{"id":24089,"date":"2025-01-13T17:42:44","date_gmt":"2025-01-13T09:42:44","guid":{"rendered":"http:\/\/192.168.10.115\/?p=24089"},"modified":"2025-01-13T17:42:44","modified_gmt":"2025-01-13T09:42:44","slug":"2025-01-13-scaffold-slam%ef%bc%9a%e7%bb%93%e6%9e%84%e5%8c%963d-gs%e9%9d%a9%e6%96%b0slam%ef%bc%81","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2025\/01\/13\/24089\/","title":{"rendered":"2025-01-13 Scaffold-SLAM\uff1a\u7ed3\u6784\u53163D GS\u9769\u65b0SLAM\uff01"},"content":{"rendered":"\n<h2 class=\"wp-block-heading\"><strong>0. \u8bba\u6587\u4fe1\u606f<\/strong><\/h2>\n\n\n\n<p>\u6807\u9898\uff1aScaffold-SLAM: Structured 3D Gaussians for Simultaneous Localization and Photorealistic Mapping<\/p>\n\n\n\n<p>\u4f5c\u8005\uff1aWen Tianci, Liu Zhiang, Lu Biao, Fang Yongchun<\/p>\n\n\n\n<p>\u673a\u6784\uff1aNankai University<\/p>\n\n\n\n<p>\u539f\u6587\u94fe\u63a5\uff1a<a href=\"https:\/\/link.zhihu.com\/?target=https%3A\/\/arxiv.org\/abs\/2501.05242\" target=\"_blank\" rel=\"noreferrer noopener\">https:\/\/arxiv.org\/abs\/2501.05242<\/a><\/p>\n\n\n\n<h2 class=\"wp-block-heading\"><strong>1. \u5bfc\u8bfb<\/strong><\/h2>\n\n\n\n<p>3D Gaussian Splatting (3DGS)\u6700\u8fd1\u5728\u540c\u6b65\u5b9a\u4f4d\u548c\u6620\u5c04(SLAM)\u4e2d\u9769\u65b0\u4e86\u65b0\u7684\u89c6\u56fe\u5408\u6210\u3002\u7136\u800c\uff0c\u5229\u75283dg\u7684\u73b0\u6709SLAM\u65b9\u6cd5\u672a\u80fd\u540c\u65f6\u4e3a\u5355\u76ee\u3001\u7acb\u4f53\u548cRGB-D\u76f8\u673a\u63d0\u4f9b\u9ad8\u8d28\u91cf\u7684\u65b0\u9896\u89c6\u56fe\u6e32\u67d3\u3002\u503c\u5f97\u6ce8\u610f\u7684\u662f\uff0c\u4e00\u4e9b\u65b9\u6cd5\u5bf9\u4e8eRGB-D\u76f8\u673a\u8868\u73b0\u826f\u597d\uff0c\u4f46\u662f\u5bf9\u4e8e\u5355\u76ee\u76f8\u673a\uff0c\u6e32\u67d3\u8d28\u91cf\u663e\u8457\u4e0b\u964d\u3002\u5728\u672c\u6587\u4e2d\uff0c\u6211\u4eec\u4ecb\u7ecd\u4e86Scaffold-SLAM\uff0c\u5b83\u63d0\u4f9b\u4e86\u8de8\u5355\u76ee\u3001\u7acb\u4f53\u548cRGB-D\u76f8\u673a\u7684\u540c\u6b65\u5b9a\u4f4d\u548c\u9ad8\u8d28\u91cf\u7684\u771f\u5b9e\u611f\u6620\u5c04\u3002\u6211\u4eec\u5f15\u5165\u4e86\u4e24\u9879\u5173\u952e\u521b\u65b0\u6765\u5b9e\u73b0\u8fd9\u79cd\u6700\u5148\u8fdb\u7684\u89c6\u89c9\u8d28\u91cf\u3002\u9996\u5148\uff0c\u6211\u4eec\u63d0\u51fa\u8fd0\u52a8\u5916\u89c2\u5d4c\u5165\uff0c\u4f7f<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=252619592&amp;content_type=Article&amp;match_order=1&amp;q=3D%E9%AB%98%E6%96%AF%E6%A8%A1%E5%9E%8B&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