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class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"726\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/01\/\u56fe\u7247-333-1024x726.png\" alt=\"\" class=\"wp-image-24264\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/01\/\u56fe\u7247-333-1024x726.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/01\/\u56fe\u7247-333-300x213.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/01\/\u56fe\u7247-333-768x545.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/01\/\u56fe\u7247-333.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p><strong>VINGS-Mono<\/strong>[1]\u662f\u4e00\u4e2a\u652f\u6301\u5927\u89c4\u6a21\u57ce\u5e02\u573a\u666f\u7684\u5355\u76ee\uff08\u60ef\u6027\uff09\u9ad8\u65af\u6563\u70b9 SLAM \u6846\u67b6\u3002\u8be5\u6846\u67b6\u5305\u542b\u56db\u4e2a\u4e3b\u8981\u6a21\u5757\uff1a<strong>VIO \u524d\u7aef\u30012D 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\u5728\u6e32\u67d3\u548c\u5b9a\u4f4d\u6027\u80fd\u65b9\u9762\u5747\u4f18\u4e8e\u73b0\u6709\u65b9\u6cd5\u3002\u6b64\u5916\u5f00\u53d1\u4e86\u4e00\u6b3e\u79fb\u52a8\u5e94\u7528\u7a0b\u5e8f\uff0c\u5e76\u8fdb\u884c\u4e86\u771f\u5b9e\u573a\u666f\u5b9e\u9a8c\uff0c\u8bc1\u660e\u4e86\u65b9\u6cd5\u7684\u5b9e\u9645\u53ef\u9760\u6027\u3002<\/li>\n<\/ul>\n\n\n\n<p><strong>\u7cfb\u7edf\u6982\u8ff0<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"693\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/01\/\u56fe\u7247-334-1024x693.png\" alt=\"\" class=\"wp-image-24265\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/01\/\u56fe\u7247-334-1024x693.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/01\/\u56fe\u7247-334-300x203.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/01\/\u56fe\u7247-334-768x520.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/01\/\u56fe\u7247-334.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u63d0\u51fa\u7684\u6846\u67b6\u7ba1\u9053\u5982\u56fe 2 \u6240\u793a\u3002\u7ed9\u5b9a\u4e00\u7cfb\u5217 RGB \u56fe\u50cf\u548c IMU \u6570\u636e\uff0c\u6211\u4eec\u9996\u5148\u5229\u7528\u89c6\u89c9\u60ef\u6027\u524d\u7aef\uff08Visual-Inertial Front End\uff0c\u8be6\u89c1\u7b2c IV \u8282\uff09\u9009\u62e9\u5173\u952e\u5e27\uff0c\u5e76\u901a\u8fc7\u5bc6\u96c6\u675f\u8c03\u6574\uff08Dense Bundle Adjustment\uff0cDBA\uff09\u8ba1\u7b97\u5173\u952e\u5e27\u7684\u521d\u59cb\u6df1\u5ea6\u548c\u4f4d\u59ff\u4fe1\u606f\u3002\u6b64\u5916\uff0c\u6211\u4eec\u57fa\u4e8e\u6df1\u5ea6\u4f30\u8ba1\u8fc7\u7a0b\u4e2d\u5f97\u51fa\u7684\u534f\u65b9\u5dee\u8ba1\u7b97\u6df1\u5ea6\u56fe\u7684\u4e0d\u786e\u5b9a\u6027\uff0c\u8fc7\u6ee4\u6389\u51e0\u4f55\u4e0a\u4e0d\u51c6\u786e\u7684\u533a\u57df\u548c\u5929\u7a7a\u533a\u57df\u3002\u63a5\u7740\uff0c2D \u9ad8\u65af\u5730\u56fe\u6a21\u5757\uff08\u8be6\u89c1\u7b2c V \u8282\uff09\u5229\u7528\u89c6\u89c9\u524d\u7aef\u7684\u8f93\u51fa\uff0c\u9010\u6b65\u6dfb\u52a0\u5e76\u7ef4\u62a4\u9ad8\u65af\u692d\u7403\u3002\u6211\u4eec\u8bbe\u8ba1\u4e86\u4e00\u79cd\u57fa\u4e8e\u8d21\u732e\u5206\u6570\u548c\u8bef\u5dee\u5206\u6570\u7684\u7ba1\u7406\u673a\u5236\uff0c\u7528\u4e8e\u9ad8\u6548\u4fee\u526a\u9ad8\u65af\u3002\u540c\u65f6\uff0c\u4e3a\u4e86\u786e\u4fdd\u7cfb\u7edf\u5728\u5927\u89c4\u6a21\u57ce\u5e02\u573a\u666f\u4e2d\u7684\u53ef\u6269\u5c55\u6027\uff0c\u6211\u4eec\u5b9e\u73b0\u4e86 CPU-GPU \u5185\u5b58\u8f6c\u79fb\u673a\u5236\u3002<\/p>\n\n\n\n<p>\u5728\u65b0\u89c6\u89d2\u5408\u6210\uff08Novel View Synthesis, NVS\uff09\u95ed\u73af\u6a21\u5757\uff08\u8be6\u89c1\u7b2c VI \u8282\uff09\u4e2d\uff0c\u6211\u4eec\u5229\u7528\u9ad8\u65af\u6563\u70b9\u7684\u89c6\u56fe\u5408\u6210\u80fd\u529b\uff0c\u8bbe\u8ba1\u4e86\u4e00\u79cd\u521b\u65b0\u7684\u95ed\u73af\u68c0\u6d4b\u65b9\u6cd5\uff0c\u5e76\u901a\u8fc7\u9ad8\u65af-\u4f4d\u59ff\u5bf9\uff08Gaussian-Pose Pair\uff09\u5339\u914d\u4fee\u6b63\u9ad8\u65af\u5730\u56fe\u3002\u6b64\u5916\uff0c\u6211\u4eec\u96c6\u6210\u4e86\u52a8\u6001\u7269\u4f53\u64e6\u9664\u6a21\u5757\uff08Dynamic Object Eraser\uff0c\u8be6\u89c1\u7b2c VII \u8282\uff09\uff0c\u8be5\u6a21\u5757\u901a\u8fc7\u8499\u7248\u5c4f\u853d\u8f66\u8f86\u548c\u884c\u4eba\u7b49\u52a8\u6001\u7269\u4f53\uff0c\u786e\u4fdd\u5728\u9759\u6001\u573a\u666f\u5047\u8bbe\u4e0b\u5b9e\u73b0\u4e00\u81f4\u548c\u51c6\u786e\u7684\u5efa\u56fe\u3002<\/p>\n\n\n\n<p><strong>\u89c6\u89c9\u60ef\u6027\u524d\u7aef<\/strong><\/p>\n\n\n\n<p><strong>\u5bc6\u96c6\u675f\u8c03\u6574\u4e0e\u89c6\u89c9\u56e0\u5b50<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"661\" height=\"650\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/01\/011616.png\" alt=\"\" class=\"wp-image-24266\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/01\/011616.png 661w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/01\/011616-300x295.png 300w\" sizes=\"(max-width: 661px) 100vw, 661px\" \/><\/figure>\n\n\n\n<p><strong>\u89c6\u89c9\u60ef\u6027\u56e0\u5b50\u56fe<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"669\" height=\"490\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/01\/011617.png\" alt=\"\" class=\"wp-image-24267\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/01\/011617.png 669w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/01\/011617-300x220.png 300w\" sizes=\"(max-width: 669px) 100vw, 669px\" \/><\/figure>\n\n\n\n<p><strong>\u6df1\u5ea6\u4e0d\u786e\u5b9a\u6027\u4f30\u8ba1<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"664\" height=\"190\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/01\/011618.png\" alt=\"\" class=\"wp-image-24268\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/01\/011618.png 664w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/01\/011618-300x86.png 