{"id":37169,"date":"2026-02-10T17:32:19","date_gmt":"2026-02-10T09:32:19","guid":{"rendered":"http:\/\/192.168.10.115\/?p=37169"},"modified":"2026-02-10T17:32:19","modified_gmt":"2026-02-10T09:32:19","slug":"2026-02-10-slam%e5%a6%82%e4%bd%95%e4%b8%ba%e8%87%aa%e5%8a%a8%e9%a9%be%e9%a9%b6%e6%8f%90%e4%be%9b%e7%a9%ba%e9%97%b4%e6%84%9f%e7%9f%a5%e8%83%bd%e5%8a%9b%ef%bc%9f","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2026\/02\/10\/37169\/","title":{"rendered":"2026-02-10 SLAM\u5982\u4f55\u4e3a\u81ea\u52a8\u9a7e\u9a76\u63d0\u4f9b\u7a7a\u95f4\u611f\u77e5\u80fd\u529b\uff1f"},"content":{"rendered":"\n

\u539f\u6587\u94fe\u63a5\uff1ahttps:\/\/www.163.com\/dy\/article\/KLAJI43D0547KOTE.html?spss=dy_author<\/a><\/p>\n\n\n\n

\u5728\u4eba\u5de5\u667a\u80fd\u4e0e\u673a\u5668\u4eba\u9886\u57df\uff0c\u5982\u4f55\u8ba9\u673a\u5668\u50cf\u751f\u7269\u4e00\u6837\u7406\u89e3\u7a7a\u95f4\uff0c\u662f\u4e00\u4e2a\u7ed5\u4e0d\u5f00\u7684\u6838\u5fc3\u547d\u9898\u3002\u5f53\u4eba\u7c7b\u5728\u4e00\u4e2a\u964c\u751f\u7684\u573a\u666f\u4e2d\uff0c\u4e0d\u4ec5\u53ef\u4ee5\u901a\u8fc7\u53cc\u773c\u8bc6\u522b\u969c\u788d\u7269\uff0c\u8fd8\u80fd\u5728\u8111\u6d77\u4e2d\u8fc5\u901f\u52fe\u52d2\u51fa\u5468\u56f4\u73af\u5883\u7684\u8f6e\u5ed3\uff0c\u5e76\u7cbe\u51c6\u5730\u5224\u65ad\u81ea\u5df1\u4e0e\u969c\u788d\u7269\u7684\u8ddd\u79bb\u3002\u8fd9\u79cd\u770b\u4f3c\u672c\u80fd\u7684\u7a7a\u95f4\u611f\u77e5\u80fd\u529b\uff0c\u5728\u5de5\u7a0b\u5b66\u9886\u57df\u88ab\u5177\u8c61\u5316\u4e3a\u540c\u6b65\u5b9a\u4f4d\u4e0e\u5730\u56fe\u6784\u5efa\u6280\u672f\uff0c\u5373\u6211\u4eec\u5e38\u8bf4\u7684SLAM\u3002\u5728\u81ea\u52a8\u9a7e\u9a76\u7684\u53d1\u5c55\u8fdb\u7a0b\u4e2d\uff0cSLAM\u4e0d\u4ec5\u662f\u8f66\u8f86\u5728\u672a\u77e5\u73af\u5883\u4e2d\u201c\u751f\u5b58\u201d\u7684\u6280\u80fd\uff0c\u66f4\u662f\u5176\u5b9e\u73b0\u5398\u7c73\u7ea7\u9ad8\u7cbe\u5ea6\u5b9a\u4f4d\u3001\u8def\u5f84\u89c4\u5212\u4e0e\u73af\u5883\u8bed\u4e49\u7406\u89e3\u7684\u5e95\u5c42\u652f\u6491\u3002<\/p>\n\n\n\n

\u7a7a\u95f4\u611f\u77e5\u7684\u5de5\u7a0b\u903b\u8f91<\/strong><\/p>\n\n\n\n

\u8981\u7406\u89e3SLAM\uff0c\u9996\u5148\u9700\u8981\u77e5\u9053\u673a\u5668\u4eba\u5b9a\u4f4d\u7684\u5de5\u4f5c\u903b\u8f91\uff0c\u5982\u679c\u673a\u5668\u4eba\u60f3\u8981\u77e5\u9053\u81ea\u5df1\u5728\u54ea\u91cc\uff0c\u5b83\u9700\u8981\u4e00\u5f20\u73af\u5883\u5730\u56fe\uff1b\u800c\u5982\u679c\u5b83\u60f3\u8981\u6784\u5efa\u4e00\u5f20\u51c6\u786e\u7684\u5730\u56fe\uff0c\u5b83\u53c8\u5fc5\u987b\u77e5\u9053\u81ea\u5df1\u6bcf\u4e00\u4e2a\u65f6\u523b\u7684\u5177\u4f53\u4f4d\u7f6e\u3002SLAM\u7684\u6838\u5fc3\u4ef7\u503c\u5c31\u5728\u4e8e\u5b83\u5de7\u5999\u5730\u6253\u7834\u4e86\u8fd9\u79cd\u201c\u5148\u6709\u9e21\u8fd8\u662f\u5148\u6709\u86cb\u201d\u7684\u56f0\u5883\uff0c\u901a\u8fc7\u5b9e\u65f6\u5904\u7406\u4f20\u611f\u5668\u6570\u636e\uff0c\u8ba9\u79fb\u52a8\u8f7d\u4f53\u5728\u5b8c\u5168\u964c\u751f\u7684\u73af\u5883\u4e2d\uff0c\u4e00\u8fb9\u901a\u8fc7\u89c2\u6d4b\u786e\u5b9a\u81ea\u8eab\u59ff\u6001\uff0c\u4e00\u8fb9\u540c\u6b65\u7ed8\u5236\u5468\u56f4\u73af\u5883\u7684\u51e0\u4f55\u7ed3\u6784\u3002\u8fd9\u79cd\u80fd\u529b\u5bf9\u4e8e\u81ea\u52a8\u9a7e\u9a76\u6c7d\u8f66\u800c\u8a00\u81f3\u5173\u91cd\u8981\uff0c\u7279\u522b\u662f\u5728\u6df1\u957f\u7684\u96a7\u9053\u3001\u5bc6\u96c6\u7684\u6469\u5929\u5927\u697c\u533a\u57df\u6216\u662f\u9519\u7efc\u590d\u6742\u7684\u5730\u4e0b\u505c\u8f66\u573a\u7b49\u5168\u7403\u5bfc\u822a\u536b\u661f\u7cfb\u7edf\u4fe1\u53f7\u5fae\u5f31\u751a\u81f3\u6d88\u5931\u7684\u573a\u666f\u4e2d\uff0c\u8fd9\u79cd\u80fd\u529b\u662f\u786e\u4fdd\u81ea\u52a8\u9a7e\u9a76\u6b63\u5e38\u8fd0\u884c\u7684\u5173\u952e\u4fdd\u969c\u3002<\/p>\n\n\n\n

