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class=\"f_center\"><img decoding=\"async\" src=\"https:\/\/nimg.ws.126.net\/?url=http%3A%2F%2Fdingyue.ws.126.net%2F2023%2F1129%2Fd300f317j00s4v2ta005wd200u000dxg00it008q.jpg&amp;thumbnail=660x2147483647&amp;quality=80&amp;type=jpg\" \/><\/p>\n<p><strong>\u76f8\u673a\u4f20\u611f\u5668<\/strong><\/p>\n<p id=\"29M81S6S\">\u6839\u636e\u4f20\u611f\u5668\u7c7b\u578b\u7684\u4e0d\u540c\uff0c\u5e38\u89c1\u7684\u89c6\u89c9\u4f20\u611f\u5668\u4e3b\u8981\u53ef\u5206\u4e3a\u5355\u76ee\u3001\u53cc\u76ee\u3001RGB-D\u548c\u4e8b\u4ef6\u6444\u50cf\u673a\u3002\u6444\u50cf\u673a\u4f20\u611f\u5668\u5982\u56fe2\u6240\u793a\u3002<\/p>\n<p class=\"f_center\"><img decoding=\"async\" src=\"https:\/\/nimg.ws.126.net\/?url=http%3A%2F%2Fdingyue.ws.126.net%2F2023%2F1129%2Fde34ed6fj00s4v2tb0069d200u0007mg00it004r.jpg&amp;thumbnail=660x2147483647&amp;quality=80&amp;type=jpg\" \/><\/p>\n<p id=\"29M81S6U\">\u5e02\u573a\u4e0a\u6d41\u884c\u7684\u89c6\u89c9\u4f20\u611f\u5668\u5236\u9020\u5546\u548c\u4ea7\u54c1\u5982\u4e0b\uff0c\u4f46\u4e0d\u9650\u4e8e\uff1a<\/p>\n<ul>\n<li id=\"29M81SD6\">\n<p id=\"29M81S71\">MYNTAI\uff1aS1030\u7cfb\u5217\uff08\u5e26IMU\u7684\u53cc\u76ee\u6444\u50cf\u5934\uff09\u3001D1000\u7cfb\u5217\uff08\u6df1\u5ea6\u6444\u50cf\u5934\uff09\u3001D1200\u7cfb\u5217\uff08\u9002\u7528\u4e8e\u667a\u80fd\u624b\u673a\uff09\uff1b<\/p>\n<\/li>\n<li id=\"29M81SD7\">\n<p id=\"29M81S76\">Stereolabs ZED\uff1aStereolab ZED\u76f8\u673a\uff08\u6df1\u5ea6\u8303\u56f4\uff1a1.5\u81f320\u7c73\uff09\uff1b<\/p>\n<\/li>\n<li id=\"29M81SD8\">\n<p id=\"29M81S7B\">Intel\uff1a200\u7cfb\u5217\u3001300\u7cfb\u5217\u3001Module D400\u7cfb\u5217\u3001D415\uff08\u4e3b\u52a8\u7ea2\u5916\u53cc\u76ee\u3001\u6eda\u52a8\u5feb\u95e8\uff09\u3001D435\uff08\u4e3b\u52a8\u7ea2\u5916\u53cc\u76ee\u3001\u5168\u5c40\u5feb\u95e8\uff09\u3001D4 35i\uff08\u96c6\u6210IMU\uff09\uff1b<\/p>\n<\/li>\n<li id=\"29M81SD9\">\n<p id=\"29M81S7G\">\u5fae\u8f6f\uff1aAzure Kinect\uff08\u9002\u7528\u4e8e\u5e26IMU\u7684\u9ea6\u514b\u98ce\uff09\u3001Kinectc-v1\uff08\u7ed3\u6784\u5149\uff09\u3001Kinect-v2\uff08TOF\uff09\uff1b<\/p>\n<\/li>\n<li id=\"29M81SDA\">\n<p id=\"29M81S7L\">Occipital Structure\uff1aStructure Camera (\u5e94\u7528\u4e8eipad)\uff1b<\/p>\n<\/li>\n<li id=\"29M81SDB\">\n<p id=\"29M81S7Q\">\u4e09\u661f\uff1a\u7b2c2\u4ee3\u548c\u7b2c3\u4ee3\u52a8\u6001\u6444\u50cf\u5934\u548c\u57fa\u4e8e\u4e8b\u4ef6\u7684\u89c6\u89c9\u89e3\u51b3\u65b9\u6848\uff08Son\u7b49\u4eba\uff0c2017b\uff09\u3002<\/p>\n<\/li>\n<\/ul>\n<p><strong>\u524d\u7aef<\/strong><\/p>\n<p id=\"29M81S7T\">\u89c6\u89c9SLAM\u7684\u524d\u7aef\u88ab\u79f0\u4e3a\u89c6\u89c9\u91cc\u7a0b\u8ba1\uff08VO\uff09\u3002\u5b83\u8d1f\u8d23\u57fa\u4e8e\u76f8\u90bb\u5e27\u7684\u4fe1\u606f\u7c97\u7565\u5730\u4f30\u8ba1\u76f8\u673a\u8fd0\u52a8\u548c\u7279\u5f81\u65b9\u5411\u3002\u4e3a\u4e86\u83b7\u5f97\u5177\u6709\u5feb\u901f\u54cd\u5e94\u901f\u5ea6\u7684\u7cbe\u786e\u59ff\u6001\uff0c\u9700\u8981\u6709\u6548\u7684VO\u3002\u76ee\u524d\uff0c\u524d\u7aef\u4e3b\u8981\u53ef\u5206\u4e3a\u4e24\u7c7b\uff1a\u57fa\u4e8e\u7279\u5f81\u7684\u65b9\u6cd5\u548c\u76f4\u63a5\u65b9\u6cd5\uff08\u5305\u62ec\u534a\u76f4\u63a5\u65b9\u6cd5\uff09\uff08Zou\u7b49\u4eba\uff0c2020\uff09\u3002\u672c\u8282\u4e3b\u8981\u56de\u987eVO\u7684\u57fa\u4e8e\u7279\u5f81\u7684\u65b9\u6cd5\u3002\u5173\u4e8e\u534a\u76f4\u63a5\u548c\u76f4\u63a5\u65b9\u6cd5\u5728\u540e\u6587\u3002<\/p>\n<p