{"id":25744,"date":"2025-02-28T17:33:52","date_gmt":"2025-02-28T09:33:52","guid":{"rendered":"http:\/\/192.168.10.115\/?p=25744"},"modified":"2025-02-28T17:33:52","modified_gmt":"2025-02-28T09:33:52","slug":"2025-02-28-%e6%95%88%e6%9e%9c%e8%bf%99%e4%b9%88%e5%a5%bd%ef%bc%9fbev-lio%ef%bc%9a%e7%bb%93%e5%90%88bev%e8%a7%86%e5%9b%be%e7%9a%84%e5%b8%a6%e5%9b%9e%e7%8e%af%e6%96%b0%e9%a2%96%e7%b4%a7%e8%80%a6","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2025\/02\/28\/25744\/","title":{"rendered":"2025-02-28 \u6548\u679c\u8fd9\u4e48\u597d\uff1fBEV-LIO\uff1a\u7ed3\u5408BEV\u89c6\u56fe\u7684\u5e26\u56de\u73af\u65b0\u9896\u7d27\u8026\u5408\u6846\u67b6"},"content":{"rendered":"\n

\u539f\u6587\u94fe\u63a5\uff1ahttps:\/\/mp.weixin.qq.com\/s\/7NhpDNbqjQovHsskpa51Yw<\/a><\/p>\n\n\n\n

\u7a00\u758f\u70b9\u4e91\u7684\u6311\u6218<\/strong><\/p>\n\n\n\n

\u8fd1\u5e74\u6765\uff0cLiDAR-\u60ef\u6027\u91cc\u7a0b\u8ba1\uff08LIO\uff09\u65b9\u6cd5\u6781\u5927\u5730\u63d0\u9ad8\u4e86\u540c\u65f6\u5b9a\u4f4d\u4e0e\u5efa\u56fe\uff08SLAM\uff09\u7684\u6548\u7387\u548c\u7cbe\u5ea6\u3002\u50cfFAST-LIO2\u8fd9\u6837\u7684\u6280\u672f\u5c55\u73b0\u51fa\u4e86\u5353\u8d8a\u7684\u6027\u80fd\uff0c\u4f7f\u5f97LiDAR\u548c\u60ef\u6027\u4f20\u611f\u5668\u7684\u878d\u5408\u6210\u4e3a\u4e00\u79cd\u5e7f\u6cdb\u5e94\u7528\u7684\u91cc\u7a0b\u8ba1\u65b9\u6848\u3002<\/p>\n\n\n\n

\u7136\u800c\uff0cLiDAR SLAM\u7cfb\u7edf\u4e2d\u70b9\u4e91\u7684\u7a00\u758f\u6027\u5e26\u6765\u4e86\u6311\u6218\u3002\u4e0e\u5177\u6709\u7ed3\u6784\u5316\u50cf\u7d20\u7f51\u683c\u7684\u56fe\u50cf\u6570\u636e\u4e0d\u540c\uff0cLiDAR\u70b9\u4e91\u5728\u4e09\u7ef4\u7a7a\u95f4\u4e2d\u7684\u4e0d\u89c4\u5219\u548c\u7a00\u758f\u5206\u5e03\u4f7f\u5f97\u63d0\u53d6\u7a33\u5b9a\u7684\u5173\u952e\u70b9\u548c\u72ec\u7279\u7684\u7279\u5f81\u53d8\u5f97\u590d\u6742\uff0c\u8fd9\u53ef\u80fd\u5bfc\u81f4\u5b9a\u4f4d\u7cbe\u5ea6\u7684\u964d\u4f4e<\/strong>\u3002\u5c3d\u7ba1\u4e00\u4e9b\u65b9\u6cd5\u901a\u8fc7\u5c06\u89c6\u89c9\u4fe1\u606f\u4e0eLiDAR\u6570\u636e\u878d\u5408\u6765\u89e3\u51b3\u8fd9\u4e9b\u95ee\u9898\uff0c\u4f46\u5b83\u4eec\u9700\u8981\u989d\u5916\u7684\u4f20\u611f\u5668\u3001\u7cbe\u786e\u7684\u5916\u53c2\u6807\u5b9a\u548c\u65f6\u95f4\u540c\u6b65\uff0c\u4e14\u5728\u4f4e\u5149\u7167\u6761\u4ef6\u4e0b\u8868\u73b0\u4e0d\u4f73\u3002\u4e00\u4e9b\u7814\u7a76\u901a\u8fc7\u5c06\u70b9\u4e91\u6295\u5f71\u5230\u89c6\u8ddd\u56fe\u50cf\u4e0a\u6765\u63d0\u5347\u6027\u80fd\uff0c\u5982MD-SLAM\uff0c\u5b83\u5229\u7528\u4ece\u89c6\u8ddd\u56fe\u50cf\u751f\u6210\u7684\u591a\u7ebf\u7d22\u56fe\u50cf\u91d1\u5b57\u5854\uff0c\u7f16\u7801\u8868\u9762\u6cd5\u7ebf\u548c\u5f3a\u5ea6\u4fe1\u606f\u8fdb\u884c\u59ff\u6001\u56fe\u4f18\u5316\u3002\u867d\u7136\u57fa\u4e8e\u89c6\u8ddd\u56fe\u50cf\u7684\u65b9\u6cd5\u7531\u4e8e\u70b9\u4e91\u65cb\u8f6c\u4e0e\u6c34\u5e73\u56fe\u50cf\u5e73\u79fb\u7b49\u4ef7\uff0c\u80fd\u591f\u5bf9\u89c6\u89d2\u53d8\u5316\u8868\u73b0\u51fa\u5f3a\u9c81\u68d2\u6027\uff0c\u4f46\u5b83\u4eec\u7531\u4e8e\u7403\u9762\u6295\u5f71\u7684\u539f\u56e0\uff0c\u5b58\u5728\u5c3a\u5ea6\u7578\u53d8\u7684\u95ee\u9898\uff0c\u8fd9\u9650\u5236\u4e86\u5b9a\u4f4d\u7cbe\u5ea6\u3002<\/p>\n\n\n\n