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

\u56fe\u7247\u6e90\u81ea\uff1a\u7f51\u7edc<\/p>\n\n\n\n

\u5728\u81ea\u52a8\u9a7e\u9a76\u7684\u4f20\u611f\u5668\u65b9\u6848\u4e2d\uff0c\u6fc0\u5149\u96f7\u8fbe\u4e0e\u6444\u50cf\u5934\u662f\u6784\u5efaSLAM\u7cfb\u7edf\u7684\u4e24\u5927\u6838\u5fc3\u786c\u4ef6\u3002\u6fc0\u5149SLAM\u901a\u8fc7\u53d1\u5c04\u6fc0\u5149\u675f\u5e76\u63a5\u6536\u53cd\u5c04\u4fe1\u53f7\uff0c\u80fd\u591f\u76f4\u63a5\u83b7\u53d6\u73af\u5883\u7684\u9ad8\u7cbe\u5ea6\u4e09\u7ef4\u70b9\u4e91\u3002\u8fd9\u79cd\u6570\u636e\u5f62\u5f0f\u5177\u6709\u6781\u5f3a\u7684\u51e0\u4f55\u771f\u5b9e\u6027\uff0c\u6bcf\u4e00\u675f\u6fc0\u5149\u56de\u4f20\u7684\u89d2\u5ea6\u548c\u8ddd\u79bb\u4fe1\u606f\uff0c\u53ef\u4ee5\u6784\u6210\u8f66\u8f86\u611f\u77e5\u5468\u56f4\u7269\u7406\u4e16\u754c\u7684\u786c\u5c3a\u5ea6\u3002\u76f8\u6bd4\u4e4b\u4e0b\uff0c\u89c6\u89c9SLAM\u5219\u66f4\u63a5\u8fd1\u4eba\u7c7b\u7684\u611f\u77e5\u65b9\u5f0f\uff0c\u5b83\u5229\u7528\u5355\u76ee\u3001\u53cc\u76ee\u6216\u6df1\u5ea6\u76f8\u673a\u6355\u83b7\u8fde\u7eed\u7684\u56fe\u50cf\u5e8f\u5217\u3002\u901a\u8fc7\u5206\u6790\u76f8\u90bb\u56fe\u50cf\u5e27\u4e4b\u95f4\u7279\u5f81\u70b9\u7684\u4f4d\u79fb\uff0c\u89c6\u89c9SLAM\u80fd\u591f\u53cd\u63a8\u51fa\u76f8\u673a\u7684\u8fd0\u52a8\u8f68\u8ff9\u3002\u867d\u7136\u89c6\u89c9\u65b9\u6848\u5728\u5149\u7167\u6781\u5dee\u6216\u73af\u5883\u7eb9\u7406\u532e\u4e4f\u7684\u533a\u57df\u5bb9\u6613\u5931\u6548\uff0c\u4f46\u5176\u4e30\u5bcc\u7684\u8272\u5f69\u548c\u7eb9\u7406\u4fe1\u606f\u80fd\u4e3a\u8f66\u8f86\u63d0\u4f9b\u8d85\u8d8a\u7eaf\u51e0\u4f55\u7ed3\u6784\u7684\u8bed\u4e49\u611f\u77e5\u80fd\u529b\u3002<\/p>\n\n\n\n

\u6280\u672f\u7279\u6027\u7ef4\u5ea6<\/strong><\/p>\n\n\n\n

\u6fc0\u5149SLAM(Lidar-based)<\/strong><\/p>\n\n\n\n

\u89c6\u89c9SLAM(Vision-based)<\/strong><\/p>\n\n\n\n

\u4f20\u611f\u5668\u6838\u5fc3<\/p>\n\n\n\n

\u5355\u7ebf\u6216\u591a\u7ebf\u6fc0\u5149\u96f7\u8fbe<\/p>\n\n\n\n

\u5355\u76ee\/\u53cc\u76ee\/\u9c7c\u773c\/RGB-D\u76f8\u673a<\/p>\n\n\n\n

\u6d4b\u8ddd\u539f\u7406<\/p>\n\n\n\n

\u98de\u884c\u65f6\u95f4\u6cd5(ToF)\u6216\u76f8\u4f4d\u6cd5<\/p>\n\n\n\n

\u7279\u5f81\u70b9\u4e09\u89d2\u6d4b\u91cf\u6216\u5149\u5ea6\u8bef\u5dee\u6700\u5c0f\u5316<\/p>\n\n\n\n