id=\"29M81S7U\">\u57fa\u4e8e\u7279\u5f81\u70b9\u7684VO\u7cfb\u7edf\u8fd0\u884c\u66f4\u7a33\u5b9a\uff0c\u5bf9\u5149\u548c\u52a8\u6001\u76ee\u6807\u76f8\u5bf9\u4e0d\u654f\u611f\u3002\u5177\u6709\u9ad8\u5c3a\u5ea6\u548c\u826f\u597d\u65cb\u8f6c\u4e0d\u53d8\u6027\u7684\u7279\u5f81\u63d0\u53d6\u65b9\u6cd5\u53ef\u4ee5\u5927\u5927\u63d0\u9ad8VO\u7cfb\u7edf\u7684\u53ef\u9760\u6027\u548c\u7a33\u5b9a\u6027\uff08Chen\u7b49\u4eba\uff0c2019\uff09\u30021999\u5e74\uff0cLowe\uff082004\uff09\u63d0\u51fa\u4e86\u5c3a\u5ea6\u4e0d\u53d8\u7279\u5f81\u53d8\u6362\uff08SIFT\uff09\u7b97\u6cd5\uff0c\u8be5\u7b97\u6cd5\u57282004\u5e74\u5f97\u5230\u4e86\u6539\u8fdb\u548c\u53d1\u5c55\u3002\u6574\u4e2a\u7b97\u6cd5\u5206\u4e3a\u4e09\u4e2a\u6b65\u9aa4\u6765\u5b8c\u6210\u56fe\u50cf\u7279\u5f81\u70b9\u7684\u63d0\u53d6\u548c\u63cf\u8ff0\u3002<\/p>\n<p id=\"29M81S7V\">\uff08i\uff09 \u901a\u8fc7\u9ad8\u65af\u5dee\u5206\u91d1\u5b57\u5854\u65b9\u6cd5\u6784\u5efa\u5c3a\u5ea6\u7a7a\u95f4\uff0c\u5e76\u901a\u8fc7\u9ad8\u65af\u5fae\u5206\u51fd\u6570\u8bc6\u522b\u611f\u5174\u8da3\u7684\u70b9\u3002<\/p>\n<p id=\"29M81S80\">\uff08ii\uff09\u786e\u5b9a\u6bcf\u4e2a\u5019\u9009\u7684\u4f4d\u7f6e\u548c\u6bd4\u4f8b\uff0c\u7136\u540e\u627e\u51fa\u5173\u952e\u70b9\u3002<\/p>\n<p id=\"29M81S81\">\uff08iii\uff09\u5c06\u6307\u5411\u7279\u5f81\u6307\u5b9a\u7ed9\u5173\u952e\u70b9\u4ee5\u83b7\u5f97\u63cf\u8ff0\u5b50\u3002<\/p>\n<p id=\"29M81S82\">SIFT\u6d88\u8017\u5927\u91cf\u8ba1\u7b97\u3002SURF\uff08Herbert\u7b49\u4eba\uff0c2007\uff09\u662fSIFT\u7684\u6539\u8fdb\u3002\u5b83\u89e3\u51b3\u4e86SIFT\u8fd0\u7b97\u91cf\u5927\u3001\u5b9e\u65f6\u6027\u5dee\u7684\u7f3a\u70b9\uff0c\u4fdd\u6301\u4e86SIFT\u7b97\u5b50\u7684\u4f18\u826f\u6027\u80fd\u3002\u5c3d\u7ba1\u5982\u6b64\uff0cSURF\u7b97\u6cd5\u5728\u5e94\u7528\u4e8e\u5b9e\u65f6SLAM\u7cfb\u7edf\u65f6\u5177\u6709\u66f4\u5927\u7684\u5c40\u9650\u6027\u3002\u5728\u4fdd\u8bc1\u6027\u80fd\u7684\u57fa\u7840\u4e0a\uff0c\u63d0\u51fa\u4e86\u4e00\u79cd\u66f4\u52a0\u6ce8\u91cd\u8ba1\u7b97\u901f\u5ea6\u7684\u7279\u5f81\u63d0\u53d6\u7b97\u6cd5\u3002<\/p>\n<p id=\"29M81S83\">2011\u5e74\uff0cViswanathan\uff082011\uff09\u63d0\u51fa\u4e86\u4e00\u79cd\u57fa\u4e8e\u6a21\u677f\u548c\u673a\u5668\u5b66\u4e60\u65b9\u6cd5\u7684\u5c40\u90e8\u89d2\u70b9\u68c0\u6d4b\u65b9\u6cd5\uff0c\u5373FAST\u89d2\u70b9\u68c0\u6d4b\u6cd5\u3002FAST\u7b97\u6cd5\u5c06\u8981\u68c0\u6d4b\u7684\u50cf\u7d20\u4f5c\u4e3a\u5706\u5fc3\uff0c\u5f53\u5177\u6709\u56fa\u5b9a\u534a\u5f84\u7684\u5706\u4e0a\u7684\u5176\u4ed6\u50cf\u7d20\u4e0e\u5706\u5fc3\u7684\u50cf\u7d20\u4e4b\u95f4\u7684\u7070\u5ea6\u5dee\u8db3\u591f\u5927\u65f6\uff0c\u8be5\u70b9\u88ab\u8ba4\u4e3a\u662f\u89d2\u70b9\u3002<\/p>\n<p id=\"29M81S84\">\u7136\u800c\uff0cFAST\u89d2\u70b9\u4e0d\u5177\u6709\u65b9\u5411\u548c\u5c3a\u5ea6\u4fe1\u606f\uff0c\u5b83\u4eec\u4e0d\u5177\u6709\u65cb\u8f6c\u548c\u5c3a\u5ea6\u4e0d\u53d8\u6027\u30022012\u5e74\uff0cRublee\u7b49\u4eba\uff082012\uff09\u63d0\u51fa\u4e86\u57fa\u4e8eFAST\u89d2\u70b9\u548cBRIEF\u63cf\u8ff0\u7b26\u7684\u5b9a\u5411FAST\u548c\u65cb\u8f6cBRIEF\uff08ORB\uff09\u7b97\u6cd5\u3002\u8be5\u7b97\u6cd5\u9996\u5148\u5728\u56fe\u50cf\u4e0a\u6784\u5efa\u56fe\u50cf\u91d1\u5b57\u5854\uff0c\u7136\u540e\u68c0\u6d4bFAST\u5173\u952e\u70b9\u5e76\u8ba1\u7b97\u5173\u952e\u70b9\u7684\u7279\u5f81\u5411\u91cf\u3002<\/p>\n<p