300w\" sizes=\"(max-width: 664px) 100vw, 664px\" \/><\/figure>\n\n\n\n<p><strong>2D \u9ad8\u65af\u5730\u56fe<\/strong><\/p>\n\n\n\n<p><strong>\u5728\u7ebf\u5efa\u56fe\u8fc7\u7a0b<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"664\" height=\"681\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/01\/011619.png\" alt=\"\" class=\"wp-image-24269\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/01\/011619.png 664w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/01\/011619-293x300.png 293w\" sizes=\"(max-width: 664px) 100vw, 664px\" \/><\/figure>\n\n\n\n<p><strong>\u8bc4\u5206\u7ba1\u7406\u5668<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"668\" height=\"368\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/01\/011620.png\" alt=\"\" class=\"wp-image-24270\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/01\/011620.png 668w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/01\/011620-300x165.png 300w\" sizes=\"(max-width: 668px) 100vw, 668px\" \/><\/figure>\n\n\n\n<p><strong>\u91c7\u6837\u5149\u6805\u5316\u5668<\/strong><\/p>\n\n\n\n<p>\u5728\u539f\u59cb\u9ad8\u65af\u6563\u70b9\u65b9\u6cd5\u4e2d\uff0c\u53cd\u5411\u4f20\u64ad\u8fc7\u7a0b\u4e0e\u524d\u5411\u4f20\u64ad\u5bf9\u79f0\u3002\u6211\u4eec\u9488\u5bf9\u6bcf\u4e2a GPU \u5757\u5bf9\u4e00\u4e2a\u74e6\u7247\uff0816\u00d716 \u50cf\u7d20\uff09\u8fdb\u884c\u64cd\u4f5c\uff0c\u5e76\u5bf9\u74e6\u7247\u4e2d\u7684\u6bcf\u4e2a\u50cf\u7d20\u53cd\u5411\u4f20\u64ad\u635f\u5931\u3002\u7136\u800c\uff0c\u8fd9\u79cd\u50cf\u7d20\u5e76\u884c\u5316\u7b56\u7565\u5728\u6bcf\u4e2a\u7ebf\u7a0b\u4e2d\u9700\u8981\u591a\u6b21\u8fed\u4ee3\uff0c\u5bfc\u81f4\u6548\u7387\u8f83\u4f4e\u3002<\/p>\n\n\n\n<p>\u6211\u4eec\u5f15\u5165\u4e86\u4e00\u79cd\u4f18\u5316\u65b9\u6848\uff0c\u5728\u524d\u5411\u4f20\u64ad\u9636\u6bb5\u5bf9\u4e2d\u95f4\u53d8\u91cf\u8fdb\u884c\u5206\u5757\u5b58\u50a8\uff0c\u5e76\u5728\u53cd\u5411\u4f20\u64ad\u9636\u6bb5\u6309\u5757\u5206\u914d GPU \u8ba1\u7b97\u8d44\u6e90\uff0c\u4ece\u800c\u663e\u8457\u51cf\u5c11\u6bcf\u4e2a\u7ebf\u7a0b\u7684\u8fed\u4ee3\u6b21\u6570\u3002\u6b64\u5916\uff0c\u6211\u4eec\u4ec5\u5bf9\u6bcf\u4e2a\u74e6\u7247\u4e2d\u635f\u5931\u6700\u9ad8\u7684\u50cf\u7d20\u8fdb\u884c\u53cd\u5411\u4f20\u64ad\u8ba1\u7b97\uff08\u5982\u8bbe\u7f6e\u4e3a 50% \u7684\u50cf\u7d20\uff09\uff0c\u5b9e\u73b0\u4e86 273% \u7684\u52a0\u901f\u6548\u679c\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"728\" height=\"806\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/01\/\u56fe\u7247-335.png\" alt=\"\" class=\"wp-image-24272\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/01\/\u56fe\u7247-335.png 728w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/01\/\u56fe\u7247-335-271x300.png 271w\" sizes=\"(max-width: 728px) 100vw, 