\u73af\u5883\u9002\u5e94\u6027<\/p>\n\n\n\n

\u5168\u5929\u5019\u5de5\u4f5c\uff0c\u4e0d\u4f9d\u8d56\u5916\u90e8\u5149\u6e90<\/p>\n\n\n\n

\u5f3a\u4f9d\u8d56\u5149\u7167\uff0c\u6697\u5904\u6216\u5f31\u7eb9\u7406\u533a\u6613\u5931\u6548<\/p>\n\n\n\n

\u6210\u672c\u7ed3\u6784<\/p>\n\n\n\n

\u4f20\u611f\u5668\u6210\u672c\u6602\u8d35\uff0c\u4f46\u8ba1\u7b97\u5f00\u9500\u9002\u4e2d<\/p>\n\n\n\n

\u786c\u4ef6\u5ec9\u4ef7\uff0c\u4f46\u7b97\u6cd5\u590d\u6742\u5ea6\u4e0e\u8ba1\u7b97\u8d1f\u8f7d\u6781\u9ad8<\/p>\n\n\n\n

\u7cbe\u5ea6\u6c34\u5e73<\/p>\n\n\n\n

\u6781\u9ad8\uff0c\u56fd\u5185\u9886\u5148\u65b9\u6848\u53ef\u8fbe2cm\u4ee5\u5185<\/p>\n\n\n\n

\u8f83\u9ad8\uff0c\u6df1\u5ea6\u76f8\u673a\u65b9\u6848\u901a\u5e38\u57283cm\u5de6\u53f3<\/p>\n\n\n\n

\u5b89\u88c5\u7075\u6d3b\u6027<\/p>\n\n\n\n

\u4f53\u79ef\u8f83\u5927\uff0c\u5bf9\u5b89\u88c5\u4f4d\u7f6e\u6709\u4e00\u5b9a\u8981\u6c42<\/p>\n\n\n\n

\u4f53\u79ef\u8f7b\u5de7\uff0c\u6613\u4e8e\u96c6\u6210\u5728\u65e0\u4eba\u673a\u6216AR\u8bbe\u5907\u4e2d<\/p>\n\n\n\n

\u5355\u4e00\u4f20\u611f\u5668\u7684\u5c40\u9650\u6027\u4fc3\u4f7f\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u5411\u591a\u4f20\u611f\u5668\u878d\u5408\u7684\u65b9\u5411\u6f14\u8fdb\u3002\u8fd9\u79cd\u878d\u5408\u5e76\u4e0d\u662f\u7b80\u5355\u7684\u6570\u636e\u5806\u53e0\uff0c\u800c\u662f\u4e00\u79cd\u6df1\u5ea6\u534f\u4f5c\u3002\u6fc0\u5149\u96f7\u8fbe\u53ef\u4ee5\u4e3a\u89c6\u89c9\u7cfb\u7edf\u63d0\u4f9b\u51c6\u786e\u7684\u6df1\u5ea6\u521d\u503c\uff0c\u89e3\u51b3\u5355\u76ee\u89c6\u89c9\u4e2d\u7684\u5c3a\u5ea6\u4e0d\u786e\u5b9a\u6027\u95ee\u9898\uff1b\u800c\u60ef\u6027\u6d4b\u91cf\u5355\u5143\uff08IMU\uff09\u5219\u80fd\u4ee5\u6781\u9ad8\u7684\u9891\u7387\u8f93\u51fa\u52a0\u901f\u5ea6\u548c\u89d2\u901f\u5ea6\uff0c\u5728\u4f20\u611f\u5668\u91c7\u6837\u95f4\u9694\u5185\u201c\u9884\u586b\u8865\u201d\u8f66\u8f86\u7684\u4f4d\u59ff\u3002\u5728\u7d27\u8026\u5408\u7684\u878d\u5408\u6846\u67b6\u4e2d\uff0c\u8fd9\u4e9b\u4e0d\u540c\u9891\u7387\u3001\u4e0d\u540c\u7279\u6027\u7684\u6570\u636e\u5c06\u88ab\u9001\u5165\u540c\u4e00\u4e2a\u4f18\u5316\u540e\u7aef\uff0c\u901a\u8fc7\u590d\u6742\u7684\u6570\u5b66\u5de5\u5177\uff0c\u5b9e\u73b0\u5bf9\u8f66\u8f86\u72b6\u6001\u7684\u6700\u4f18\u4f30\u8ba1\u3002\u8fd9\u79cd\u673a\u5236\u786e\u4fdd\u4e86\u5373\u4f7f\u5728\u67d0\u4e2a\u4f20\u611f\u5668\u77ed\u6682\u5931\u6548\u7684\u6781\u7aef\u60c5\u51b5\u4e0b\uff0c\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u4f9d\u7136\u80fd\u7ef4\u6301\u5b9a\u4f4d\u7684\u8fde\u7eed\u6027\u548c\u7a33\u5b9a\u6027\u3002<\/p>\n\n\n\n

\u7cfb\u7edf\u6846\u67b6\u7684\u7cbe\u5bc6\u8fd0\u4f5c\u4e0e\u8bef\u5dee\u4fee\u6b63\u673a\u5236<\/strong><\/p>\n\n\n\n