id=\"29M81S85\">ORB\u7684\u63cf\u8ff0\u7b26\u91c7\u7528\u4e86\u4e8c\u8fdb\u5236\u5b57\u7b26\u4e32\u7279\u5f81BRIEF\u63cf\u8ff0\u7b26\u7684\u5feb\u901f\u8ba1\u7b97\u901f\u5ea6\uff08Michael\u7b49\u4eba\uff0c2010\uff09\uff0c\u56e0\u6b64ORB\u8ba1\u7b97\u901f\u5ea6\u6bd4\u5177\u6709\u5b9e\u65f6\u7279\u5f81\u68c0\u6d4b\u7684fast\u7b97\u6cd5\u66f4\u5feb\u3002\u6b64\u5916ORB\u53d7\u566a\u58f0\u5f71\u54cd\u8f83\u5c0f\uff0c\u5177\u6709\u826f\u597d\u7684\u65cb\u8f6c\u4e0d\u53d8\u6027\u548c\u5c3a\u5ea6\u4e0d\u53d8\u6027\uff0c\u53ef\u5e94\u7528\u4e8e\u5b9e\u65f6SLAM\u7cfb\u7edf\u30022016\u5e74\uff0cChien\u7b49\u4eba\uff082016\uff09\u6bd4\u8f83\u5e76\u8bc4\u4f30\u4e86\u7528\u4e8eVO\u5e94\u7528\u7684SIFT\u3001SURF\u548cORB\u7279\u5f81\u63d0\u53d6\u7b97\u6cd5\u3002<\/p>\n<p id=\"29M81S86\">\u901a\u8fc7\u5bf9KITTI\u6570\u636e\u96c6\u7684\u5927\u91cf\u6d4b\u8bd5\uff08Geiger\u7b49\u4eba\uff0c2013\uff09\uff0c\u53ef\u4ee5\u5f97\u51fa\u7ed3\u8bba\uff0cSIFT\u5728\u63d0\u53d6\u7279\u5f81\u65b9\u9762\u6700\u51c6\u786e\uff0c\u800cORB\u7684\u8ba1\u7b97\u91cf\u8f83\u5c0f\u3002\u56e0\u6b64\uff0c\u4f5c\u4e3a\u8ba1\u7b97\u80fd\u529b\u6709\u9650\u7684\u5d4c\u5165\u5f0f\u8ba1\u7b97\u673a\uff0cORB\u65b9\u6cd5\u88ab\u8ba4\u4e3a\u66f4\u9002\u5408\u81ea\u52a8\u9a7e\u9a76\u8f66\u8f86\u7684\u5e94\u7528\u3002<\/p>\n<p id=\"29M81S87\">VO\u7684\u5176\u4ed6\u56fe\u50cf\u7279\u5f81\u63cf\u8ff0\u5b50\u5982\u4e0b\u6240\u5217\uff0c\u4f46\u4e0d\u9650\u4e8eDAISY\uff08Tola\u7b49\u4eba\uff0c2010\uff09\u3001ASIFT\uff08Morel\u548cYu\uff0c2009\uff09\u3001MROGH\uff08Fan\u7b49\u4eba\uff0c2011a\uff09\u3001HARRIS\uff08Wang\u7b49\u4eba\uff0c2008\uff09\u3001LDAHash\uff08Fan\u7b49\uff0c2011b\uff09\u3001D-BRIEF\uff08Trzcinski\u548cLepetit\uff0c2012\uff09\u3001Vlfeat\uff08Vedali\u548cFulkerson\uff0c2010\uff09\uff0cFREAK\uff08Alahi\u7b49\u4eba\uff0c2012\uff09\uff0cShape Context\uff08Belongie\u7b49\u4eba\uff0c2002\uff09\u3001PCA-SIFT\uff08Ke\u548cSukthantar\uff0c2004\uff09\u3002<\/p>\n<p><strong>\u540e\u7aef<\/strong><\/p>\n<p id=\"29M81S88\">\u540e\u7aef\u63a5\u6536\u524d\u7aef\u4f30\u8ba1\u7684\u6444\u50cf\u673a\u4f4d\u59ff\uff0c\u5e76\u4f18\u5316\u521d\u59cb\u4f4d\u59ff\uff0c\u4ee5\u83b7\u5f97\u5168\u5c40\u4e00\u81f4\u7684\u8fd0\u52a8\u8f68\u8ff9\u548c\u73af\u5883\u56fe\uff08Sunderhauf\u548cProtzel\uff0c2012\uff09\u3002\u4e0e\u524d\u7aef\u7684\u591a\u6837\u5316\u7b97\u6cd5\u76f8\u6bd4\uff0c\u5f53\u524d\u540e\u7aef\u7b97\u6cd5\u7684\u7c7b\u578b\u4e3b\u8981\u53ef\u5206\u4e3a\u4e24\u7c7b\uff1a\u57fa\u4e8e\u6ee4\u6ce2\u5668\u7684\u65b9\u6cd5\uff08\u5982\u6269\u5c55\u5361\u5c14\u66fc\u6ee4\u6ce2\u5668\uff08EKF\uff09Bailey\u7b49\u4eba\uff0c2006\uff09\u548c\u57fa\u4e8e\u4f18\u5316\u7684\u65b9\u6cd5\uff08\u4f8b\u5982\u56e0\u5b50\u56feWrobel\uff0c2001\uff09\u3002\u5b83\u4eec\u7684\u63cf\u8ff0\u5982\u4e0b\uff1a<\/p>\n<p id=\"29M81S8B\">\u57fa\u4e8e\u6ee4\u6ce2\u5668\u7684\u65b9\u6cd5\uff0c\u8be5\u65b9\u6cd5\u4e3b\u8981\u4f7f\u7528\u8d1d\u53f6\u65af\u539f\u7406\u57fa\u4e8e\u5148\u524d\u72b6\u6001\u548c\u5f53\u524d\u89c2\u6d4b\u6570\u636e\u6765\u4f30\u8ba1\u5f53\u524d\u72b6\u6001\uff08Liu\uff0c2019\uff09\u3002\u5178\u578b\u7684\u57fa\u4e8e\u6ee4\u6ce2\u5668\u7684\u65b9\u6cd5\u5305\u62ec\u6269\u5c55\u5361\u5c14\u66fc\u6ee4\u6ce2\u5668\uff08EKF\uff09\uff08Bailey\u7b49\u4eba\uff0c2006\uff09\u3001\u65e0\u8ff9\u5361\u5c14\u66fc\u6ee4\u6ce2\u5668\uff08UKF\uff09\uff08Wan\u548cMerwe\uff0c2000\uff09\u548c\u7c92\u5b50\u6ee4\u6ce2\u5668\uff08PF\uff09\uff08Arnaud\u7b49\u4eba\uff0c2000\uff09\u3002<\/p>\n<p