\u3002\u8fd9\u4e3b\u8981\u662f\u6307\u7f3a\u4e4f\u51e0\u4f55\u7ed3\u6784\u7279\u5f81\uff1b\u5728\u8fd9\u79cd\u73af\u5883\u4e2d\uff0c\u70b9\u4e91\u65e0\u6cd5\u5728\u6240\u6709\u65b9\u5411\u4e0a\u63d0\u4f9b\u4e00\u81f4\u7684\u7ea6\u675f\u3002\u4e3a\u4e86\u7f13\u89e3\u8fd9\u4e9b\u95ee\u9898\uff0c\u5927\u591a\u6570\u7814\u7a76\u901a\u8fc7\u79ef\u6781\u63a2\u7d22\u6fc0\u5149\u96f7\u8fbe\u9000\u5316\u73b0\u8c61\u6216\u6dfb\u52a0\u66f4\u591a\u7ea6\u675f\u4fe1\u606f\u6765\u8fdb\u884c\u3002\u672c\u6587\u4e5f\u7ee7\u627f\u4e86\u8fd9\u4e00\u601d\u8def\u548c\u65b9\u6cd5\u3002<\/p>\n\n\n\n<p>\u7136\u800c\uff0c\u4ecd\u5b58\u5728\u4e09\u4e2a\u5c40\u9650\u6027\uff1a\u9996\u5148\uff0c\u5927\u591a\u6570\u7814\u7a76\u65b9\u6cd5\u57fa\u4e8e\u4f18\u5316\u95ee\u9898\u7684\u7279\u5f81\u503c\uff0c\u8fd9\u4e9b\u7279\u5f81\u503c\u7684\u542b\u4e49\u4e0d\u660e\u786e\uff0c\u4e14\u5ea6\u91cf\u6807\u51c6\u96be\u4ee5\u8861\u91cf\uff1b\u5176\u6b21\uff0c\u786e\u5b9a\u6fc0\u5149\u96f7\u8fbe\u9000\u5316\u4f9d\u8d56\u4e8e\u7ecf\u9a8c\u9608\u503c\uff0c\u8fd9\u4e9b\u9608\u503c\u968f\u73af\u5883\u548c\u4f20\u611f\u5668\u7c7b\u578b\u7684\u53d8\u5316\u800c\u53d8\u5316\uff0c\u8de8\u73af\u5883\u548c\u4f20\u611f\u5668\u7c7b\u578b\u7684\u6cdb\u5316\u80fd\u529b\u6709\u9650\uff1b\u7b2c\u4e09\uff0c\u901a\u8fc7\u6dfb\u52a0\u66f4\u591a\u4f20\u611f\u5668\u6216\u6dfb\u52a0\u4e00\u4e9b\u8fd0\u52a8\u7ea6\u675f\u4fe1\u606f\u6765\u63d0\u9ad8\u5b9a\u4f4d\u548c\u5efa\u56fe\u7684\u9c81\u68d2\u6027\uff0c\u4f46\u8fd9\u4e5f\u4f1a\u5bfc\u81f4\u7cfb\u7edf\u53d8\u5f97\u5e9e\u5927\u4e14\u6210\u672c\u66f4\u9ad8\u3002\u8fd0\u52a8\u7ea6\u675f\u8981\u6c42\u8f66\u8f86\u9075\u5faa\u7279\u5b9a\u884c\u4e3a\uff0c\u5982\u4e4b\u5b57\u5f62\u8fd0\u52a8\uff0c\u8fd9\u9650\u5236\u4e86\u5b83\u4eec\u5728\u4e0d\u540c\u73af\u5883\u548c\u8fd0\u52a8\u6a21\u5f0f\u4e2d\u7684\u5e94\u7528\u3002<\/p>\n\n\n\n<p>\u4e3a\u89e3\u51b3\u4e0a\u8ff0\u5173\u4e8e\u8fd0\u52a8\u8fc7\u7a0b\u4e2d\u6fc0\u5149\u96f7\u8fbe\u6027\u80fd\u6f5c\u5728\u9000\u5316\u7684\u95ee\u9898\uff0c\u672c\u6587\u63d0\u51fa\u4e86\u4e00\u79cd\u5b9e\u65f6\u611f\u77e5\u548c\u62b5\u6297\u6fc0\u5149\u96f7\u8fbe\u9000\u5316\u7684\u65b0\u65b9\u6cd5\u3002\u672c\u6587\u8bbe\u8ba1\u4e86\u57fa\u4e8e\u7279\u5f81\u65b9\u6cd5\u7684\u6fc0\u5149\u96f7\u8fbeSLAM\u6fc0\u5149\u96f7\u8fbe\u9000\u5316\u611f\u77e5\u7b97\u6cd5\u3002\u9996\u5148\uff0c\u6211\u4eec\u8ba1\u7b97\u4e0e\u6fc0\u5149\u96f7\u8fbe\u65cb\u8f6c\u548c\u5e73\u79fb\u76f8\u5bf9\u5e94\u7684<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=252479834&amp;content_type=Article&amp;match_order=1&amp;q=%E6%9D%A1%E4%BB%B6%E6%95%B0&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">\u6761\u4ef6\u6570<\/a>\uff0c\u5c06\u5176\u4f5c\u4e3a\u9000\u5316\u56e