\u4e00\u4e2a\u5b8c\u6574\u7684SLAM\u7cfb\u7edf\u7531\u524d\u7aef\u91cc\u7a0b\u8ba1\u3001\u540e\u7aef\u4f18\u5316\u3001\u56de\u73af\u68c0\u6d4b\u548c\u5730\u56fe\u6784\u5efa\u56db\u4e2a\u5173\u952e\u6a21\u5757\u7ec4\u6210\u3002\u524d\u7aef\u5904\u7406\u662f\u7cfb\u7edf\u7684\u201c\u611f\u77e5\u524d\u54e8\u201d\uff0c\u5176\u4efb\u52a1\u662f\u4ece\u539f\u59cb\u7684\u4f20\u611f\u5668\u4fe1\u53f7\u4e2d\u63d0\u53d6\u80fd\u591f\u4ee3\u8868\u73af\u5883\u7279\u5f81\u7684\u4fe1\u606f\u3002\u5bf9\u4e8e\u89c6\u89c9\u65b9\u6848\uff0c\u8fd9\u6d89\u53ca\u5230\u7279\u5f81\u70b9\u7684\u63d0\u53d6\u4e0e\u5339\u914d\uff0c\u6216\u8005\u662f\u76f4\u63a5\u5bf9\u50cf\u7d20\u7070\u5ea6\u503c\u7684\u5dee\u5f02\u8fdb\u884c\u5efa\u6a21\uff1b\u5bf9\u4e8e\u6fc0\u5149\u65b9\u6848\uff0c\u5219\u662f\u5bf9\u70b9\u4e91\u8fdb\u884c\u4e0b\u91c7\u6837\u3001\u914d\u51c6\u4e0e\u5bf9\u9f50\u3002\u524d\u7aef\u8ba1\u7b97\u51fa\u7684\u4f4d\u59ff\u53d8\u5316\u6784\u6210\u4e86\u5c40\u90e8\u7684\u8fd0\u52a8\u8f68\u8ff9\uff0c\u4f46\u7531\u4e8e\u4f20\u611f\u5668\u566a\u58f0\u548c\u7b97\u6cd5\u8fd1\u4f3c\u5e26\u6765\u7684\u5fae\u5c0f\u8bef\u5dee\uff0c\u8fd9\u79cd\u8f68\u8ff9\u4f1a\u968f\u7740\u884c\u9a76\u8ddd\u79bb\u7684\u589e\u52a0\u800c\u4ea7\u751f\u4e0d\u53ef\u907f\u514d\u7684\u6f02\u79fb\u3002\u5982\u679c\u6ca1\u6709\u6709\u6548\u7684\u4fee\u6b63\u673a\u5236\uff0c\u8fd9\u79cd\u201c\u5dee\u4e4b\u6beb\u5398\u201d\u7684\u521d\u59cb\u8bef\u5dee\u5c06\u4f1a\u5bfc\u81f4\u5730\u56fe\u51fa\u73b0\u5927\u8303\u56f4\u7684\u626d\u66f2\u548c\u91cd\u5f71\u3002<\/p>\n\n\n\n

\u540e\u7aef\u4f18\u5316\u5219\u662f\u7cfb\u7edf\u7684\u201c\u903b\u8f91\u4e2d\u67a2\u201d\uff0c\u8d1f\u8d23\u5bf9\u524d\u7aef\u4f20\u6765\u7684\u4f4d\u59ff\u4fe1\u606f\u8fdb\u884c\u5168\u5c40\u68b3\u7406\u3002\u65e9\u671f\u7684\u7cfb\u7edf\u591a\u91c7\u7528\u6269\u5c55\u5361\u5c14\u66fc\u6ee4\u6ce2\u7b49\u65b9\u6cd5\uff0c\u4f46\u5728\u5904\u7406\u975e\u7ebf\u6027\u8f83\u5f3a\u7684\u957f\u8ddd\u79bb\u884c\u9a76\u65f6\uff0c\u5176\u6548\u679c\u7ecf\u5e38\u53d7\u9650\u3002\u73b0\u4ee3\u4e3b\u6d41\u65b9\u6848\u8f6c\u5411\u4e86\u57fa\u4e8e\u56fe\u4f18\u5316\u7684\u65b9\u5f0f\uff0c\u5373\u5c06\u6bcf\u4e00\u4e2a\u65f6\u523b\u7684\u4f4d\u59ff\u770b\u4f5c\u56fe\u4e2d\u7684\u8282\u70b9\uff0c\u5c06\u89c2\u6d4b\u5230\u7684\u7ea6\u675f\u5173\u7cfb\u770b\u4f5c\u8fde\u63a5\u8282\u70b9\u7684\u8fb9\u3002\u540e\u7aef\u4f18\u5316\u7684\u76ee\u6807\u662f\u901a\u8fc7\u8c03\u6574\u8fd9\u4e9b\u8282\u70b9\u7684\u4f4d\u7f6e\uff0c\u4f7f\u6240\u6709\u7ea6\u675f\u5173\u7cfb\u7684\u201c\u603b\u80fd\u91cf\u201d\u6700\u5c0f\u5316\u3002\u8fd9\u79cd\u65b9\u6cd5\u5728\u5904\u7406\u5927\u89c4\u6a21\u5730\u56fe\u65f6\u53ef\u4ee5\u8868\u73b0\u51fa\u66f4\u5f3a\u7684\u9c81\u68d2\u6027\uff0c\u80fd\u591f\u6709\u6548\u5730\u6291\u5236\u7d2f\u79ef\u8bef\u5dee\u7684\u589e\u957f\u3002<\/p>\n\n\n\n