id=\"29M81S8C\">\u4ee5\u5178\u578b\u7684\u57fa\u4e8eEKF\u7684SLAM\u65b9\u6cd5\u4e3a\u4f8b\uff0c\u5b83\u5728\u5c0f\u89c4\u6a21\u73af\u5883\u4e2d\u7684\u5e94\u7528\u76f8\u5bf9\u6210\u529f\u3002\u7136\u800c\uff0c\u7531\u4e8e\u534f\u65b9\u5dee\u77e9\u9635\u662f\u5b58\u50a8\u7684\uff0c\u5176\u5b58\u50a8\u5bb9\u91cf\u968f\u7740\u72b6\u6001\u91cf\u7684\u5e73\u65b9\u800c\u589e\u52a0\uff0c\u56e0\u6b64\u5728\u5927\u578b\u672a\u77e5\u573a\u666f\u4e2d\u7684\u5e94\u7528\u603b\u662f\u53d7\u5230\u9650\u5236\u3002<\/p>\n<p id=\"29M81S8F\">\u57fa\u4e8e\u4f18\u5316\u7684\u65b9\u6cd5\uff0c\u57fa\u4e8e\u975e\u7ebf\u6027\u4f18\u5316\uff08\u56fe\u4f18\u5316\uff09\u65b9\u6cd5\u7684\u6838\u5fc3\u601d\u60f3\u662f\u5c06\u540e\u7aef\u4f18\u5316\u7b97\u6cd5\u8f6c\u6362\u4e3a\u56fe\u7684\u5f62\u5f0f\uff0c\u4ee5\u4e0d\u540c\u65f6\u523b\u7684\u4e3b\u9898\u4f4d\u59ff\u548c\u73af\u5883\u7279\u5f81\u4e3a\u9876\u70b9\uff0c\u9876\u70b9\u4e4b\u95f4\u7684\u7ea6\u675f\u5173\u7cfb\u7531\u8fb9\u8868\u793a\uff08Liang\u7b49\u4eba\uff0c2013\uff09\u3002\u6784\u5efa\u56fe\u5f62\u540e\uff0c\u4f7f\u7528\u57fa\u4e8e\u4f18\u5316\u7684\u7b97\u6cd5\u6765\u6c42\u89e3\u76ee\u6807\u7684\u4f4d\u59ff\uff0c\u4ee5\u4fbf\u9876\u70b9\u4e0a\u8981\u4f18\u5316\u7684\u72b6\u6001\u66f4\u597d\u5730\u6ee1\u8db3\u76f8\u5e94\u8fb9\u4e0a\u7684\u7ea6\u675f\u3002\u5728\u6267\u884c\u4f18\u5316\u7b97\u6cd5\u4e4b\u540e\uff0c\u5bf9\u5e94\u7684\u56fe\u662f\u76ee\u6807\u8fd0\u52a8\u8f68\u8ff9\u548c\u73af\u5883\u56fe\u3002\u76ee\u524d\uff0c\u5927\u591a\u6570\u4e3b\u6d41\u7684\u89c6\u89c9SLAM\u7cfb\u7edf\u4f7f\u7528\u975e\u7ebf\u6027\u4f18\u5316\u65b9\u6cd5\u3002<\/p>\n<p id=\"29M81S8I\"><strong>\u56de\u73af<\/strong><\/p>\n<p id=\"29M81S8J\">\u56de\u73af\u7684\u4efb\u52a1\u662f\u5141\u8bb8\u7cfb\u7edf\u57fa\u4e8e\u4f20\u611f\u5668\u4fe1\u606f\u8bc6\u522b\u5f53\u524d\u573a\u666f\uff0c\u5e76\u5728\u8fd4\u56de\u539f\u59cb\u4f4d\u7f6e\u65f6\u786e\u5b9a\u8be5\u533a\u57df\u5df2\u88ab\u8bbf\u95ee\uff0c\u4ece\u800c\u6d88\u9664SLAM\u7cfb\u7edf\u7684\u7d2f\u79ef\u8bef\u5dee\uff08Newman\u548cHo\uff0c2005\uff09\u3002\u5bf9\u4e8e\u89c6\u89c9SLAM\uff0c\u4f20\u7edf\u7684\u56de\u73af\u68c0\u6d4b\u65b9\u6cd5\u4e3b\u8981\u4f7f\u7528\u5355\u8bcd\u5305\uff08BoW\uff09\u6a21\u578b\uff08Galvez LoPez\u548cTardos\uff0c2012\uff09\uff0c\u5b9e\u73b0\u6b65\u9aa4\u4e3a\uff1a<\/p>\n<p id=\"29M81S8K\">\uff08i\uff09\u901a\u8fc7\u5bf9\u4ece\u56fe\u50cf\u4e2d\u63d0\u53d6\u7684\u5c40\u90e8\u7279\u5f81\u7684K-means\u805a\u7c7b\uff0c\u6784\u5efa\u5305\u542bK\u4e2a\u5355\u8bcd\u7684\u5355\u8bcd\u5217\u8868\u3002<\/p>\n<p id=\"29M81S8L\">\uff08ii\uff09\u6839\u636e\u6bcf\u4e2a\u5355\u8bcd\u7684\u51fa\u73b0\u6b21\u6570\u5c06\u56fe\u50cf\u8868\u793a\u4e3aK\u7ef4\u6570\u503c\u5411\u91cf\u3002<\/p>\n<p id=\"29M81S8M\">\uff08iii\uff09\u5224\u65ad\u573a\u666f\u7684\u5dee\u5f02\uff0c\u5e76\u8bc6\u522b\u81ea\u52a8\u9a7e\u9a76\u8f66\u8f86\u662f\u5426\u5df2\u5230\u8fbe\u6240\u8bc6\u522b\u7684\u573a\u666f\u3002<\/p>\n<p><strong>\u5efa\u56fe<\/strong><\/p>\n<p