">3D\u9ad8\u65af\u6a21\u578b<\/a>\u80fd\u591f\u66f4\u597d\u5730\u6a21\u62df\u4e0d\u540c\u76f8\u673a\u59ff\u6001\u4e0b\u7684\u56fe\u50cf\u5916\u89c2\u53d8\u5316\u3002\u5176\u6b21\uff0c\u6211\u4eec\u5f15\u5165\u4e86\u4e00\u4e2a\u9891\u7387\u6b63\u5219\u5316\u91d1\u5b57\u5854\u6765\u6307\u5bfc\u9ad8\u65af\u5206\u5e03\uff0c\u5141\u8bb8\u6a21\u578b\u6709\u6548\u5730\u6355\u6349\u573a\u666f\u4e2d\u66f4\u7cbe\u7ec6\u7684\u7ec6\u8282\u3002\u5728\u5355\u76ee\u3001\u7acb\u4f53\u548cRGB-D\u6570\u636e\u96c6\u4e0a\u7684\u5927\u91cf\u5b9e\u9a8c\u8868\u660e\uff0cScaffold-SLAM\u5728\u7167\u7247\u7ea7\u771f\u5b9e\u611f\u6620\u5c04\u8d28\u91cf\u65b9\u9762\u660e\u663e\u4f18\u4e8e\u6700\u5148\u8fdb\u7684\u65b9\u6cd5\uff0c\u4f8b\u5982\uff0c\u5728\u7528\u4e8e\u5355\u76ee\u76f8\u673a\u7684TUM RGB-D\u6570\u636e\u96c6\u4e0a\uff0cPSNR\u9ad8\u51fa16.76%\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\"><strong>2. \u6548\u679c\u5c55\u793a<\/strong><\/h2>\n\n\n\n<p>\u6211\u4eec\u7684\u65b9\u6cd5Scaffold-SLAM\u4ee5\u9ad8\u753b\u8d28\u5b9e\u73b0\u903c\u771f\u7684\u6620\u5c04\uff0c\u8d28\u91cf\u4f18\u4e8e\u6700\u5148\u8fdb\u7684\u65b9\u6cd5(GS-ICP SLAM)\uff0cPhoto-SLAM\uff0cSplaTAM\uff0cMonoGS)\uff0c\u5305\u62ec\u5355\u76ee\u3001\u7acb\u4f53\u548cRGB-D\u76f8\u673a\u3002\u9876\u90e8:\u7ed3\u679c\u6765\u81eaTUM RGB-D\u6570\u636e\u96c6\u7684RGB-D\u76f8\u673a\u3002\u5e95\u90e8:\u5de6\u4e09\u5e45\u56fe\u50cf\u6765\u81eaReplica\u6570\u636e\u96c6\u7684\u5355\u76ee\u76f8\u673a\uff0c\u53f3\u4e09\u5e45\u6765\u81eaEuROCMAV\u6570\u636e\u96c6\u7684\u7acb\u4f53\u76f8\u673a\u3002\u8d28\u91cf\u4e0a\u7684\u660e\u663e\u5dee\u5f02\u7531\u63d2\u56fe\u7a81\u51fa\u663e\u793a\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic2.zhimg.com\/v2-ae5adac5ffefbc10a0c5889780258219_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u6211\u4eec\u5c55\u793a\u4e86\u6211\u4eec\u7684\u65b9\u6cd5\u4e0eRGB-D\u76f8\u673a\u7684\u6700\u65b0\u65b9\u6cd5\u7684\u6bd4\u8f83\u3002\u9876\u90e8\u573a\u666f\u662f\u6765\u81ea\u590d\u672c\u6570\u636e\u96c6\u7684rooo0\uff0c\u5e95\u90e8\u662f\u6765\u81eaTUM RGB-D\u6570\u636e\u96c6\u7684fr3 office\u3002\u63d2\u56fe\u7a81\u51fa\u4e86\u8d28\u91cf\u4e0a\u7684\u4e0d\u660e\u663e\u5dee\u5f02\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic3.zhimg.com\/v2-d922177b1ff0385dbd11ee9600ab02d0_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<h2 