BEV\u8868\u793a\u63d0\u4f9b\u4e86\u4e00\u79cd\u6709\u524d\u666f\u7684\u66ff\u4ee3\u65b9\u6848\uff0c\u901a\u8fc7\u5c06LiDAR\u70b9\u4e91\u6295\u5f71\u5230\u7ed3\u6784\u5316\u7684\u4e8c\u7ef4\u56fe\u50cf\u4e2d\u6765\u8fdb\u884c\u8868\u793a\u3002\u8be5\u65b9\u6cd5\u5728\u56de\u73af\u95ed\u5408\u68c0\u6d4b\u4e2d\u663e\u793a\u51fa\u4e86\u5f88\u5927\u7684\u6f5c\u529b\uff0c\u56e0\u4e3aBEV\u80fd\u591f\u4fdd\u6301\u5c3a\u5ea6\u4e00\u81f4\u6027\u548c\u7a7a\u95f4\u5173\u7cfb\uff0c\u4e14\u901a\u8fc7\u5377\u79ef\u795e\u7ecf\u7f51\u7edc\uff08CNN\uff09\u8fdb\u884c\u9c81\u68d2\u7684\u7279\u5f81\u63d0\u53d6\u3002\u4e0e\u89c6\u8ddd\u56fe\u50cf\u4e0d\u540c\uff0cBEV\u907f\u514d\u4e86\u5c3a\u5ea6\u7578\u53d8\uff0c\u5e76\u4e14\u80fd\u8de8\u4e0d\u540cLiDAR\u7c7b\u578b\u5e7f\u6cdb\u5e94\u7528\uff0c\u7279\u522b\u9002\u7528\u4e8e\u5168\u5c40\u5b9a\u4f4d\u548c\u56de\u73af\u95ed\u5408\u68c0\u6d4b\u3002\u7136\u800c\uff0c\u73b0\u6709\u7684\u57fa\u4e8eBEV\u7684\u65b9\u6cd5\u4e3b\u8981\u805a\u7126\u4e8e\u5168\u5c40\u4efb\u52a1\uff0c\u5982\u4f4d\u7f6e\u8bc6\u522b\u548c\u56de\u73af\u68c0\u6d4b\uff0c\u800c\u5728\u4e0e\u5b9e\u65f6\u91cc\u7a0b\u8ba1\u6846\u67b6\u7684\u7d27\u5bc6\u96c6\u6210\u65b9\u9762\u6709\u6240\u6b20\u7f3a\u3002\u8fd9\u9650\u5236\u4e86\u5b83\u4eec\u5145\u5206\u53d1\u6325BEV\u5728LiDAR\u91cc\u7a0b\u8ba1\u548c\u5176\u6269\u5c55\u5230\u5f3a\u9c81\u68d2\u56de\u73af\u95ed\u5408\u68c0\u6d4b\u4e2d\u7684\u6f5c\u529b\u3002<\/p>\n\n\n\n