id=\"29M81S8N\">\u81ea\u52a8\u9a7e\u9a76\u6c7d\u8f66\u7684\u4e00\u4e2a\u57fa\u672c\u7ec4\u6210\u90e8\u5206\u662f\u5efa\u7acb\u73af\u5883\u5730\u56fe\u5e76\u5728\u5730\u56fe\u4e0a\u5b9a\u4f4d\u7684\u80fd\u529b\u3002\u5efa\u56fe\u662f\u89c6\u89c9SLAM\u7cfb\u7edf\u7684\u4e24\u9879\u4efb\u52a1\u4e4b\u4e00\uff08\u5373\u5b9a\u4f4d\u548c\u5efa\u56fe\uff09\uff0c\u5b83\u5728\u81ea\u52a8\u9a7e\u9a76\u7684\u5bfc\u822a\u3001\u907f\u969c\u548c\u73af\u5883\u91cd\u5efa\u4e2d\u53d1\u6325\u7740\u91cd\u8981\u4f5c\u7528\u3002\u4e00\u822c\u6765\u8bf4\uff0c\u5730\u56fe\u7684\u8868\u793a\u53ef\u4ee5\u5206\u4e3a\u4e24\u7c7b\uff1a\u5ea6\u91cf\u5730\u56fe\u548c\u62d3\u6251\u5730\u56fe\u3002\u5ea6\u91cf\u5730\u56fe\u63cf\u8ff0\u4e86\u5730\u56fe\u5143\u7d20\u4e4b\u95f4\u7684\u76f8\u5bf9\u4f4d\u7f6e\u5173\u7cfb\uff0c\u800c\u62d3\u6251\u5730\u56fe\u5f3a\u8c03\u4e86\u5730\u56fe\u5143\u7d20\u95f4\u7684\u8fde\u63a5\u5173\u7cfb\u3002\u5bf9\u4e8e\u7ecf\u5178\u7684SLAM\u7cfb\u7edf\uff0c\u5ea6\u91cf\u5730\u56fe\u53ef\u4ee5\u8fdb\u4e00\u6b65\u5206\u4e3a\u7a00\u758f\u5730\u56fe\u548c\u5bc6\u96c6\u5730\u56fe\uff0c\u7a00\u758f\u5730\u56fe\u4ec5\u5305\u542b\u573a\u666f\u4e2d\u7684\u5c11\u91cf\u4fe1\u606f\uff0c\u8fd9\u9002\u5408\u4e8e\u5b9a\u4f4d\uff0c\u800c\u5bc6\u96c6\u5730\u56fe\u5305\u542b\u66f4\u591a\u4fe1\u606f\uff0c\u8fd9\u6709\u5229\u4e8e\u8f66\u8f86\u6839\u636e\u5730\u56fe\u6267\u884c\u5bfc\u822a\u4efb\u52a1\u3002<\/p>\n<p><strong>3 SOTA\u7814\u7a76<\/strong><strong>\u89c6\u89c9SLAM<\/strong><\/p>\n<p id=\"29M81S8O\">\u4e0e\u524d\u6587\u63cf\u8ff0\u7684VO\u5b50\u7cfb\u7edf\u7c7b\u4f3c\uff0c\u6839\u636e\u5229\u7528\u56fe\u50cf\u4fe1\u606f\u7684\u65b9\u6cd5\uff0c\u7eaf\u89c6\u89c9SLAM\u7cfb\u7edf\u53ef\u5206\u4e3a\u4e24\u7c7b\uff1a\u57fa\u4e8e\u7279\u5f81\u7684\u65b9\u6cd5\u548c\u76f4\u63a5\u65b9\u6cd5\u3002\u57fa\u4e8e\u7279\u5f81\u7684\u65b9\u6cd5\u662f\u6307\u901a\u8fc7\u63d0\u53d6\u548c\u5339\u914d\u7279\u5f81\u70b9\u6765\u4f30\u8ba1\u76f8\u90bb\u5e27\u4e4b\u95f4\u7684\u76f8\u673a\u8fd0\u52a8\u548c\u6784\u5efa\u73af\u5883\u5730\u56fe\u3002\u8fd9\u79cd\u65b9\u6cd5\u7684\u7f3a\u70b9\u662f\u63d0\u53d6\u7279\u5f81\u70b9\u548c\u8ba1\u7b97\u63cf\u8ff0\u7b26\u9700\u8981\u5f88\u957f\u65f6\u95f4\u3002\u56e0\u6b64\uff0c\u4e00\u4e9b\u7814\u7a76\u4eba\u5458\u5efa\u8bae\u653e\u5f03\u5173\u952e\u70b9\u548c\u63cf\u8ff0\u7b26\u7684\u8ba1\u7b97\uff0c\u7136\u540e\u4ea7\u751f\u76f4\u63a5\u65b9\u6cd5\uff08Zou\u7b49\u4eba\uff0c2020\uff09\u3002<\/p>\n<p id=\"29M81S8P\">\u6b64\u5916\uff0c\u6839\u636e\u4f20\u611f\u5668\u7684\u7c7b\u578b\uff0c\u89c6\u89c9SLAM\u53ef\u4ee5\u5206\u4e3a\u5355\u76ee\u3001\u53cc\u76ee\u3001RGB-D\u548c\u57fa\u4e8e\u4e8b\u4ef6\u76f8\u673a\u7684\u65b9\u6cd5\u3002\u6839\u636e\u5730\u56fe\u7684\u5bc6\u5ea6\uff0c\u53ef\u5206\u4e3a\u7a00\u758f\u3001\u5bc6\u96c6\u548c\u534a\u5bc6\u96c6SLAM\uff0c\u4ecb\u7ecd\u5982\u4e0b\uff1a<\/p>\n<p id=\"29M81S8S\"><strong>\u57fa\u4e8e\u7279\u5f81\u7684\u65b9\u6cd5<\/strong><\/p>\n<p id=\"29M81S8T\">2007\u5e74\uff0cDavison\u7b49\u4eba\uff082007\uff09\u63d0\u51fa\u4e86\u7b2c\u4e00\u4e2a\u5b9e\u65f6\u5355\u76ee\u89c6\u89c9SLAM\u7cfb\u7edf\uff0cMono-SLAM\u3002\u5b9e\u65f6\u7279\u5f81patch\u65b9\u5411\u4f30\u8ba1\u7684\u7ed3\u679c\u5982\u56fe3\uff08a\uff09\u6240\u793a\u3002\u5728\u540e\u7aef\u4f7f\u7528EKF\u7b97\u6cd5\u6765\u8ddf\u8e2a\u4ece\u524d\u7aef\u83b7\u53d6\u7684\u7a00\u758f\u7279\u5f81\u70b9\uff0c\u5e76\u4f7f\u7528\u76f8\u673a\u4f4d\u59ff\u548c\u754c\u6807\u70b9\u65b9\u5411\u4f5c\u4e3a\u72b6\u6001\u91cf\u6765\u66f4\u65b0\u5176\u5747\u503c\u548c\u534f\u65b9\u5dee\u3002\u540c\u5e74\uff0cKlein\u548cMurray\uff082007\uff09\u63d0\u51fa\u4e86\u4e00\u79cd\u5e76\u884c\u8ddf\u8e2a\u548c\u5efa\u56fe\u7cfb\u7edfPTAM\u3002\u5b83\u5b9e\u73b0\u4e86\u8ddf\u8e2a\u548c\u5efa\u56fe\u5de5\u4f5c\u7684\u5e76\u884c\u5316\u3002<\/p>\n<p