728px\" \/><\/figure>\n\n\n\n<p><strong>\u5355\u5e27\u5230\u591a\u5e27\u4f4d\u59ff\u4f18\u5316<\/strong><\/p>\n\n\n\n<p>\u73b0\u6709\u57fa\u4e8e GS \u7684 SLAM \u65b9\u6cd5\u901a\u5e38\u901a\u8fc7\u9ad8\u65af\u70b9\u4f20\u9012\u68af\u5ea6\u6765\u4f18\u5316\u4f4d\u59ff\u3002\u7136\u800c\uff0c\u8fd9\u79cd\u65b9\u6cd5\u6548\u7387\u8f83\u4f4e\u3002\u6211\u4eec\u63d0\u51fa\u4e86\u4e00\u79cd\u6539\u8fdb\u65b9\u6848\uff0c\u901a\u8fc7\u5c06\u5355\u5e27\u6e32\u67d3\u8bef\u5dee\u53cd\u5411\u4f20\u64ad\u5230\u591a\u4e2a\u5173\u952e\u5e27\u7684\u4f4d\u59ff\uff0c\u4ece\u800c\u5b9e\u73b0\u5168\u5c40\u4f18\u5316\u3002\u4f18\u5316\u540e\u7684\u4f4d\u59ff\u66ff\u6362\u89c6\u89c9\u524d\u7aef\u7684\u4f4d\u59ff\u7f13\u5b58\uff0c\u4ee5\u4fbf\u8fdb\u4e00\u6b65\u4f18\u5316\u3002<\/p>\n\n\n\n<p><strong>\u65b0\u89c6\u89d2\u5408\u6210\uff08NVS\uff09\u95ed\u73af<\/strong><\/p>\n\n\n\n<p>\u5728\u7f3a\u4e4f\u5c3a\u5ea6\u4fe1\u606f\u7684\u5355\u76ee\u914d\u7f6e\u4e2d\uff0c\u95ed\u73af\u5bf9\u4e8e\u6d88\u9664\u7d2f\u79ef\u8bef\u5dee\u81f3\u5173\u91cd\u8981\uff0c\u5c24\u5176\u662f\u5728\u5927\u89c4\u6a21\u73af\u5883\u4e2d\u3002\u6211\u4eec\u63d0\u51fa\u4e86\u4e00\u79cd\u57fa\u4e8e\u9ad8\u65af\u6563\u70b9\u7684\u65b0\u89c6\u89d2\u5408\u6210\uff08NVS\uff09\u95ed\u73af\u68c0\u6d4b\u548c\u4fee\u6b63\u65b9\u6cd5\u3002\u4e0e\u4f20\u7edf\u7684\u8bcd\u888b\uff08Bag-of-Words, BoW\uff09\u65b9\u6cd5\u4e0d\u540c\uff0c\u6211\u4eec\u5229\u7528\u9ad8\u65af\u6563\u70b9\u7684\u89c6\u89d2\u5408\u6210\u80fd\u529b\uff0c\u4ece\u65b0\u89c6\u89d2\u5224\u65ad\u662f\u5426\u5b58\u5728\u95ed\u73af\uff08\u8be6\u89c1 VI.A\uff09\u3002\u968f\u540e\uff0c\u6211\u4eec\u901a\u8fc7\u56fe\u4f18\u5316\u4fee\u6b63\u4f4d\u59ff\uff0c\u5e76\u5229\u7528\u9ad8\u65af\u70b9\u7684\u5e27\u7d22\u5f15\uff08frame index\uff09\u4fee\u6b63 2D \u9ad8\u65af\u5730\u56fe\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"612\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/01\/\u56fe\u7247-336-1024x612.png\" alt=\"\" class=\"wp-image-24273\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/01\/\u56fe\u7247-336-1024x612.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/01\/\u56fe\u7247-336-300x179.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/01\/\u56fe\u7247-336-768x459.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/01\/\u56fe\u7247-336.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u5982\u56fe 4 \u6240\u793a\uff0c\u6211\u4eec\u7684\u95ed\u73af\u68c0\u6d4b\u8fc7\u7a0b\u5206\u4e3a\u4e09\u4e2a\u4e3b\u8981\u6b65\u9aa4\uff1a\u5339\u914d\u7279\u5f81\u70b9\u4e0e\u5386\u53f2\u5e27\u3001\u901a\u8fc7\u5339\u914d\u7684\u7279\u5f81\u70b9\u548c\u6e32\u67d3\u6df1\u5ea6\u8ba1\u7b97\u76f8\u5bf9\u4f4d\u59ff\uff0c\u4ee5\u53ca\u5229\u7528\u65b0\u4f4d\u59ff\u751f\u6210\u65b0\u89c6\u89d2\u4ee5\u786e\u8ba4\u95ed\u73af\u7684\u5b58\u5728\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"667\" height=\"397\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/01\/011621-1.png\" alt=\"\" class=\"wp-image-24274\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/01\/011621-1.png 