\"\"<\/figure>\n\n\n\n

\u672c\u6587\u4ecb\u7ecd\u7684BEV-LIO(LC)[1]\u662f\u4e00\u79cd\u5229\u7528BEV\u56fe\u50cf\u5c06\u51e0\u4f55\u914d\u51c6\u4e0e\u91cd\u6295\u5f71\u8bef\u5dee\u6700\u5c0f\u5316\u7d27\u5bc6\u7ed3\u5408\uff0c\u5e76\u901a\u8fc7BEV\u56fe\u50cf\u7279\u5f81\u5b9e\u73b0\u9c81\u68d2\u56de\u73af\u95ed\u5408\u68c0\u6d4b\u7684LIO\u6846\u67b6<\/strong>\uff08\u89c1\u56fe1\uff09\u3002<\/p>\n\n\n\n

\u9879\u76ee\u94fe\u63a5<\/strong>\uff1ahttps:\/\/github.com\/HxCa1\/BEV-LIO-LC<\/p>\n\n\n\n

\u4e3b\u8981\u8d21\u732e<\/strong>\uff1a<\/p>\n\n\n\n

    \n
  1. \u901a\u8fc7\u89e3\u6790\u96c5\u53ef\u6bd4\u63a8\u5bfc\u5c06BEV\u7279\u5f81\u91cd\u6295\u5f71\u8bef\u5dee\u4e0e\u51e0\u4f55\u914d\u51c6\u7ed3\u5408\uff0c\u5efa\u7acb\u4e86\u4e00\u4e2a\u7d27\u5bc6\u8026\u5408\u7684iEKF\u6846\u67b6\uff0c\u4ece\u800c\u63d0\u9ad8\u4e86\u524d\u7aef\u91cc\u7a0b\u8ba1\u7684\u7cbe\u5ea6\u3002<\/li>\n\n\n\n
  2. \u63d0\u51fa\u4e86\u4e00\u79cd\u56de\u73af\u95ed\u5408\u7b97\u6cd5\uff0c\u5229\u7528\u57fa\u4e8eKD\u6811\u7d22\u5f15\u7684\u5173\u952e\u5e27\u6570\u636e\u5e93\u548c\u5168\u5c40\u63cf\u8ff0\u7b26\u8fdb\u884c\u9ad8\u6548\u5019\u9009\u68c0\u7d22\u3002\u68c0\u6d4b\u5230\u56de\u73af\u95ed\u5408\u540e\uff0c\u9996\u5148\u901a\u8fc7BEV\u56fe\u50cf\u5339\u914d\u8fdb\u884cRANSAC\u7c97\u5bf9\u9f50\uff0c\u7136\u540e\u901a\u8fc7ICP\u5bf9\u51e0\u4f55\u6d4b\u91cf\u8fdb\u884c\u7cbe\u7ec6\u5316\u3002\u4f18\u5316\u540e\u7684\u53d8\u6362\u88ab\u96c6\u6210\u5230\u56e0\u5b50\u56fe\u4e2d\uff0c\u4e0e\u91cc\u7a0b\u8ba1\u56e0\u5b50\u4e00\u8d77\u4f18\u5316\uff0c\u8fdb\u4e00\u6b65\u63d0\u9ad8\u4e86\u5168\u5c40\u4e00\u81f4\u6027\u3002<\/li>\n\n\n\n
  3. \u5927\u91cf\u5b9e\u9a8c\u7ed3\u679c\u8868\u660e\uff0cBEV-LIO(LC)\u5728\u5404\u79cd\u73af\u5883\u548c\u4e0d\u540c\u7c7b\u578bLiDAR\u4e0b\u8868\u73b0\u4f18\u5f02\uff0c\u8d85\u8d8a\u4e86\u73b0\u6709\u7684\u5148\u8fdb\u65b9\u6cd5\u3002<\/li>\n<\/ol>\n\n\n\n