id=\"29M81S8U\">\u7279\u5f81\u63d0\u53d6\u548c\u5efa\u56fe\u7684\u8fc7\u7a0b\u5982\u56fe3\uff08b\uff09\u6240\u793a\uff0c\u9996\u6b21\u901a\u8fc7\u975e\u7ebf\u6027\u4f18\u5316\u65b9\u6cd5\u533a\u5206\u4e86\u524d\u7aef\u548c\u540e\u7aef\uff0c\u5e76\u63d0\u51fa\u4e86\u5173\u952e\u5e27\u673a\u5236\u3002\u5173\u952e\u56fe\u50cf\u4e32\u8054\u8fde\u63a5\u4ee5\u4f18\u5316\u8fd0\u52a8\u8f68\u8ff9\u548c\u7279\u5f81\u5b9a\u5411\u3002\u8bb8\u591a\u968f\u540e\u7684\u89c6\u89c9SLAM\u7cfb\u7edf\u8bbe\u8ba1\u4e5f\u91c7\u7528\u4e86\u7c7b\u4f3c\u7684\u65b9\u6cd5\u30022015\u5e74\uff0cMur Artal\u7b49\u4eba\uff082015\uff09\u63d0\u51fa\u4e86ORB-SLAM\uff0c\u8fd9\u662f\u4e00\u79cd\u76f8\u5bf9\u5b8c\u6574\u7684\u57fa\u4e8e\u5173\u952e\u5e27\u7684\u5355\u76eeSLAM\u65b9\u6cd5\u3002\u4e0ePTAM\u7684\u53cc\u7ebf\u7a0b\u673a\u5236\u76f8\u6bd4\uff0c\u8be5\u65b9\u6cd5\u5c06\u6574\u4e2a\u7cfb\u7edf\u5206\u4e3a\u4e09\u4e2a\u7ebf\u7a0b\uff1a\u8ddf\u8e2a\u3001\u5efa\u56fe\u548c\u56de\u73af\u3002\u9700\u8981\u6ce8\u610f\u7684\u662f\uff0c\u7279\u5f81\u63d0\u53d6\u548c\u5339\u914d\uff08\u5de6\u5217\uff09\u3001\u5730\u56fe\u6784\u5efa\u548c\u5faa\u73af\u68c0\u6d4b\u7684\u8fc7\u7a0b\u90fd\u57fa\u4e8eORB\u7279\u5f81\uff08\u53f3\u5217\uff09\u3002<\/p>\n<p id=\"29M81S8V\">\u56fe3\uff08c\uff09\u662f\u5927\u5b66\u9053\u8def\u73af\u5883\u4e2d\u5355\u76ee\u76f8\u673a\u7684\u5b9e\u65f6\u7279\u5f81\u63d0\u53d6\u8fc7\u7a0b\uff08\u5de6\u5217\uff09\u548c\u8f68\u8ff9\u8ddf\u8e2a\u548c\u5efa\u56fe\u7ed3\u679c\uff08\u53f3\u5217\uff09\u30022017\u5e74\uff0cMur Artal\u7b49\u4eba\u63d0\u51fa\u4e86ORB-SLAM2\u7684\u540e\u7eed\u7248\u672c\uff08Murartal\u548cTardos\uff0c2017\uff09\u3002\u8be5\u7248\u672c\u652f\u6301\u56de\u73af\u68c0\u6d4b\u548c\u91cd\u5b9a\u4f4d\uff0c\u5177\u6709\u5b9e\u65f6\u5730\u56fe\u91cd\u7528\u529f\u80fd\uff0c\u6b64\u5916\uff0c\u6539\u8fdb\u7684\u6846\u67b6\u8fd8\u6253\u5f00\u4e86\u53cc\u76ee\u76f8\u673a\u548cRGB-D\u76f8\u673a\u4e4b\u95f4\u7684\u63a5\u53e3\u3002\u56fe3\uff08d\uff09\u7684\u5de6\u5217\u663e\u793a\u4e86ORB-SLAM2\u7684\u53cc\u76ee\u8f68\u8ff9\u4f30\u8ba1\u548c\u7279\u5f81\u63d0\u53d6\u3002\u56fe3\uff08d\uff09\u7684\u53f3\u680f\u663e\u793a\u4e86RGB-D\u76f8\u673a\u5728\u5ba4\u5185\u573a\u666f\u4e2d\u7684\u5173\u952e\u5e27\u548c\u5bc6\u96c6\u70b9\u4e91\u5efa\u56fe\u6548\u679c\u3002\u56fe\u7247\u4e2d\u8fde\u7eed\u7684\u7eff\u8272\u5c0f\u65b9\u5757\u6784\u6210\u4e86\u5173\u952e\u5e27\u7684\u8f68\u8ff9\uff0cRGB-D\u76f8\u673a\u6784\u5efa\u7684\u5bc6\u96c63D\u573a\u666f\u5730\u56fe\u56f4\u7ed5\u7740\u5173\u952e\u5e27\u3002<\/p>\n<p class=\"f_center\"><img decoding=\"async\" src=\"https:\/\/nimg.ws.126.net\/?url=http%3A%2F%2Fdingyue.ws.126.net%2F2023%2F1129%2F784b0c51j00s4v2tc00csd200u000bjg00it0078.jpg&amp;thumbnail=660x2147483647&amp;quality=80&amp;type=jpg\" \/><\/p>\n<p id=\"29M81S93\"><strong>\u57fa\u4e8e\u76f4\u63a5\u7684\u65b9\u6cd5<\/strong><\/p>\n<p id=\"29M81S94\">2011\u5e74\uff0cNewcombe\u7b49\u4eba\uff082011b\uff09\u63d0\u51fa\u4e86\u57fa\u4e8e\u76f4\u63a5\u65b9\u6cd5DTAM\u7684\u5355\u76eeSLAM\u6846\u67b6\u3002\u4e0e\u57fa\u4e8e\u7279\u5f81\u7684\u65b9\u6cd5\u4e0d\u540c\uff0cDTAM\u91c7\u7528\u57fa\u4e8e\u9006\u6df1\u5ea6\u7684\u65b9\u6cd5\u6765\u4f30\u8ba1\u7279\u5f81\u7684\u6df1\u5ea6\u3002\u901a\u8fc7\u76f4\u63a5\u56fe\u50cf\u5339\u914d\u8ba1\u7b97\u76f8\u673a\u7684\u4f4d\u59ff\uff0c\u5e76\u901a\u8fc7\u57fa\u4e8e\u4f18\u5316\u7684\u65b9\u6cd5\u6784\u5efa\u5bc6\u96c6\u5730\u56fe\uff08\u56fe4\uff08a\uff09\uff09\u3002<\/p>\n<p