667w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/01\/011621-1-300x179.png 300w\" sizes=\"(max-width: 667px) 100vw, 667px\" \/><\/figure>\n\n\n\n<p><strong>\u95ed\u73af\u4fee\u6b63<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"666\" height=\"458\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/01\/011622.png\" alt=\"\" class=\"wp-image-24275\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/01\/011622.png 666w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/01\/011622-300x206.png 300w\" sizes=\"(max-width: 666px) 100vw, 666px\" \/><\/figure>\n\n\n\n<p><strong>\u52a8\u6001\u7269\u4f53\u64e6\u9664\u5668<\/strong><\/p>\n\n\n\n<p>\u9ad8\u65af\u6563\u70b9\u7684\u57fa\u672c\u5047\u8bbe\u662f\u573a\u666f\u662f\u9759\u6001\u7684\u3002\u7136\u800c\uff0c\u5728\u5b9e\u9645\u5e94\u7528\u4e2d\uff0c\u5c24\u5176\u662f\u5728\u5927\u89c4\u6a21\u73af\u5883\u4e2d\uff0c\u52a8\u6001\u5e72\u6270\u7269\uff08\u5982\u8f66\u8f86\u6216\u884c\u4eba\uff09\u662f\u666e\u904d\u5b58\u5728\u7684\u3002\u4ee5\u5f80\u7684\u52a8\u6001\u9ad8\u65af\u6563\u70b9\u65b9\u6cd5\u901a\u5e38\u7528\u4e8e\u79bb\u7ebf\u8bad\u7ec3\u73af\u5883\uff0c\u8fd9\u4e9b\u65b9\u6cd5\u901a\u8fc7\u5efa\u6a21 4D \u7a7a\u95f4\u5e76\u8bad\u7ec3\u9ad8\u65af\u5c5e\u6027\u4e0e\u65f6\u95f4\u4e4b\u95f4\u7684\u5173\u7cfb\uff0c\u4ee5\u79bb\u7ebf\u65b9\u5f0f\u5904\u7406\u6574\u4e2a\u6570\u636e\u96c6\u3002\u7136\u800c\uff0c\u8fd9\u4e9b\u65b9\u6cd5\u5e76\u4e0d\u9002\u7528\u4e8e\u9700\u8981\u589e\u91cf\u52a0\u8f7d\u6570\u636e\u7684 SLAM 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\/><\/figure>\n\n\n\n<p><strong>\u603b\u7ed3\u4e00\u4e0b<\/strong><\/p>\n\n\n\n<p>VINGS-Mono\u662f\u4e00\u79cd\u5355\u76ee\uff08\u60ef\u6027\uff09\u9ad8\u65af\u6563\u70b9SLAM\u6846\u67b6\uff0c\u8be5\u6846\u67b6\u901a\u8fc7\u56db\u4e2a\u4e3b\u8981\u6a21\u5757\uff08VIO\u524d\u7aef\u30012D\u9ad8\u65af\u5730\u56fe\u3001NVS\u95ed\u73af\u68c0\u6d4b\u548c\u52a8\u6001\u64e6\u9664\u5668\uff09\u89e3\u51b3\u4e86\u5927\u89c4\u6a21\u573a\u666f\u4e2dSLAM\u7cfb\u7edf\u9762\u4e34\u7684\u6311\u6218\u3002\u5b9e\u9a8c\u8868\u660e\uff0c\u8be5\u65b9\u6cd5\u4e0d\u4ec5\u5728\u5b9a\u4f4d\u7cbe\u5ea6\u4e0a\u8fbe\u5230\u6216\u8d85\u8d8a\u73b0\u6709\u65b9\u6cd5\uff0c\u8fd8\u5728\u5efa\u56fe\u548c\u6e32\u67d3\u8d28\u91cf\u65b9\u9762\u663e\u8457\u4f18\u4e8e\u5176\u4ed6\u65b9\u6cd5\u3002\u6b64\u5916\uff0c\u8be5\u65b9\u6cd5\u8fd8\u652f\u6301\u901a\u8fc7\u667a\u80fd\u624b\u673a\u8fdb\u884c\u5b9e\u65f6\u9ad8\u8d28\u91cf\u9ad8\u65af\u5730\u56fe\u751f\u6210\u3002<\/p>\n\n\n\n<p><strong>\u672a\u6765\u5de5\u4f5c<\/strong>\uff1a<\/p>\n\n\n\n<ul 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