class=\"wp-block-heading\"><strong>3. \u5f15\u8a00<\/strong><\/h2>\n\n\n\n<p>\u89c6\u89c9SLAM\u662f\u4e09\u7ef4\u8ba1\u7b97\u673a\u89c6\u89c9\u9886\u57df\u7684\u4e00\u4e2a\u57fa\u7840\u95ee\u9898\uff0c\u5e7f\u6cdb\u5e94\u7528\u4e8e\u81ea\u52a8\u9a7e\u9a76\u3001\u673a\u5668\u4eba\u6280\u672f\u3001\u865a\u62df\u73b0\u5b9e\u548c\u589e\u5f3a\u73b0\u5b9e\u7b49\u9886\u57df\u3002SLAM\u65e8\u5728\u6784\u5efa\u7a20\u5bc6\u6216\u7a00\u758f\u5730\u56fe\u6765\u8868\u793a\u573a\u666f\u3002\u8fd1\u5e74\u6765\uff0c<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=252619592&amp;content_type=Article&amp;match_order=1&amp;q=%E7%A5%9E%E7%BB%8F%E6%B8%B2%E6%9F%93&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">\u795e\u7ecf\u6e32\u67d3<\/a>[5]\u5df2\u88ab\u6574\u5408\u5230SLAM\u6d41\u7a0b\u4e2d\uff0c\u663e\u8457\u63d0\u5347\u4e86\u5730\u56fe\u7684\u573a\u666f\u8868\u793a\u80fd\u529b\u3002\u8f90\u5c04\u573a\u6e32\u67d3\u9886\u57df\u7684\u6700\u65b0\u8fdb\u5c55\u662f<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=252619592&amp;content_type=Article&amp;match_order=1&amp;q=%E4%B8%89%E7%BB%B4%E9%AB%98%E6%96%AF%E6%BA%85%E5%B0%84&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">\u4e09\u7ef4\u9ad8\u65af\u6e85\u5c04<\/a>\uff083DGS\uff09\uff0c\u8fd9\u662f\u4e00\u79cd\u663e\u5f0f\u573a\u666f\u8868\u793a\u65b9\u6cd5\uff0c\u5728\u6e32\u67d3\u548c\u8bad\u7ec3\u901f\u5ea6\u65b9\u9762\u53d6\u5f97\u4e86\u9769\u547d\u6027\u7684\u63d0\u5347\u3002\u6700\u8fd1\u7ed3\u54083DGS\u7684SLAM\u5de5\u4f5c\u8868\u660e\uff0c\u4e0e\u9690\u5f0f\u8868\u793a\u76f8\u6bd4\uff0c\u663e\u5f0f\u8868\u793a\u63d0\u4f9b\u4e86\u66f4\u6709\u524d\u666f\u7684\u6e32\u67d3\u6027\u80fd\u3002<\/p>\n\n\n\n<p>\u7136\u800c\uff0c\u5f53\u524d\u5229\u75283DGS\u7684SLAM\u65b9\u6cd5\u5c1a\u672a\u80fd\u5728\u5355\u76ee\u3001\u7acb\u4f53\u548cRGB-D\u76f8\u673a\u4e0a\u540c\u65f6\u5b9e\u73b0\u9ad8\u8d28\u91cf\u6e32\u67d3\u3002\u5927\u591a\u6570\u73b0\u6709\u65b9\u6cd5\u4ec5\u652f\u6301RGB-D\u76f8\u673a\u3002\u4f8b\u5982\uff0cSplaTAM[3]\u901a\u8fc7\u6700\u5c0f\u5316\u56fe\u50cf\u548c\u6df1\u5ea6\u91cd\u5efa\u8bef\u5dee\u8054\u5408\u4f18\u5316\u76f8\u673a\u4f4d\u59ff\u548c\u9ad8\u65af\u5206\u5e03\uff0c\u5b9e\u73b0\u4e86RGB-D\u76f8\u673a\u7684\u5b9a\u4f4d\u548c\u6e32\u67d3\u3002GS-SLAM\u63a8\u5bfc\u51fa\u4e86\u4f7f\u7528RGB-D\u91cd\u6e32\u67d3\u635f\u5931\u4f18\u5316\u76f8\u673a\u4f4d\u59ff\u8ddf\u8e2a\u548c\u7a20\u5bc6\u5efa\u56fe\u7684\u89e3\u6790\u516c\u5f0f\u3002RTG-SLAM[8]\u63d0\u51fa\u4e86\u4e00\u79cd\u9ad8\u6548\u7684\u6d41\u7a0b\u6765\u751f\u6210\u7d27\u51d1\u7684\u9ad8\u65af\u8868\u793a\uff0c\u4ece\u800c\u6784\u5efa\u4e86\u4e00\u4e2a\u5b9e\u65f6\u7684RGB-D\u7cfb\u7edf\u3002GS-ICP