id=\"29M81S95\">2014\u5e74\uff0cJakob\u7b49\u4eba\uff082014\uff09\u63d0\u51fa\u4e86LSD-SLAM\uff08\u56fe4\uff08b\uff09\uff09\uff0c\u8fd9\u662f\u76f4\u63a5\u65b9\u6cd5\u5728\u5355\u773c\u89c6\u89c9SLAM\u6846\u67b6\u4e2d\u7684\u6210\u529f\u5e94\u7528\u3002\u8be5\u65b9\u6cd5\u5c06\u9762\u5411\u50cf\u7d20\u7684\u65b9\u6cd5\u5e94\u7528\u4e8e\u534a\u5bc6\u96c6\u5355\u76eeSLAM\u7cfb\u7edf\u3002\u4e0e\u57fa\u4e8e\u7279\u5f81\u7684\u65b9\u6cd5\u76f8\u6bd4\uff0cLSD-SLAM\u7684\u7075\u654f\u5ea6\u8f83\u4f4e\uff0c\u4f46\u5f53\u76f8\u673a\u5185\u53c2\u548c\u7167\u660e\u53d8\u5316\u65f6\uff0c\u7cfb\u7edf\u5f88\u8106\u5f31\u30022017\u5e74\uff0cForster\u7b49\u4eba\uff082017\uff09\u63d0\u51fa\u4e86SVO\uff08\u534a\u76f4\u63a5\u89c6\u89c9\u91cc\u7a0b\u8ba1\uff09\u3002\u5b83\u4f7f\u7528\u7a00\u758f\u76f4\u63a5\u6cd5\uff08\u4e5f\u79f0\u4e3a\u534a\u76f4\u63a5\u6cd5\uff09\u6765\u8ddf\u8e2a\u5173\u952e\u70b9\uff08\u56fe4\uff08c\uff09\u7684\u5e95\u90e8\uff09\uff0c\u5e76\u57fa\u4e8e\u5173\u952e\u70b9\u5468\u56f4\u7684\u4fe1\u606f\u6765\u4f30\u8ba1\u4f4d\u59ff\u3002<\/p>\n<p id=\"29M81S96\">\u56fe4\uff08c\uff09\u9876\u90e8\u663e\u793a\u4e86\u5ba4\u5185\u73af\u5883\u4e2d\u7a00\u758f\u5730\u56fe\u7684\u8f68\u8ff9\u3002\u7531\u4e8e\u534a\u76f4\u63a5\u65b9\u6cd5\u8ddf\u8e2a\u7a00\u758f\u7279\u5f81\uff0c\u65e2\u4e0d\u8ba1\u7b97\u63cf\u8ff0\u7b26\uff0c\u4e5f\u4e0d\u5904\u7406\u5bc6\u96c6\u4fe1\u606f\uff0c\u56e0\u6b64SVO\u5177\u6709\u8f83\u4f4e\u7684\u65f6\u95f4\u590d\u6742\u5ea6\u548c\u8f83\u5f3a\u7684\u5b9e\u65f6\u6027\u30022016\u5e74\uff0cEngel\u7b49\u4eba\uff082018\uff09\u63d0\u51fa\u4e86DSO\uff0c\u8be5\u65b9\u6cd5\u8fd8\u4f7f\u7528\u534a\u76f4\u63a5\u65b9\u6cd5\u4ee5\u786e\u4fdd\u5728\u66f4\u5feb\u7684\u64cd\u4f5c\u901f\u5ea6\u4e0b\u83b7\u5f97\u66f4\u9ad8\u7684\u7cbe\u5ea6\u3002<\/p>\n<p id=\"29M81S97\">\u7136\u800c\uff0c\u5b83\u4eec\u53ea\u662f\u89c6\u89c9\u91cc\u7a0b\u8ba1\u3002\u7531\u4e8e\u7f3a\u5c11\u540e\u7aef\u4f18\u5316\u6a21\u5757\u548c\u56de\u73af\u6a21\u5757\uff0c\u7cfb\u7edf\u7684\u8ddf\u8e2a\u8bef\u5dee\u4f1a\u968f\u7740\u65f6\u95f4\u7d2f\u79ef\u3002\u56fe4\uff08d\uff09\u663e\u793a\u4e86DSO\uff08\u5355\u76ee\u89c6\u89c9\u91cc\u7a0b\u8ba1\uff09\u76843D\u91cd\u5efa\u548c\u8ddf\u8e2a\u6548\u679c\u3002\u76f4\u63a5\u6cd5\u5177\u6709\u8ba1\u7b97\u901f\u5ea6\u5feb\u3001\u5bf9\u5f31\u7279\u5f81\u6761\u4ef6\u4e0d\u654f\u611f\u7b49\u4f18\u70b9\u3002\u7136\u800c\uff0c\u5b83\u57fa\u4e8e\u7070\u5ea6\u7ea7\u4e0d\u53d8\u7684\u5f3a\u70c8\u5047\u8bbe\uff0c\u56e0\u6b64\u5b83\u5bf9\u7167\u660e\u7684\u53d8\u5316\u975e\u5e38\u654f\u611f\u3002\u76f8\u53cd\u7279\u5f81\u70b9\u65b9\u6cd5\u5177\u6709\u826f\u597d\u7684\u4e0d\u53d8\u6027\u3002<\/p>\n<p id=\"29M81S98\">2020\u5e74\uff0cZubizarreta\u7b49\u4eba\uff082020\uff09\u63d0\u51fa\u4e86\u4e00\u79cd\u76f4\u63a5\u7a00\u758f\u6620\u5c04\u65b9\u6cd5DSM\uff0c\u8fd9\u662f\u4e00\u79cd\u57fa\u4e8e\u5149\u5ea6\u5b66\u675f\u8c03\u6574\uff08PBA\uff09\u7b97\u6cd5\u7684\u5168\u5355\u76ee\u89c6\u89c9SLAM\u7cfb\u7edf\u3002\u88681\u603b\u7ed3\u4e86\u6700\u5148\u8fdb\u7684\u89c6\u89c9SLAM\u6846\u67b6\u7684\u4e3b\u8981\u7279\u70b9\u53ca\u5176\u4f18\u7f3a\u70b9\u3002\u9664\u4e0a\u8ff0\u5178\u578b\u6846\u67b6\u5916\uff0c\u8fd8\u7814\u7a76\u4e86\u5176\u4ed6\u76f8\u5173\u5de5\u4f5c\uff0c\u5982\uff08i\uff09\u7a00\u758f\u89c6\u89c9SLAM\uff1b\uff08ii\uff09\u534a\u5bc6\u96c6\u89c6\u89c9SLAM\uff1b\uff08iii\uff09\u5bc6\u96c6\u89c6\u89c9SLAM\u3002<\/p>\n<p