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

\u56fe\u7247\u6e90\u81ea\uff1a\u7f51\u7edc<\/p>\n\n\n\n

\u56de\u73af\u68c0\u6d4b\u662fSLAM\u7cfb\u7edf\u4e2d\u6781\u5177\u667a\u6167\u7684\u8bbe\u8ba1\uff0c\u5b83\u8d4b\u4e88\u4e86\u8f7d\u4f53\u201c\u8ba4\u8def\u201d\u7684\u80fd\u529b\u3002\u5f53\u81ea\u52a8\u9a7e\u9a76\u8f66\u8f86\u7ecf\u8fc7\u4e00\u6bb5\u957f\u65f6\u95f4\u7684\u884c\u9a76\u540e\u56de\u5230\u5148\u524d\u7ecf\u8fc7\u7684\u533a\u57df\uff0c\u5982\u679c\u56de\u73af\u68c0\u6d4b\u6a21\u5757\u80fd\u591f\u8bc6\u522b\u51fa\u8fd9\u4e00\u573a\u666f\uff0c\u7cfb\u7edf\u5c31\u80fd\u5efa\u7acb\u4e00\u4e2a\u8de8\u8d8a\u65f6\u7a7a\u7684\u5f3a\u7ea6\u675f\u6761\u4ef6\u3002\u8fd9\u79cd\u8bc6\u522b\u4f9d\u8d56\u4e8e\u8bcd\u888b\u6a21\u578b\u6216\u6df1\u5ea6\u5b66\u4e60\u7279\u5f81\u3002\u8bcd\u888b\u6a21\u578b\u5c06\u56fe\u50cf\u7279\u5f81\u8f6c\u5316\u4e3a\u7c7b\u4f3c\u6587\u672c\u5355\u8bcd\u7684\u79bb\u6563\u5f62\u5f0f\uff0c\u901a\u8fc7\u7edf\u8ba1\u5355\u8bcd\u51fa\u73b0\u7684\u9891\u7387\u548c\u6743\u91cd\u6765\u5224\u65ad\u56fe\u50cf\u7684\u76f8\u4f3c\u6027\u3002\u4e00\u65e6\u68c0\u6d4b\u5230\u56de\u73af\uff0c\u7cfb\u7edf\u5c31\u50cf\u662f\u628a\u4e00\u6761\u677e\u6563\u7684\u7ec6\u7ef3\u91cd\u65b0\u9996\u5c3e\u76f8\u8fde\u5e76\u62c9\u76f4\uff0c\u4e4b\u524d\u79ef\u7d2f\u7684\u6240\u6709\u4f4d\u7f6e\u6f02\u79fb\u90fd\u4f1a\u5728\u540e\u7aef\u4f18\u5316\u4e2d\u5f97\u5230\u4fee\u6b63\uff0c\u4ece\u800c\u786e\u4fdd\u6574\u5f20\u5730\u56fe\u5728\u7a7a\u95f4\u4e0a\u7684\u5168\u5c40\u4e00\u81f4\u6027\u3002<\/p>\n\n\n\n

\u5728\u8fd9\u91cc\u5fc5\u987b\u8981\u63d0\u4e00\u4e0b\uff0c\u56de\u73af\u68c0\u6d4b\u662f\u4e00\u628a\u201c\u53cc\u5203\u5251\u201d\u3002\u51c6\u786e\u7684\u56de\u73af\u5339\u914d\u80fd\u591f\u6781\u5927\u5730\u63d0\u5347\u7cfb\u7edf\u7cbe\u5ea6\uff0c\u4f46\u9519\u8bef\u7684\u8bef\u62a5\u5219\u4f1a\u6bc1\u706d\u6027\u5730\u7834\u574f\u5730\u56fe\u7ed3\u6784\u3002\u56e0\u6b64\uff0c\u5728\u5de5\u7a0b\u5b9e\u8df5\u4e2d\u4f1a\u52a0\u5165\u591a\u91cd\u6821\u9a8c\u3002\u65f6\u95f4\u4e00\u81f4\u6027\u6821\u9a8c\u53ef\u786e\u4fdd\u68c0\u6d4b\u5230\u7684\u56de\u73af\u5728\u65f6\u95f4\u8f74\u4e0a\u662f\u8fde\u7eed\u4e14\u5408\u7406\u7684\uff1b\u51e0\u4f55\u7ed3\u6784\u6821\u9a8c\u5219\u901a\u8fc7RANSAC\u7b49\u7b97\u6cd5\uff0c\u68c0\u67e5\u4e24\u7ec4\u89c2\u6d4b\u5728\u7269\u7406\u7a7a\u95f4\u4e0a\u662f\u5426\u771f\u7684\u543b\u5408\u3002\u5bf9\u4e8e\u81ea\u52a8\u9a7e\u9a76\u8fd9\u79cd\u5b89\u5168\u81f3\u4e0a\u7684\u5e94\u7528\u573a\u666f\uff0c\u5b81\u53ef\u9519\u8fc7\u4e00\u4e9b\u6a21\u7cca\u7684\u56de\u73af\uff0c\u4e5f\u8981\u7aed\u529b\u907f\u514d\u4e00\u6b21\u9519\u8bef\u7684\u5224\u5b9a\u3002<\/p>\n\n\n\n

SLAM\u5728\u81ea\u52a8\u9a7e\u9a76\u573a\u666f\u4e0b\u7684\u6df1\u5ea6\u5e94\u7528\u4e0e\u4ef7\u503c<\/strong><\/p>\n\n\n\n

