{"id":28412,"date":"2025-05-06T17:32:39","date_gmt":"2025-05-06T09:32:39","guid":{"rendered":"http:\/\/192.168.10.115\/?p=28412"},"modified":"2025-05-06T17:32:39","modified_gmt":"2025-05-06T09:32:39","slug":"2025-05-06%e3%80%90%e4%b8%8a%e6%b5%b7%e7%a7%91%e6%8a%80%e5%a4%a7%e5%ad%a6%e5%92%8c%e9%ad%94%e8%a7%86%e6%99%ba%e8%83%bd%e3%80%91opengv-2-0%ef%bc%9a%e4%bd%bf%e7%94%a8%e8%bd%a6%e8%bd%bd%e7%8e%af%e8%a7%86","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2025\/05\/06\/28412\/","title":{"rendered":"2025-05-06\u3010\u4e0a\u6d77\u79d1\u6280\u5927\u5b66\u548c\u9b54\u89c6\u667a\u80fd\u3011OpenGV 2.0\uff1a\u4f7f\u7528\u8f66\u8f7d\u73af\u89c6\u76f8\u673a\u5b9e\u73b0\u8fd0\u52a8\u5148\u9a8c\u8f85\u52a9\u7684\u6807\u5b9a\u548cSLAM"},"content":{"rendered":"\n<p>\u539f\u6587\u94fe\u63a5\uff1a<a href=\"https:\/\/mp.weixin.qq.com\/s\/wbEs-41BhsU1Ql5AuFvSXQ\">https:\/\/mp.weixin.qq.com\/s\/wbEs-41BhsU1Ql5AuFvSXQ<\/a><\/p>\n\n\n\n<p>\u8bba\u6587\u94fe\u63a5\uff1ahttps:\/\/arxiv.org\/pdf\/2503.03230<\/p>\n\n\n\n<p>\u6458\u8981<\/p>\n\n\n\n<p>\u672c\u6587\u4ecb\u7ecd\u4e86OpenGV 2.0\uff1a\u4f7f\u7528\u8f66\u8f7d\u73af\u89c6\u76f8\u673a\u5b9e\u73b0\u8fd0\u52a8\u5148\u9a8c\u8f85\u52a9\u7684\u6807\u5b9a\u548cSLAM\u3002\u672c\u6587\u63d0\u51fa\u4e86\u4e00\u79cd\u901a\u8fc7\u8f66\u8f7d\u73af\u89c6\u76f8\u673a\u7cfb\u7edf\u6765\u5b9e\u73b0\u89c6\u89c9SLAM\u7684\u89e3\u51b3\u65b9\u6848\u3002\u7531\u4e8e\u8fd9\u7c7b\u7cfb\u7edf\u7684\u539f\u59cb\u7528\u4f8b\uff0c\u5b83\u4eec\u901a\u5e38\u4ec5\u5305\u542b\u5355\u4e2a\u9762\u5411\u4efb\u4e00\u65b9\u5411\u7684\u76f8\u673a\uff0c\u5e76\u4e14\u89c6\u91ce\u4e4b\u95f4\u7684\u91cd\u53e0\u975e\u5e38\u6709\u9650\u3002\u672c\u6587\u7684\u521b\u65b0\u4e4b\u5904\u5305\u62ec\u4e09\u4e2a\u4f18\u5316\u6a21\u5757\uff0c\u5b83\u4eec\u65e8\u5728\u901a\u8fc7\u7b80\u5355\u7684\u53cc\u89c6\u56fe\u51e0\u4f55\u6765\u5b9e\u73b0\u5916\u53c2\u65cb\u8f6c\u90e8\u5206\u7684\u5728\u7ebf\u6807\u5b9a\u3001\u76f8\u5bf9\u4f4d\u79fb\u7684\u53ef\u9760\u524d\u7aef\u521d\u59cb\u5316\u4ee5\u53ca\u4f7f\u7528\u8fde\u7eed\u65f6\u95f4\u8f68\u8ff9\u6a21\u578b\u7684\u7cbe\u786e\u540e\u7aef\u4f18\u5316\u3002\u6240\u63d0\u51fa\u6a21\u5757\u4e4b\u95f4\u7684\u5171\u6027\u5728\u4e8e\uff0c\u5b83\u4eec\u90fd\u5229\u7528\u4e86\u4e0e\u4e58\u7528\u8f66\u8fd0\u52a8\u7684\u56fa\u6709\u975e\u5b8c\u6574\u7279\u6027\u76f8\u5173\u7684\u8fd0\u52a8\u5148\u9a8c\u3002\u4e0e\u5148\u524d\u76f8\u5173\u7684\u6280\u672f\u76f8\u6bd4\uff0c\u6240\u63d0\u51fa\u7684\u6a21\u5757\u5728\u907f\u5f00\u963f\u514b\u66fc\u8fd0\u52a8\u6a21\u578b\u4e2d\u5e38\u89c1\u7684\u8f6c\u6362\u53d8\u91cf\u90e8\u5206\u4e0d\u53ef\u89c2\u65b9\u9762\u8868\u73b0\u51fa\u8272\u3002\u4f5c\u4e3a\u8fdb\u4e00\u6b65\u7684\u8d21\u732e\uff0c\u8fd9\u4e9b\u6a21\u5757\u88ab\u5185\u7f6e\u5230\u4e00\u79cd\u65b0\u578b\u7684\u73af\u89c6\u76f8\u673aSLAM\u7cfb\u7edf\u4e2d\uff0c\u8be5\u7cfb\u7edf\u4e13\u95e8\u9488\u5bf9\u57ce\u5e02\u73af\u5883\u4e2d\u8fd0\u884c\u7684\u963f\u514b\u66fc\u8f66\u8f86\u8fdb\u884c\u90e8\u7f72\u3002\u672c\u6587\u5bf9\u6240\u6709\u6a21\u5757\u8fdb\u884c\u6df1\u5165\u6d88\u878d\u7814\u7a76\uff0c\u6574\u4e2a\u6846\u67b6\u6210\u529f\u5e94\u7528