0\u5b50\u3002\u7136\u540e\uff0c\u6211\u4eec\u5f15\u5165DBSCAN\u805a\u7c7b\u65b9\u6cd5\u6765\u5224\u65ad\u6fc0\u5149\u96f7\u8fbe\u89c2\u6d4b\u662f\u5426\u53d1\u751f\u9000\u5316\u3002\u8fd9\u79cd\u57fa\u4e8eDBSCAN\u7684\u9000\u5316\u68c0\u6d4b\u65b9\u6cd5\u65e0\u9700\u9488\u5bf9\u4e0d\u540c\u73af\u5883\u548c\u7c7b\u578b\u7684\u6fc0\u5149\u96f7\u8fbe\u91cd\u65b0\u8c03\u6574\u9000\u5316\u9608\u503c\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"h_17290609669_4\"><strong>4. \u4e3b\u8981\u8d21\u732e<\/strong><\/h2>\n\n\n\n<p>\u672c\u6587\u7684\u4e3b\u8981\u8d21\u732e\u5982\u4e0b\uff1a<\/p>\n\n\n\n<p>1\uff09\u5b9a\u4e49\u4e86\u6fc0\u5149\u96f7\u8fbe\u7cfb\u7edf\u7684\u9000\u5316\u56e0\u5b50\u3002\u8be5\u65b9\u6cd5\u6613\u4e8e\u5b9e\u73b0\uff0c\u542b\u4e49\u660e\u786e\uff0c\u80fd\u591f\u91cf\u5316\u6fc0\u5149\u96f7\u8fbe\u7cfb\u7edf\u4e2d\u7684\u9000\u5316\u73b0\u8c61\uff0c\u907f\u514d\u4e86\u5927\u591a\u6570\u5f53\u524d\u9000\u5316\u5ea6\u91cf\u4e2d\u5b58\u5728\u7684\u542b\u4e49\u6a21\u7cca\u95ee\u9898\u3002\u63a8\u8350\u8bfe\u7a0b\uff1a<a href=\"https:\/\/link.zhihu.com\/?target=https%3A\/\/mp.weixin.qq.com\/s%3F__biz%3DMzU1MjY4MTA1MQ%3D%3D%26mid%3D2247662397%26idx%3D2%26sn%3D955d45e54b665f8b256c95e72058250c%26scene%3D21%23wechat_redirect\" target=\"_blank\" rel=\"noreferrer noopener\">\u5f7b\u5e95\u5256\u6790\u6fc0\u5149-\u89c6\u89c9-IMU-GPS\u878d\u5408SLAM\u7b97\u6cd5\uff1a\u7406\u8bba\u63a8\u5bfc\u3001\u4ee3\u7801\u8bb2\u89e3\u548c\u5b9e\u6218<\/a>\u3002<\/p>\n\n\n\n<p>2\uff09\u63d0\u51fa\u4e86\u4e00\u79cd\u57fa\u4e8eDBSCAN\u805a\u7c7b\u7684\u6fc0\u5149\u96f7\u8fbe\u9000\u5316\u611f\u77e5\u65b9\u6cd5\u3002\u8be5\u65b9\u6cd5\u4e0d\u4f9d\u8d56\u4e8e\u7ecf\u9a8c\u9608\u503c\uff0c\u4e0d\u53d7\u5916\u90e8\u73af\u5883\u6216\u6fc0\u5149\u96f7\u8fbe\u7c7b\u578b\u7684\u5f71\u54cd\uff0c\u80fd\u591f\u7a33\u5065\u5730\u68c0\u6d4b\u6fc0\u5149\u96f7\u8fbe\u9000\u5316\u3002<\/p>\n\n\n\n<p>3\uff09\u5f15\u5165\u4e86\u4e00\u79cd\u62b5\u6297\u6fc0\u5149\u96f7\u8fbe\u9000\u5316\u7684\u65b9\u6cd5\u3002\u57fa\u4e8e\u9000\u5316\u611f\u77e5\u7ed3\u679c\u548c\u9000\u5316\u56e0\u5b50\uff0c\u5c06<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=252479834&amp;content_type=Article&amp;match_order=2&amp;q=%E6%83%AF%E6%80%A7%E6%B5%8B%E9%87%8F%E5%8D%95%E5%85%83&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">\u60ef\u6027\u6d4b\u91cf\u5355\u5143<\/a>\uff08IMU\uff09\u7684\u59ff\u6001\u4e0e\u9000\u5316\u6fc0\u5149\u96f7\u8fbe\u7684\u59ff\u6001\u901a\u8fc7<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=252479834&amp;content_type=Article&amp;match_order=1&amp;q=%E5%8A%A0%E6%9D%83%E8%9E%8D%E5%90%88&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">\u52a0\u6743\u878d\u5408<\/a>