SLAM\u63d0\u51fa\u4e86\u4e00\u79cd\u65b0\u9896\u7684\u7a20\u5bc6RGB-D SLAM\u65b9\u6cd5\uff0c\u878d\u5408\u4e86\u5e7f\u4e49\u8fed\u4ee3\u6700\u8fd1\u70b9\uff08ICP\uff09\u548c3DGS\u3002CG-SLAM\u91c7\u7528\u4e86\u4e00\u79cd\u4e0d\u786e\u5b9a\u6027\u611f\u77e5\u76843D\u9ad8\u65af\u573a\u6765\u5b9e\u73b0\u9ad8\u6548\u7684RGB-D SLAM\u3002<\/p>\n\n\n\n<p>\u53ea\u6709\u5c11\u6570\u65b9\u6cd5\u652f\u6301\u5355\u76ee\u3001\u7acb\u4f53\u548cRGB-D\u76f8\u673a\u3002MonGS\u901a\u8fc7\u9488\u5bf93D\u9ad8\u65af\u5206\u5e03\u7684\u76f4\u63a5\u4f18\u5316\u6765\u5236\u5b9a3DGS\u7684\u76f8\u673a\u8ddf\u8e2a\uff0c\u5141\u8bb8\u6240\u6709\u4e09\u79cd\u7c7b\u578b\u7684\u76f8\u673a\u8fdb\u884c\u5b9a\u4f4d\u548c\u903c\u771f\u7684\u6620\u5c04\u3002\u7136\u800c\uff0c\u5176\u7acb\u4f53\u76f8\u673a\u548c\u5355\u76ee\u76f8\u673a\u4e4b\u95f4\u7684\u6e32\u67d3\u8d28\u91cf\u5dee\u8ddd\u663e\u8457\u3002Photo-SLAM\u5f15\u5165\u4e86\u4e00\u4e2a\u89e3\u8026\u6846\u67b6\u6765\u4f18\u53163D\u9ad8\u65af\u5206\u5e03\uff0c\u5b9e\u73b0\u4e86\u5355\u76ee\u3001\u7acb\u4f53\u548cRGB-D\u76f8\u673a\u7684\u5b9e\u65f6\u5b9a\u4f4d\u548c\u903c\u771f\u6620\u5c04\u3002\u867d\u7136\u5b83\u5728\u5b9e\u65f6\u6027\u80fd\u548c\u5355\u76ee\u4e0eRGB-D\u76f8\u673a\u4e4b\u95f4\u7684\u6e32\u67d3\u8d28\u91cf\u5dee\u8ddd\u65b9\u9762\u8868\u73b0\u51fa\u8272\uff0c\u4f46\u5176\u4e3b\u8981\u9650\u5236\u5728\u4e8e\u6574\u4f53\u6e32\u67d3\u8d28\u91cf\u3002\u6211\u4eec\u7684\u5de5\u4f5c\u65e8\u5728\u663e\u8457\u63d0\u9ad8\u5355\u76ee\u3001\u7acb\u4f53\u548cRGB-D\u76f8\u673a\u7684\u6e32\u67d3\u7cbe\u5ea6\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%3D2247671657%26idx%3D3%26sn%3Dfca53f9bfafcdd2e71d6b2a7c4b77d42%26scene%3D21%23wechat_redirect\" target=\"_blank\" rel=\"noreferrer noopener\">\u5b9e\u65f6400FPS\uff01\u9ad8\u7cbeNeRF\/Gaussian SLAM\u5b9a\u4f4d\u4e0e\u5efa\u56fe<\/a>\u3002<\/p>\n\n\n\n<p>\u5728\u672c\u6587\u4e2d\uff0c\u6211\u4eec\u63d0\u51fa\u4e86Scaffold-SLAM\uff0c\u8fd9\u662f\u4e00\u79cd\u65b0\u578bSLAM\u7cfb\u7edf\uff0c\u80fd\u591f\u5728\u5355\u76ee\u3001\u7acb\u4f53\u548cRGB-D\u76f8\u673a\u4e0a\u5b9e\u73b0\u540c\u65f6\u5b9a\u4f4d\u548c\u9ad8\u8d28\u91cf\u7684\u903c\u771f\u6620\u5c04\u3002\u6211\u4eec\u7684\u65b9\u6cd5\u4e0ePhoto-SLAM\u5171\u4eab\u76f8\u540c\u7684\u89e3\u8026\u6846\u67b6\uff0c\u5176\u4e2d\u6211\u4eec\u4f7f\u7528\u4f20\u7edf\u7684\u95f4\u63a5\u89