\u4e8e\u5177\u6709\u6311\u6218\u6027\u7684\u5927\u89c4\u6a21\u516c\u5f00\u5728\u7ebf\u6570\u636e\u96c6\u4e0a\uff0c\u8fd9\u8bc1\u660e\u4e86\u6240\u63d0\u51fa\u6846\u67b6\u7684\u5b9e\u9645\u6709\u6548\u6027\u3002<\/p>\n\n\n\n<p>\u4e3b\u8981\u8d21\u732e<\/p>\n\n\n\n<p>\u672c\u6587\u7684\u8d21\u732e\u603b\u7ed3\u5982\u4e0b\uff1a<\/p>\n\n\n\n<p>1\uff09\u672c\u6587\u603b\u7ed3\u4e86\u5728\u76f8\u673a\u5230\u8f66\u8f86\u8f6c\u6362\u7684\u5728\u7ebf\u6807\u5b9a\u3001\u53ef\u9760\u7684\u8f66\u8f7d\u591a\u76f8\u673a\u8fd0\u52a8\u521d\u59cb\u5316\u4ee5\u53ca\u4f7f\u7528b\u6837\u6761\u7684\u5927\u89c4\u6a21\u8fde\u7eed\u975e\u5b8c\u6574\u8f68\u8ff9\u4f18\u5316\u65b9\u9762\u6240\u505a\u7684\u5168\u90e8\u8d21\u732e\uff1b<\/p>\n\n\n\n<p>2\uff09\u672c\u6587\u63d0\u51fa\u4e86\u4e00\u79cd\u96c6\u6210\u6240\u6709\u6a21\u5757\u7684\u5b8c\u6574\u7cfb\u7edf\uff0c\u5e76\u4e14\u6700\u7ec8\u5728\u5927\u89c4\u6a21\u5f00\u6e90\u7684\u57ce\u5e02\u57fa\u51c6\u5e8f\u5217\u4e0a\u8bc1\u660e\u4e86\u5176\u9ad8\u5ea6\u53ef\u9760\u4e14\u7cbe\u786e\u7684\u5b9e\u65f6\u5b9a\u4f4d\u548c\u5efa\u56fe\u80fd\u529b\uff1b<\/p>\n\n\n\n<p>3\uff09\u672c\u6587\u53d1\u5e03\u4e86\u5bf9\u73b0\u6709\u5f00\u6e90\u8f6f\u4ef6\u5305\u7684\u66f4\u65b0\uff0c\u5b83\u901a\u8fc7\u6240\u63d0\u51fa\u7684\u8fd0\u52a8\u5148\u9a8c\u7ea6\u675f\u7684\u51e0\u4f55\u73af\u89c6\u6c42\u89e3\u5668\u548c\u4f18\u5316\u5668\u6765\u6269\u5c55\u6846\u67b6\u3002<\/p>\n\n\n\n<p>\u8bba\u6587\u56fe\u7247\u548c\u8868\u683c<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"506\" height=\"318\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/05\/\u56fe\u7247-49.png\" alt=\"\" class=\"wp-image-28413\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/05\/\u56fe\u7247-49.png 506w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/05\/\u56fe\u7247-49-300x189.png 300w\" sizes=\"(max-width: 506px) 100vw, 506px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"505\" height=\"284\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/05\/\u56fe\u7247-50.png\" alt=\"\" class=\"wp-image-28414\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/05\/\u56fe\u7247-50.png 505w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/05\/\u56fe\u7247-50-300x169.png 300w\" sizes=\"(max-width: 505px) 100vw, 505px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"507\" height=\"352\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/05\/\u56fe\u7247-51.png\" alt=\"\" class=\"wp-image-28415\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/05\/\u56fe\u7247-51.png 507w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/05\/\u56fe\u7247-51-300x208.png 300w\" sizes=\"(max-width: 507px) 100vw, 507px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"1013\" height=\"252\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/05\/\u56fe\u7247-52.png\" alt=\"\" class=\"wp-image-28416\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/05\/\u56fe\u7247-52.png 1013w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/05\/\u56fe\u7247-52-300x75.