\u5728\u81ea\u52a8\u9a7e\u9a76\u67b6\u6784\u4e2d\uff0cSLAM\u4e0d\u4ec5\u4ec5\u662f\u611f\u77e5\u6a21\u5757\u7684\u7ec4\u6210\u90e8\u5206\uff0c\u66f4\u662f\u8fde\u63a5\u611f\u77e5\u3001\u89c4\u5212\u4e0e\u6267\u884c\u7684\u67a2\u7ebd\u3002SLAM\u63d0\u4f9b\u4e86\u8d85\u8d8a\u4f20\u7edf\u5730\u56fe\u7684\u5b9e\u65f6\u5b9a\u4f4d\u80fd\u529b\u3002\u867d\u7136\u9ad8\u7cbe\u5730\u56fe\uff08HD Map\uff09\u4e3a\u81ea\u52a8\u9a7e\u9a76\u63d0\u4f9b\u4e86\u4e30\u5bcc\u7684\u9759\u6001\u4fe1\u606f\uff0c\u4f46\u73b0\u5b9e\u4e16\u754c\u7684\u73af\u5883\u662f\u52a8\u6001\u53d8\u5316\u7684\uff0c\u9053\u8def\u65bd\u5de5\u3001\u6811\u6728\u4fee\u526a\u751a\u81f3\u5b63\u8282\u4ea4\u66ff\u5e26\u6765\u7684\u690d\u88ab\u53d8\u5316\uff0c\u90fd\u4f1a\u8ba9\u9884\u88c5\u8f7d\u7684\u5730\u56fe\u5931\u6548\u3002SLAM\u901a\u8fc7\u5b9e\u65f6\u6784\u5efa\u5c40\u90e8\u5730\u56fe\u5e76\u4e0e\u73af\u5883\u8fdb\u884c\u52a8\u6001\u5339\u914d\uff0c\u4f7f\u5f97\u8f66\u8f86\u80fd\u591f\u611f\u77e5\u5230\u8fd9\u4e9b\u7ec6\u5fae\u7684\u53d8\u5316\uff0c\u5e76\u53ca\u65f6\u66f4\u65b0\u81ea\u8eab\u7684\u5b9a\u4f4d\u5750\u6807\u3002<\/p>\n\n\n\n

\u6b64\u5916\uff0cSLAM\u6280\u672f\u6781\u5927\u589e\u5f3a\u4e86\u8f66\u8f86\u5728\u53d7\u9650\u73af\u5883\u4e2d\u7684\u81ea\u4e3b\u5bfc\u822a\u80fd\u529b\u3002\u5728\u591a\u5c42\u7acb\u4f53\u505c\u8f66\u573a\u6216\u9ad8\u5c42\u5efa\u7b51\u5305\u56f4\u7684\u8857\u9053\u4e2d\uff0c\u536b\u661f\u5bfc\u822a\u7684\u8bef\u5dee\u53ef\u80fd\u8fbe\u5230\u6570\u5341\u7c73\uff0c\u8fd9\u5bf9\u4e8e\u9700\u8981\u7cbe\u51c6\u5165\u4f4d\u6216\u4fdd\u6301\u8f66\u9053\u7684\u81ea\u52a8\u9a7e\u9a76\u6c7d\u8f66\u6765\u8bf4\u662f\u65e0\u6cd5\u4f7f\u7528\u7684\u3002\u6b64\u65f6\uff0cSLAM\u53ef\u5229\u7528\u8f66\u8f7d\u6fc0\u5149\u96f7\u8fbe\u548c\u6444\u50cf\u5934\uff0c\u901a\u8fc7\u8bc6\u522b\u505c\u8f66\u573a\u5185\u7684\u67f1\u5b50\u3001\u5899\u9762\u7279\u5f81\u6216\u8857\u9053\u4e0a\u7684\u72ec\u7279\u7eb9\u7406\uff0c\u6784\u5efa\u8d77\u4e00\u5957\u4e0d\u4f9d\u8d56\u5916\u90e8\u4fe1\u53f7\u7684\u76f8\u5bf9\u5750\u6807\u7cfb\u3002\u7ed3\u5408\u8f6e\u901f\u8ba1\u548cIMU\u7684\u6570\u636e\uff0c\u8f66\u8f86\u53ef\u4ee5\u5728\u8fd9\u4e9b\u73af\u5883\u4e2d\u5b9e\u73b0\u5398\u7c73\u7ea7\u7684\u81ea\u4e3b\u907f\u969c\u3001\u8def\u5f84\u641c\u7d22\u4ee5\u53ca\u7cbe\u51c6\u6cca\u8f66\u3002<\/p>\n\n\n\n

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

\u56fe\u7247\u6e90\u81ea\uff1a\u7f51\u7edc<\/p>\n\n\n\n

SLAM\u7cfb\u7edf\u7684\u53e6\u4e00\u5927\u5e94\u7528\u4ef7\u503c\u5728\u4e8e\u5176\u5bf9\u5f02\u6784\u6570\u636e\u7684\u878d\u5408\u4e0e\u5bb9\u9519\u80fd\u529b\u3002\u4e00\u8f86\u5177\u5907\u5b8c\u5584SLAM\u6846\u67b6\u7684\u81ea\u52a8\u9a7e\u9a76\u6c7d\u8f66\uff0c\u5728\u9762\u4e34\u67d0\u4e2a\u4f20\u611f\u5668\u7531\u4e8e\u6781\u7aef\u5929\u6c14\u6216\u786c\u4ef6\u6545\u969c\u800c\u5931\u6548\u65f6\uff0c\u4f9d\u7136\u80fd\u591f\u7ef4\u6301\u8fd0\u884c\u3002\u5982\u5728\u6d53\u96fe\u5929\u6c14\u4e2d\uff0c\u89c6\u89c9\u4f20\u611f\u5668\u7684\u80fd\u89c1\u5ea6\u5c06\u5927\u5e45\u4e0b\u964d\uff0c\u7cfb\u7edf\u53ef\u4ee5\u81ea\u52a8\u8c03\u9ad8\u6fc0\u5149SLAM\u548cIMU\u7684\u6743\u91cd\u6765\u4fdd\u6301\u5b9a\u4f4d\uff1b\u800c\u5728\u9047\u5230\u5927\u9762\u79ef\u7684\u5e73\u6ed1\u73bb\u7483\u5e55\u5899\u65f6\uff0c\u6fc0\u5149\u96f7\u8fbe\u53ef\u80fd\u53d1\u751f\u8bef\u5224\uff0c\u6b64\u65f6\u89c6\u89c9\u4fe1\u606f\u5219\u80fd\u586b\u8865\u51e0\u4f55\u7279\u5f81\u7684\u532e\u4e4f\u3002\u901a\u8fc7\u8fd9\u79cd\u8de8\u6a21\u6001\u7684\u4e92\u8865\uff0cSLAM\u663e\u8457\u63d0\u5347\u4e86\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u7684\u9c81\u68d2\u6027\u548c\u5b89\u5168\u6027\uff0c\u4f7f\u5176\u5728\u9762\u5bf9\u590d\u6742\u591a\u53d8\u7684\u73b0\u5b9e\u4e16\u754c\u65f6\uff0c\u80fd\u591f\u66f4\u52a0\u5b89\u5168\u3002<\/p>\n\n\n\n