c6\u89c9SLAM\u6d41\u7a0b\u8fdb\u884c\u5b9a\u4f4d\u548c\u51e0\u4f55\u5efa\u56fe\u3002\u751f\u6210\u7684\u70b9\u4e91\u7528\u4e8e\u521d\u59cb\u5316\u7ed3\u6784\u53163D\u9ad8\u65af\u5206\u5e03\u3002\u76f8\u53cd\uff0c\u6211\u4eec\u5f15\u5165\u4e86\u4e24\u9879\u5173\u952e\u521b\u65b0\uff0c\u4f7f\u6211\u4eec\u7684\u65b9\u6cd5\u80fd\u591f\u5728\u5355\u76ee\u3001\u7acb\u4f53\u548cRGB-D\u76f8\u673a\u4e0a\u5b9e\u73b0\u6700\u5148\u8fdb\u7684\u903c\u771f\u6620\u5c04\u8d28\u91cf\u3002\u9996\u5148\uff0c\u6211\u4eec\u63d0\u51fa\u4e86\u4ece\u8fd0\u52a8\u5230\u5916\u89c2\u7684\u5d4c\u5165\uff08Appearance-from-Motion embedding\uff09\uff0c\u8be5\u5d4c\u5165\u5728\u5b66\u4e60\u7684\u4f4e\u7ef4\u6f5c\u5728\u7a7a\u95f4\u4e2d\u5efa\u6a21\u5916\u89c2\u53d8\u5316\uff0c\u5982\u66dd\u5149\u548c\u7167\u660e\u3002\u6211\u4eec\u8bad\u7ec3\u8be5\u5d4c\u5165\u4ee5\u6839\u636e\u76f8\u673a\u4f4d\u59ff\u9884\u6d4b\u4e0d\u540c\u56fe\u50cf\u4e2d\u7684\u5916\u89c2\u53d8\u5316\u3002\u5176\u6b21\uff0c\u6211\u4eec\u63d0\u51fa\u4e86\u9891\u7387\u6b63\u5219\u5316\u91d1\u5b57\u5854\uff0c\u5b83\u5728\u9891\u7387\u57df\u4e2d\u7ea6\u675f\u4e86\u591a\u4e2a\u5c3a\u5ea6\u4e0b\u6e32\u67d3\u56fe\u50cf\u7684\u9891\u7387\u3002\u8fd9\u4fc3\u4f7f3D\u9ad8\u65af\u5206\u5e03\u5411\u590d\u6742\u533a\u57df\uff08\u5982\u7269\u4f53\u8fb9\u7f18\u548c\u7eb9\u7406\uff09\u751f\u957f\uff0c\u4ece\u800c\u4f7f\u6a21\u578b\u80fd\u591f\u6355\u83b7\u573a\u666f\u4e2d\u7684\u9ad8\u9891\u7ec6\u8282\u3002\u6700\u540e\uff0c\u4e3a\u4e86\u8bc4\u4f30\u6211\u4eec\u65b9\u6cd5\u7684\u903c\u771f\u6620\u5c04\u8d28\u91cf\uff0c\u6211\u4eec\u5728\u5305\u62ec\u5355\u76ee\u3001\u7acb\u4f53\u548cRGB-D\u76f8\u673a\u7684\u591a\u79cd\u6570\u636e\u96c6\u4e0a\u8fdb\u884c\u4e86\u5e7f\u6cdb\u7684\u5b9e\u9a8c\u3002\u5b9e\u9a8c\u7ed3\u679c\u8868\u660e\uff0c\u6211\u4eec\u7684\u65b9\u6cd5Scaffold-SLAM\u5728\u6240\u6709\u4e09\u79cd\u76f8\u673a\u7c7b\u578b\u7684\u903c\u771f\u6620\u5c04\u8d28\u91cf\u65b9\u9762\u5747\u8d85\u8d8a\u4e86\u6700\u5148\u8fdb\u7684\u65b9\u6cd5\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\"><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>\u6211\u4eec\u5f00\u53d1\u4e86\u4ece\u8fd0\u52a8\u5230\u5916\u89c2\u7684\u5d4c\u5165\uff0c\u4f7f\u6211\u4eec\u7684SLAM\u7cfb\u7edf\u80fd\u591f\u6709\u6548\u5730\u5efa\u6a21\u4e0d\u540c\u56fe\u50cf\u4e2d\u7684\u56fe\u50cf\u5916\u89c2\u53d8\u5316\u3002<\/p>\n\n\n\n<p>\u6211\u4eec\u63d0\u51fa\u4e86\u9891\u7387\u6b63\u5219\u5316\u91d1\u5b57\u5854\uff0c\u4ee5\u