    \u5177\u4f53\u65b9\u6cd5<\/strong><\/p>\n\n\n\n

    BEV-LIO(LC) \u57fa\u4e8e FAST-LIO2 \u4e2d\u63d0\u51fa\u7684\u7d27\u5bc6\u8026\u5408\u7684 iEKF \u6846\u67b6\u8fdb\u884c\u6784\u5efa\uff0c\u7528\u4e8e\u70b9\u5230\u5e73\u9762\u914d\u51c6\u3002\u5c3d\u7ba1 COIN-LIO \u5728 FAST-LIO2 \u7684\u57fa\u7840\u4e0a\u901a\u8fc7\u5149\u5ea6\u8bef\u5dee\u6700\u5c0f\u5316\u8fdb\u884c\u4e86\u6269\u5c55\uff0c\u4f46 BEV-LIO \u5f15\u5165\u4e86\u4e00\u79cd\u65b0\u9896\u7684\u65b9\u6cd5\uff0c\u901a\u8fc7 BEV \u56fe\u50cf\u5339\u914d\u6765\u5b9e\u73b0\u91cd\u6295\u5f71\u8bef\u5dee\u6700\u5c0f\u5316\u3002\u7531\u4e8e FAST-LIO2 \u5df2\u88ab\u5e7f\u6cdb\u7814\u7a76\uff0c\u6211\u4eec\u5c06\u91cd\u70b9\u4ecb\u7ecd BEV-LIO \u548c BEV-LIO-LC \u7684\u7ec4\u4ef6\u3002\u6b63\u5982\u56fe 2 \u6240\u793a\uff0c\u6211\u4eec\u7684\u65b9\u6cd5\u4ece\u8fd0\u52a8\u9884\u6d4b\u548c\u70b9\u4e91\u53bb\u7578\u53d8\u5f00\u59cb\uff0c\u4ee5\u7ea0\u6b63 LiDAR \u6d4b\u91cf\u503c\u3002\u53bb\u7578\u53d8\u540e\u7684\u70b9\u4e91\u968f\u540e\u88ab\u6295\u5f71\u5230 BEV \u56fe\u50cf\u4e2d\uff0c\u901a\u8fc7\u5f52\u4e00\u5316\u70b9\u5bc6\u5ea6\u8fdb\u884c\u5904\u7406\u3002\u6211\u4eec\u91c7\u7528\u65cb\u8f6c\u7b49\u53d8\u548c\u4e0d\u53d8\u7f51\u7edc\uff08REIN\uff09\u6765\u4ece BEV \u56fe\u50cf\u4e2d\u63d0\u53d6\u72ec\u7279\u7684\u5c40\u90e8\u548c\u5168\u5c40\u63cf\u8ff0\u7b26\u3002\u5c40\u90e8\u63cf\u8ff0\u7b26\u4e0e\u5173\u952e\u5e27\u8fdb\u884c\u5339\u914d\uff0c\u7528\u4e8e\u6784\u5efa\u91cd\u6295\u5f71\u8bef\u5dee\uff0c\u6d4b\u91cf\u5f53\u524d\u5e27\u4e0e\u5173\u952e\u5e27\u4e4b\u95f4\u7684\u5bf9\u9f50\u5ea6\u3002\u5168\u5c40\u63cf\u8ff0\u7b26\u7528\u4e8e\u56de\u73af\u95ed\u5408\u68c0\u6d4b\uff0c\u901a\u8fc7\u5b9e\u65f6\u6784\u5efa\u7684\u5173\u952e\u5e27\u6570\u636e\u5e93\u8fdb\u884c\u67e5\u8be2\u3002\u6700\u7ec8\uff0c\u91cd\u6295\u5f71\u6b8b\u5dee\u88ab\u96c6\u6210\u5230 iEKF \u6846\u67b6\u4e2d\uff0c\u4ee5\u4f18\u5316\u4f4d\u59ff\u4f30\u8ba1\u3002<\/p>\n\n\n\n