\u8fdb\u884c\u8865\u507f\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"h_17290609669_5\"><strong>5. \u65b9\u6cd5<\/strong><\/h2>\n\n\n\n<p>\u6211\u4eec\u8be6\u7ec6\u63cf\u8ff0\u4e86\u57fa\u4e8e\u6761\u4ef6\u6570\u7684\u9000\u5316\u611f\u77e5\u7b97\u6cd5\uff0c\u5e76\u63d0\u51fa\u4e86\u4e00\u79cd\u5177\u6709\u660e\u786e\u610f\u4e49\u7684\u65b0\u578b\u9000\u5316\u56e0\u5b50\u3002\u540c\u65f6\uff0c\u4f7f\u7528DBSCAN\u805a\u7c7b\u65b9\u6cd5\u6765\u611f\u77e5\u9000\u5316\u3002\u5f53\u6fc0\u5149\u96f7\u8fbe\u7a81\u7136\u9000\u5316\u65f6\uff0c\u9000\u5316\u56e0\u5b50\u4f1a\u7a81\u7136\u53d8\u5f97\u66f4\u52a0\u663e\u8457\u3002\u4e0e\u6fc0\u5149\u96f7\u8fbe\u6b63\u5e38\u72b6\u6001\u76f8\u6bd4\uff0c\u6b64\u65f6\u7684\u9000\u5316\u56e0\u5b50\u662f\u5f02\u5e38\u7684\u3002\u5728\u611f\u77e5\u5230\u6fc0\u5149\u96f7\u8fbe\u9000\u5316\u540e\uff0c\u5229\u7528IMU\u7684\u8fd0\u52a8\u72b6\u6001\u6765\u8865\u507f\u6fc0\u5149\u96f7\u8fbe\u7684\u9000\u5316\u8fd0\u52a8\u72b6\u6001\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic2.zhimg.com\/v2-f54238cf345ad659a257a14d1330d6c9_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"h_17290609669_6\"><strong>6. \u5b9e\u9a8c\u7ed3\u679c<\/strong><\/h2>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic1.zhimg.com\/v2-44d5964fb6b0691e0ada83cbba6aad9c_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"h_17290609669_7\"><strong>7. \u603b\u7ed3 &amp; \u672a\u6765\u5de5\u4f5c<\/strong><\/h2>\n\n\n\n<p>\u672c\u6587\u63d0\u51fa\u4e86\u4e00\u79cd\u5b9e\u65f6\u611f\u77e5\u6fc0\u5149\u96f7\u8fbe\u9000\u5316\u5e76\u8fdb\u884c\u62b5\u6297\u7684\u65b9\u6cd5\uff0c\u901a\u8fc7\u5904\u7406<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=252479834&amp;content_type=Article&amp;match_order=1&amp;q=%E7%8E%AF%E5%A2%83%E9%80%80%E5%8C%96&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">\u73af\u5883\u9000\u5316<\/a>\u95ee\u9898\uff0c\u63d0\u9ad8\u4e86\u6fc0\u5149\u96f7\u8fbe\u5b9a\u4f4d\u4e0e\u5efa\u56fe\u7684\u9c81\u68d2\u6027\u3002\u5229\u7528\u6761\u4ef6\u6570\u5b9a\u4e49\u5e76\u63a8\u5bfc\u51fa\u7684\u9000\u5316\u56e0\u5b50\uff0c\u5177\u6709\u660e\u786e\u4e14\u72ec\u7279\u7684\u542b\u4e49\u3002\u6b64\u5916\uff0c\u8be5\u9000\u5316\u56e0\u5b50\u7684\u503c\u8d8a\u5927\uff0c\u6fc0\u5149\u96f7\u8fbe\u7cfb\u7edf\u7684\u9000\u5316\u7a0b\u5ea6\u5c31\u8d8a\u4e25\u91cd\u3002\u540c\u65f6\uff0c\u672c\u6587\u91c7\u7528DBSCAN\u805a\u7c7b\u65b9\u6cd5\u6765\u611f\u77e5\u6fc0\u5149\u96f7\u8fbe\u7684\u9000\u5316\u60c5\u51b5\uff0c\u6452\u5f03\u4e86\u4f20\u7edf\u7684\u8bbe\u7f6e\u9000\u5316\u68c0\u6d4b\u9608\u503c\u7684\u65b9\u6cd5\uff0c\u56e0\u6b64\u4e0d\u53d7\u5916\u90e8\u73af\u5883\u548c\u6fc0\u5149\u96f7\u8fbe\u7c7b\u578b\u7684\u5f71\u54cd\u3002\u5f