\u8bed\u4e49\u7406\u89e3\u4e0e\u4eba\u5de5\u667a\u80fd\u5f15\u9886\u7684\u672a\u6765\u6f14\u8fdb<\/strong><\/p>\n\n\n\n

\u968f\u7740\u6df1\u5ea6\u5b66\u4e60\u6280\u672f\u7684\u53d1\u5c55\uff0cSLAM\u6b63\u7ecf\u5386\u4ece\u201c\u51e0\u4f55\u5efa\u56fe\u201d\u5411\u201c\u8bed\u4e49\u5efa\u56fe\u201d\u7684\u53d8\u5316\u3002\u4f20\u7edf\u7684SLAM\u7cfb\u7edf\u867d\u7136\u80fd\u7cbe\u786e\u5730\u63cf\u7ed8\u51fa\u7a7a\u95f4\u4e2d\u6bcf\u4e00\u4e2a\u70b9\u7684\u4f4d\u7f6e\uff0c\u4f46\u5728\u5b83\u7684\u903b\u8f91\u4e2d\uff0c\u884c\u4eba\u3001\u8def\u6807\u3001\u5efa\u7b51\u7269\u548c\u79fb\u52a8\u7684\u8f66\u8f86\u90fd\u53ea\u662f\u6ca1\u6709\u5dee\u5f02\u7684\u70b9\u4e91\u6216\u50cf\u7d20\u96c6\u5408\u3002\u8bed\u4e49SLAM\u7684\u51fa\u73b0\u6253\u7834\u4e86\u8fd9\u4e00\u50f5\u5c40\u3002\u901a\u8fc7\u96c6\u6210\u5377\u79ef\u795e\u7ecf\u7f51\u7edc\uff08CNN\uff09\u7b49\u7b97\u6cd5\uff0c\u7cfb\u7edf\u5728\u6784\u5efa\u51e0\u4f55\u5730\u56fe\u7684\u540c\u65f6\uff0c\u80fd\u591f\u5bf9\u573a\u666f\u4e2d\u7684\u7269\u4f53\u8fdb\u884c\u5206\u7c7b\u548c\u5206\u5272\u3002\u8fd9\u610f\u5473\u7740\u8f66\u8f86\u80fd\u591f\u7406\u89e3\u5b83\u770b\u5230\u7684\u4e0d\u4ec5\u662f\u4e00\u4e2a\u201c\u969c\u788d\u7269\u201d\uff0c\u800c\u662f\u4e00\u4e2a\u201c\u6b63\u5728\u51c6\u5907\u8fc7\u9a6c\u8def\u7684\u884c\u4eba\u201d\u3002<\/p>\n\n\n\n

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

\u56fe\u7247\u6e90\u81ea\uff1a\u7f51\u7edc<\/p>\n\n\n\n

\u8bed\u4e49\u4fe1\u606f\u7684\u5f15\u5165\u5bf9\u81ea\u52a8\u9a7e\u9a76\u7684\u5b9a\u4f4d\u7a33\u5b9a\u6027\u6709\u975e\u5e38\u5927\u7684\u5f71\u54cd\u3002\u5728\u62e5\u6324\u7684\u5e02\u533a\u4ea4\u901a\u4e2d\uff0c\u5927\u91cf\u7684\u52a8\u6001\u7279\u5f81\u70b9\uff08\u5982\u5468\u56f4\u884c\u9a76\u7684\u8f66\u8f86\uff09\u4f1a\u5e72\u6270\u524d\u7aef\u91cc\u7a0b\u8ba1\u7684\u8fd0\u52a8\u4f30\u8ba1\u3002\u8bed\u4e49SLAM\u80fd\u591f\u8bc6\u522b\u5e76\u5254\u9664\u8fd9\u4e9b\u5c5e\u4e8e\u52a8\u6001\u7269\u4f53\u7684\u7279\u5f81\u70b9\uff0c\u53ea\u5229\u7528\u8def\u706f\u3001\u5efa\u7b51\u7acb\u9762\u7b49\u9759\u6001\u80cc\u666f\u8fdb\u884c\u5b9a\u4f4d\uff0c\u4ece\u800c\u6781\u5927\u5730\u964d\u4f4e\u7cfb\u7edf\u5d29\u6e83\u7684\u6982\u7387\u3002\u8bed\u4e49\u5730\u56fe\u8fd8\u80fd\u4e3a\u66f4\u9ad8\u7ea7\u7684\u4eba\u673a\u4ea4\u4e92\u548c\u8def\u5f84\u51b3\u7b56\u63d0\u4f9b\u652f\u6301\u3002\u5f53\u7cfb\u7edf\u8bc6\u522b\u51fa\u524d\u65b9\u662f\u201c\u5b66\u6821\u533a\u57df\u201d\u6216\u201c\u4eba\u884c\u9053\u201d\u65f6\uff0c\u89c4\u5212\u5c42\u53ef\u4ee5\u6839\u636e\u8bed\u4e49\u6807\u7b7e\u9884\u5148\u505a\u51fa\u51cf\u901f\u51b3\u7b56\uff0c\u800c\u4e0d\u662f\u4ec5\u6839\u636e\u51e0\u4f55\u8ddd\u79bb\u88ab\u52a8\u5730\u8fdb\u884c\u907f\u969c\u3002<\/p>\n\n\n\n