    \"\"<\/figure>\n\n\n\n

    \u7b26\u53f7\u5b9a\u4e49<\/strong><\/p>\n\n\n\n

    \"\"<\/figure>\n\n\n\n

    IMU \u9884\u6d4b\u4e0e\u70b9\u4e91\u53bb\u7578\u53d8<\/strong><\/p>\n\n\n\n

    \"\"<\/figure>\n\n\n\n

    BEV \u56fe\u50cf\u6295\u5f71\u6a21\u578b<\/strong><\/p>\n\n\n\n

    \"\"<\/figure>\n\n\n\n

    \u7279\u5f81\u63d0\u53d6\u4e0e\u5339\u914d<\/strong><\/p>\n\n\n\n

    \"\"<\/figure>\n\n\n\n
    \"\"<\/figure>\n\n\n\n

    \u91cd\u6295\u5f71\u6b8b\u5dee\u4e0e\u5361\u5c14\u66fc\u66f4\u65b0<\/strong><\/p>\n\n\n\n

    \"\"<\/figure>\n\n\n\n

    \u56de\u73af\u95ed\u5408<\/strong><\/p>\n\n\n\n

    \"\"<\/figure>\n\n\n\n
    \"\"<\/figure>\n\n\n\n

    \u5b9e\u9a8c\u6548\u679c<\/strong><\/p>\n\n\n\n

    \"\"<\/figure>\n\n\n\n
    \"\"<\/figure>\n\n\n\n
    \"\"<\/figure>\n\n\n\n

    \u603b\u7ed3\u4e00\u4e0b<\/strong><\/p>\n\n\n\n

    BEV-LIO(LC)\u662f\u4e00\u79cd\u7ed3\u5408\u4e86BEV\u56fe\u50cf\u8868\u793a\u7684LiDAR\u6570\u636e\u4e0e\u51e0\u4f55\u914d\u51c6\u7684LIO\u6846\u67b6\uff0c\u7528\u4e8e\u524d\u7aef\u91cc\u7a0b\u8ba1\uff0c\u5e76\u901a\u8fc7BEV\u56fe\u50cf\u7279\u5f81\u548c\u56e0\u5b50\u56fe\u4f18\u5316\u96c6\u6210\u56de\u73af\u95ed\u5408\u5230\u540e\u7aef\u3002\u901a\u8fc7\u7ed3\u5408BEV\u56fe\u50cf\u5339\u914d\u7684\u91cd\u6295\u5f71\u8bef\u5dee\u548c\u51e0\u4f55\u914d\u51c6\uff0c\u6211\u4eec\u7684\u6846\u67b6\u901a\u8fc7iEKF\u7d27\u5bc6\u8026\u5408\u8fd9\u4e9b\u6b8b\u5dee\uff0c\u4ece\u800c\u663e\u8457\u63d0\u9ad8\u4e86\u91cc\u7a0b\u8ba1\u7684\u51c6\u786e\u6027\u548c\u53ef\u9760\u6027\u3002\u5bf9\u4e8e\u56de\u73af\u95ed\u5408\uff0c\u540e\u7aef\u7cfb\u7edf\u91c7\u7528\u57fa\u4e8eKD\u6811\u7d22\u5f15\u7684BEV\u63cf\u8ff0\u7b26\u6570\u636e\u5e93\u8fdb\u884c\u9ad8\u6548\u68c0\u6d4b\u3002\u68c0\u6d4b\u5230\u56de\u73af\u95ed\u5408\u540e\uff0c\u901a\u8fc7RANSAC\u8ba1\u7b97\u7684\u7c97\u7565\u53d8\u6362\u521d\u59cb\u5316ICP\u8fc7\u7a0b\uff0c\u8fdb\u4e00\u6b65\u7cbe\u5316\u53d8\u6362\uff0c\u6700\u7ec8\u901a\u8fc7\u56e0\u5b50\u56fe\u4e0e\u91cc\u7a0b\u8ba1\u56e0\u5b50\u7ed3\u5408\uff0c\u6539\u5584\u5b9a\u4f4d\u7684\u5168\u5c40\u4e00\u81f4\u6027\u3002\u5927\u91cf\u5b9e\u9a8c\u7ed3\u679c\u9a8c\u8bc1\u4e86BEV-LIO(LC)\u5728\u4e0d\u540c\u573a\u666f\u548c\u4e0d\u540cLiDAR\u7c7b\u578b\u4e0b\u7684\u7ade\u4e89\u6027\u5b9a\u4f4d\u7cbe\u5ea6\uff0c\u4f18\u4e8e\u73b0\u6709\u7684\u5148\u8fdb\u65b9\u6cd5\u3002<\/p>\n\n\n\n

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    \u53c2\u8003<\/strong><\/p>\n\n\n\n

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