53\u53d1\u751f\u9000\u5316\u65f6\uff0c\u5bf9\u6fc0\u5149\u96f7\u8fbe\u548c\u60ef\u6027\u6d4b\u91cf\u5355\u5143\uff08IMU\uff09\u7684\u8fd0\u52a8\u72b6\u6001\u8fdb\u884c\u52a0\u6743\u878d\u5408\uff0c\u4ee5\u964d\u4f4e\u73af\u5883\u9000\u5316\u5bf9\u6fc0\u5149\u96f7\u8fbe\u72b6\u6001\u4f30\u8ba1\u7684\u5f71\u54cd\u3002\u6211\u4eec\u5728\u591a\u79cd\u5177\u6709\u6311\u6218\u6027\u7684\u573a\u666f\u4e2d\u4f7f\u7528\u4e86\u4e0d\u540c\u7c7b\u578b\u7684\u6fc0\u5149\u96f7\u8fbe\u8fdb\u884c\u5b9e\u9a8c\u9a8c\u8bc1\u3002\u5b9e\u9a8c\u7ed3\u679c\u8868\u660e\uff0c\u8be5\u7cfb\u7edf\u80fd\u591f\u51c6\u786e\u611f\u77e5\u73af\u5883\u9000\u5316\u5e76\u6d4b\u91cf\u6fc0\u5149\u96f7\u8fbe\u7684\u9000\u5316\u7a0b\u5ea6\u3002\u5b83\u663e\u8457\u63d0\u9ad8\u4e86\u6fc0\u5149\u96f7\u8fbe\u5728\u9000\u5316\u573a\u666f\u4e0b\u7684\u72b6\u6001\u4f30\u8ba1\u7cbe\u5ea6\uff0c\u5e76\u83b7\u5f97\u4e86\u51c6\u786e\u7684\u5b9a\u4f4d\u4e0e\u5efa\u56fe\u6548\u679c\u3002<\/p>\n\n\n\n<p>\u7136\u800c\uff0c\u672c\u6587\u65b9\u6cd5\u4ecd\u5b58\u5728\u4e00\u4e9b\u5c40\u9650\u6027\u3002\u76ee\u524d\uff0c\u5b83\u4ec5\u9002\u7528\u4e8e\u7a81\u53d1\u6027\u9000\u5316\u60c5\u51b5\uff0c\u4f46\u5f53\u6fc0\u5149\u96f7\u8fbe\u957f\u65f6\u95f4\u9000\u5316\u65f6\uff0c\u672c\u6587\u65b9\u6cd5\u6682\u65f6\u4e0d\u9002\u7528\u3002\u56e0\u4e3a\u6b64\u65f6\u9000\u5316\u4e0d\u518d\u662f\u79bb\u7fa4\u70b9\uff0c\u800c\u662f\u5f62\u6210\u4e86\u4e00\u4e2a\u65b0\u7684\u805a\u7c7b\uff0c\u8fd9\u8981\u6c42\u6211\u4eec\u66f4\u8be6\u7ec6\u5730\u5212\u5206DBSCAN\u7684\u5206\u7c7b\uff0c\u800c\u4e0d\u4ec5\u4ec5\u662f\u7b80\u5355\u5730\u5c06\u5176\u5206\u4e3a\u79bb\u7fa4\u70b9\u548c\u975e\u79bb\u7fa4\u70b9\uff0c\u4ee5\u4fbf\u6211\u4eec\u80fd\u591f\u66f4\u5e73\u6ed1\u5730\u68c0\u6d4b\u5230\u6fc0\u5149\u96f7\u8fbe\u9000\u5316\u7684\u65f6\u523b\u3002\u8fd9\u4e5f\u662f\u6211\u4eec\u63a5\u4e0b\u6765\u7684\u8ba1\u5212\u3002<\/p>\n","protected":false},"excerpt":{"rendered":"<p>0. \u8bba\u6587\u4fe1\u606f \u6807\u9898\uff1aA Real-time  [&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-23920","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\/23920"}],"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=23920"}],"version-history":[{"count":1,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/23920\/revisions"}],"predecessor-version":[{"id":23922,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/23920\/revisions\/23922"}],"wp:attachment":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/media?parent=23920"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/categories?post=23920"},{"taxonomy":"post_tag","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/tags?post=23920"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}