5f15\u5bfc3D\u9ad8\u65af\u5206\u5e03\u5411\u590d\u6742\u533a\u57df\u751f\u957f\uff0c\u4ece\u800c\u6355\u83b7\u573a\u666f\u4e2d\u7684\u66f4\u7cbe\u7ec6\u7ec6\u8282\u3002<\/p>\n\n\n\n<p>\u5728\u5404\u79cd\u6570\u636e\u96c6\u4e0a\u7684\u5e7f\u6cdb\u8bc4\u4f30\u8868\u660e\uff0c\u6211\u4eec\u7684\u65b9\u6cd5Scaffold-SLAM\u5728\u4fdd\u6301\u7ade\u4e89\u6027\u7684\u8ddf\u8e2a\u7cbe\u5ea6\u7684\u540c\u65f6\uff0c\u5728\u5355\u76ee\u3001\u7acb\u4f53\u548cRGB-D\u76f8\u673a\u4e0a\u5b9e\u73b0\u4e86\u4f18\u8d8a\u7684\u903c\u771f\u6620\u5c04\u8d28\u91cf\u3002\u4ee3\u7801\u5c06\u516c\u5f00\u63d0\u4f9b\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\"><strong>5. \u65b9\u6cd5<\/strong><\/h2>\n\n\n\n<p>\u6211\u4eec\u7684\u65b9\u6cd5\u652f\u6301\u5355\u76ee\u3001\u7acb\u4f53\u548cRGB-D\u76f8\u673a\u3002\u8f93\u5165\u56fe\u50cf\u6d41\u7ecf\u7531\u8ddf\u8e2a\u548c\u51e0\u4f55\u6620\u5c04\u6a21\u5757\u5904\u7406\uff0c\u751f\u6210\u9ad8\u8d28\u91cf\u7684\u70b9\u4e91\u548c\u7cbe\u786e\u4f4d\u59ff\u3002\u8fd9\u4e9b\u70b9\u4e91\u88ab\u7528\u4e8e\u9010\u6b65\u6784\u5efa\u9ad8\u65af\u6a21\u578b\u3002\u4f4d\u59ff\u88ab\u8f93\u5165\u5230\u57fa\u4e8e\u8fd0\u52a8\u7684\u5916\u89c2\u5d4c\u5165\u6a21\u578b\u4e2d\uff0c\u4ee5\u6a21\u62df\u73af\u5883\u4e2d\u7684\u5149\u7167\u548c\u5176\u4ed6\u5916\u89c2\u53d8\u5316\u3002\u6b64\u5916\uff0c\u6211\u4eec\u5f15\u5165\u4e86\u9891\u7387\u6b63\u5219\u5316\u91d1\u5b57\u5854\u6765\u76d1\u7763\u9ad8\u65af\u6a21\u578b\u7684\u8bad\u7ec3\uff0c\u4ece\u800c\u80fd\u591f\u6539\u8fdb\u573a\u666f\u4e2d\u9ad8\u9891\u7ec6\u8282\u7684\u5efa\u6a21\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic4.zhimg.com\/v2-1ba45ebd124940996005de4712f0550b_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<h2 class=\"wp-block-heading\"><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\/v2-282a4e43117396ca3dbe1c5948ddc410_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic3.zhimg.com\/v2-68e00250dc3e2bcad2b08b1f7e708e58_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic2.zhimg.com\/v2-fa65ac807b697e9759d2750c3b032479_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<h2 class=\"wp-block-heading\"><strong>7. \u603b\u7ed3 &amp; \u672a\u6765\u5de5\u4f5c<\/strong><\/h2>\n\n\n\n<p>\u5728\u672c\u6587\u4e2d\uff0c\u6211\u4eec\u4ecb\u7ecd\u4e86Scaffold-SLAM\uff0c\u8fd9\u662f\u4e00\u79cd\u4e3a\u5355\u76ee\u3001\u7acb\u4f53\u548cRGB-D\u76f8\u673a\u5b9e\u73b0\u9ad8\u8d28\u91cf\u903c\u771f\u6620\u5c04\u7684SLAM\u65b9\u6cd5\u3002\u6211\u4eec\u901a\u8fc7\u5c06\u4f20\u7edf\u95f4\u63a5SLAM\u4e0e\u7ed3\u6784\u53163D\u9ad8\u65af\u8868\u793a\u76f8\u7ed3\u5408\uff0c\u63a2\u7d22\u4e86\u89e3\u8026\u65b9\u6cd5\u7684\u6781\u9650\u3002\u5927\u91cf\u5b9e\u9a8c\u8868\u660e\uff0c\u6211\u4eec\u7684\u65b9\u6cd5\u5728\u6240\u6709\u76f8\u673a\u7c7b\u578b\u7684\u6e32\u67d3\u8d28\u91cf\u65b9\u9762\u5747\u8d85\u8d8a\u4e86<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=252619592&amp;content_type=Article&amp;match_order=1&amp;q=%E8%80%A6%E5%90%88%E6%96%B9%E6%B3%95&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">\u8026\u5408\u65b9\u6cd5<\/a>\u3002\u6211\u4eec\u8fd8\u91cd\u70b9\u4ecb\u7ecd\u4e86\u4e24\u9879\u5173\u952e\u521b\u65b0\uff1a\u4ece\u8fd0\u52a8\u5230\u5916\u89c2\u7684\u5d4c\u5165\u548c\u9891\u7387\u6b63\u5219\u5316\u91d1\u5b57\u5854\uff0c\u5b83\u4eec\u663e\u8457\u63d0\u5347\u4e86\u903c\u771f\u6620\u5c04\u8d28\u91cf\u3002\u901a\u8fc7\u7ed3\u5408\u4ece\u8fd0\u52a8\u5230\u5916\u89c2\u7684\u5d4c\u5165\uff0c\u6211\u4eec\u7684\u65b9\u6cd5\u6210\u529f\u5730\u4ece\u8f83\u5c11\u7684\u8bad\u7ec3\u89c6\u89d2\u9884\u6d4b\u4e86\u663e\u8457\u7684\u5916\u89c2\u53d8\u5316\u3002\u6240\u63d0\u51fa\u7684\u9891\u7387\u6b63\u5219\u5316\u91d1\u5b57\u5854\u6709\u6548\u5730\u76d1\u7763\u4e863D\u9ad8\u65af\u5206\u5e03\u7684\u4f18\u5316\u548c\u751f\u957f\uff0c\u4ece\u800c\u80fd\u591f\u5efa\u6a21\u66f4\u591a\u7684\u573a\u666f\u7ec6\u8282\u3002\u672a\u6765\u7684\u5de5\u4f5c\u5c06\u4e13\u6ce8\u4e8e\u5728\u4e0d\u727a\u7272\u903c\u771f\u6620\u5c04\u8d28\u91cf\u7684\u524d\u63d0\u4e0b\uff0c\u589e\u5f3a\u6211\u4eec\u65b9\u6cd5\u7684\u5b9e\u65f6\u6027\u80fd\u3002<\/p>\n","protected":false},"excerpt":{"rendered":"<p>0. \u8bba\u6587\u4fe1\u606f \u6807\u9898\uff1aScaffold-SLA [&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-24089","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\/24089"}],"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=24089"}],"version-history":[{"count":1,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/24089\/revisions"}],"predecessor-version":[{"id":24090,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/24089\/revisions\/24090"}],"wp:attachment":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/media?parent=24089"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/categories?post=24089"},{"taxonomy":"post_tag","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/tags?post=24089"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}