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/05\/\u56fe\u7247-52-768x191.png 768w\" sizes=\"(max-width: 1013px) 100vw, 1013px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"508\" height=\"454\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/05\/\u56fe\u7247-53.png\" alt=\"\" class=\"wp-image-28417\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/05\/\u56fe\u7247-53.png 508w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/05\/\u56fe\u7247-53-300x268.png 300w\" sizes=\"(max-width: 508px) 100vw, 508px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"507\" height=\"443\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/05\/\u56fe\u7247-54.png\" alt=\"\" class=\"wp-image-28418\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/05\/\u56fe\u7247-54.png 507w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/05\/\u56fe\u7247-54-300x262.png 300w\" sizes=\"(max-width: 507px) 100vw, 507px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"489\" height=\"188\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/05\/\u56fe\u7247-55.png\" alt=\"\" class=\"wp-image-28419\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/05\/\u56fe\u7247-55.png 489w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/05\/\u56fe\u7247-55-300x115.png 300w\" sizes=\"(max-width: 489px) 100vw, 489px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"293\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/05\/\u56fe\u7247-56-1024x293.png\" alt=\"\" class=\"wp-image-28420\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/05\/\u56fe\u7247-56-1024x293.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/05\/\u56fe\u7247-56-300x86.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/05\/\u56fe\u7247-56-768x220.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/05\/\u56fe\u7247-56.png 1030w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"506\" height=\"403\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/05\/\u56fe\u7247-57.png\" alt=\"\" class=\"wp-image-28421\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/05\/\u56fe\u7247-57.png 506w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/05\/\u56fe\u7247-57-300x239.png 300w\" sizes=\"(max-width: 506px) 100vw, 506px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"341\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/05\/\u56fe\u7247-58-1024x341.png\" alt=\"\" class=\"wp-image-28422\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/05\/\u56fe\u7247-58-1024x341.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/05\/\u56fe\u7247-58-300x100.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/05\/\u56fe\u7247-58-768x256.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/05\/\u56fe\u7247-58.png 1032w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"498\" height=\"373\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/05\/\u56fe\u7247-59.png\" alt=\"\" class=\"wp-image-28423\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/05\/\u56fe\u7247-59.png 498w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/05\/\u56fe\u7247-59-300x225.png 300w\" sizes=\"(max-width: 498px) 100vw, 498px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" 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