\u4eba\u5de5\u667a\u80fd\u4e0d\u4ec5\u6539\u53d8\u4e86\u5730\u56fe\u7684\u5f62\u5f0f\uff0c\u8fd8\u91cd\u5851\u4e86SLAM\u7684\u5e95\u5c42\u7b97\u6cd5\u3002\u57fa\u4e8e\u7aef\u5230\u7aef\u5b66\u4e60\u7684\u89c6\u89c9\u91cc\u7a0b\u8ba1\u5df2\u7ecf\u5f00\u59cb\u5c55\u73b0\u51fa\u8d85\u8d8a\u4f20\u7edf\u51e0\u4f55\u65b9\u6cd5\u7684\u6f5c\u529b\uff0c\u5b83\u4eec\u901a\u8fc7\u8bad\u7ec3\u5927\u89c4\u6a21\u7684\u9a7e\u9a76\u6570\u636e\u96c6\uff0c\u80fd\u591f\u76f4\u63a5\u5b66\u4e60\u56fe\u50cf\u5e8f\u5217\u4e0e\u8fd0\u52a8\u77e2\u91cf\u4e4b\u95f4\u7684\u6620\u5c04\u5173\u7cfb\u3002\u800c\u5728\u5730\u56fe\u6e32\u67d3\u65b9\u9762\uff0c\u8bf8\u5982\u795e\u7ecf\u8f90\u5c04\u573a\uff08NeRF\uff09\u7b49\u65b0\u6280\u672f\u7684\u5e94\u7528\uff0c\u4f7f\u5f97SLAM\u751f\u6210\u7684\u4e0d\u518d\u662f\u51b0\u51b7\u3001\u7834\u788e\u7684\u70b9\u4e91\uff0c\u800c\u662f\u5177\u6709\u903c\u771f\u5149\u7167\u548c\u7eb9\u7406\u7684\u4e09\u7ef4\u5b9e\u666f\u6a21\u578b\u3002\u8fd9\u4e9b\u6a21\u578b\u4e0d\u4ec5\u80fd\u4e3a\u81ea\u52a8\u9a7e\u9a76\u7684\u611f\u77e5\u51b3\u7b56\u63d0\u4f9b\u66f4\u7cbe\u786e\u7684\u53c2\u8003\uff0c\u8fd8\u6781\u5927\u5730\u63a8\u52a8\u4e86\u6570\u5b57\u5b6a\u751f\u548c\u9ad8\u4fdd\u771f\u4eff\u771f\u73af\u5883\u7684\u5efa\u8bbe\u3002<\/p>\n\n\n\n

\u6700\u540e\u7684\u8bdd<\/strong><\/p>\n\n\n\n

\u81ea\u52a8\u9a7e\u9a76\u4e2d\u7684SLAM\u6280\u672f\u662f\u8f66\u8f86\u5b9e\u73b0\u73af\u5883\u611f\u77e5\u4e0e\u81ea\u4e3b\u5bfc\u822a\u7684\u6838\u5fc3\u3002\u5b83\u901a\u8fc7\u878d\u5408\u591a\u4f20\u611f\u5668\u6570\u636e\uff0c\u5b9e\u65f6\u6784\u5efa\u5468\u56f4\u73af\u5883\u7684\u9ad8\u7cbe\u5ea6\u5730\u56fe\uff0c\u5e76\u540c\u65f6\u786e\u5b9a\u8f66\u8f86\u5728\u8be5\u5730\u56fe\u4e2d\u7684\u7cbe\u786e\u4f4d\u7f6e\u3002\u8fd9\u4e00\u8fc7\u7a0b\u4e0d\u4ec5\u4e3a\u8def\u5f84\u89c4\u5212\u4e0e\u51b3\u7b56\u63d0\u4f9b\u57fa\u7840\uff0c\u8fd8\u652f\u6491\u7740\u8f66\u8f86\u5728\u672a\u77e5\u6216\u52a8\u6001\u73af\u5883\u4e2d\u7684\u53ef\u9760\u8fd0\u884c\u3002\u968f\u7740\u7b97\u6cd5\u6548\u7387\u4e0e\u786c\u4ef6\u6c34\u5e73\u7684\u6301\u7eed\u8fdb\u6b65\uff0cSLAM\u6b63\u63a8\u52a8\u7740\u81ea\u52a8\u9a7e\u9a76\u5411\u66f4\u5b89\u5168\u3001\u66f4\u667a\u80fd\u7684\u5c42\u7ea7\u8fc8\u8fdb\u3002<\/p>\n","protected":false},"excerpt":{"rendered":"

\u539f\u6587\u94fe\u63a5\uff1ahttps:\/\/www.163.co […]<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[27,1],"tags":[],"class_list":["post-37169","post","type-post","status-publish","format-standard","hentry","category-industry-trends","category-home"],"views":0,"_links":{"self":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/37169"}],"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=37169"}],"version-history":[{"count":1,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/37169\/revisions"}],"predecessor-version":[{"id":37170,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/37169\/revisions\/37170"}],"wp:attachment":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/media?parent=37169"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/categories?post=37169"},{"taxonomy":"post_tag","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/tags?post=37169"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}