id=\"29M81S99\">\u6b63\u5982\u4f60\u6240\u770b\u5230\u7684\uff0c\u89c6\u89c9SLAM\u9886\u57df\u6709\u5f88\u591a\u6210\u5c31\uff0c\u8bba\u6587\u53ea\u662f\u5bf9\u6d41\u884c\u7684\u65b9\u6cd5\u8fdb\u884c\u4e86\u56de\u987e\u3002\u5373\u4f7f\u89c6\u89c9SLAM\u63d0\u4f9b\u4e86\u826f\u597d\u7684\u5b9a\u4f4d\u548c\u5efa\u56fe\u7ed3\u679c\uff0c\u6240\u6709\u8fd9\u4e9b\u89e3\u51b3\u65b9\u6848\u90fd\u6709\u4f18\u70b9\u548c\u7f3a\u70b9\u3002\u5728\u8fd9\u9879\u5de5\u4f5c\u4e2d\uff0c\u603b\u7ed3\u4e86\u201c\u57fa\u4e8e\u7a00\u758f\u7684\u65b9\u6cd5\u201d\u3001\u201c\u57fa\u4e8e\u5bc6\u96c6\u7684\u65b9\u6cd5\u201d\u548c\u201c\u57fa\u4e8e\u7279\u5f81\u7684\u65b9\u6cd5\u201d\u7684\u4f18\u7f3a\u70b9\uff0c\u201c\u57fa\u4e8e\u76f4\u63a5\u7684\u65b9\u6cd5\u201d\uff0c\u201c\u5355\u76ee\u65b9\u6cd5\u201d\uff0c\u201d\u53cc\u76ee\u65b9\u6cd5\u201c\uff0c\u201dRGB-D\u65b9\u6cd5\u201c\u548c\u201d\u4e8b\u4ef6\u76f8\u673a\u65b9\u6cd5\u201c\u53ef\u5728\u88682\u4e2d\u627e\u5230\u3002<\/p>\n<p class=\"f_center\"><img decoding=\"async\" src=\"https:\/\/nimg.ws.126.net\/?url=http%3A%2F%2Fdingyue.ws.126.net%2F2023%2F1129%2F9b1fa462j00s4v2te00gyd200u000e0g00it008r.jpg&amp;thumbnail=660x2147483647&amp;quality=80&amp;type=jpg\" \/><\/p>\n<p class=\"f_center\"><img decoding=\"async\" src=\"https:\/\/nimg.ws.126.net\/?url=http%3A%2F%2Fdingyue.ws.126.net%2F2023%2F1129%2Fb304f4ddj00s4v2tf00apd200u000c1g00it007j.jpg&amp;thumbnail=660x2147483647&amp;quality=80&amp;type=jpg\" \/><\/p>\n<p class=\"f_center\"><img decoding=\"async\" src=\"https:\/\/nimg.ws.126.net\/?url=http%3A%2F%2Fdingyue.ws.126.net%2F2023%2F1129%2F6c7194afj00s4v2tg007vd200u0008ng00it005e.jpg&amp;thumbnail=660x2147483647&amp;quality=80&amp;type=jpg\" \/><\/p>\n<p id=\"29M81S9E\"><strong>\u89c6\u89c9-\u60ef\u6027SLAM<\/strong><\/p>\n<p id=\"29M81S9F\">IMU\u4f20\u611f\u5668\u53ef\u4ee5\u63d0\u4f9b\u4e00\u4e2a\u5f88\u597d\u7684\u89e3\u51b3\u65b9\u6848\uff0c\u4ee5\u89e3\u51b3\u5f53\u76f8\u673a\u79fb\u52a8\u5230\u5177\u6709\u6311\u6218\u6027\u7684\u73af\u5883\u4e2d\uff08\u8f83\u5c11\u7684\u7eb9\u7406\u548c\/\u6216\u7167\u660e\u53d8\u5316\uff09\u65f6\u8ddf\u8e2a\u5931\u8d25\u7684\u95ee\u9898\uff0c\u53e6\u4e00\u65b9\u9762\uff0c\u89c6\u89c9\u4f20\u611f\u5668\u53ef\u4ee5\u5f25\u8865IMU\u7684\u7d2f\u79ef\u6f02\u79fb\u3002\u8fd9\u79cd\u89c6\u89c9\u548cIMU\u7684\u7ed3\u5408\u88ab\u79f0\u4e3a\u9ec4\u91d1\u642d\u6863\u3002<\/p>\n<p id=\"29M81S9G\">\u7531\u4e8e\u76f8\u673a\u548cIMU\u7684\u4e92\u8865\u529f\u80fd\uff0c\u5728\u65e0\u4eba\u9a7e\u9a76\u7b49\u9886\u57df\u5177\u6709\u826f\u597d\u7684\u53d1\u5c55\u524d\u666f\uff08Sun\u548cTian\uff0c2019\uff09\u3002VI-SLAM\u7684\u4e3b\u8981\u65b9\u6cd5\u662f\u5c06IMU\u4fe1\u606f\u7ed3\u5408\u5230\u89c6\u89c9SLAM\u7cfb\u7edf\u7684\u524d\u7aef\uff0c\u8be5\u7cfb\u7edf\u4e5f\u79f0\u4e3a\u89c6\u89c9\u60ef\u6027\u91cc\u7a0b\u8ba1\uff08VIO\uff09\u7cfb\u7edf\u3002\u901a\u5e38\uff0cVI-SLAM\u7cfb\u7edf\u53ef\u5206\u4e3a\u4e24\u7c7b\uff1a\u57fa\u4e8e\u6ee4\u6ce2\u5668\u7684\u65b9\u6cd5\u548c\u57fa\u4e8e\u4f18\u5316\u7684\u65b9\u6cd5\uff1a<\/p>\n<p id=\"29M81S9J\"><strong>\u57fa\u4e8e\u7279\u5f81\u7684\u65b9\u6cd5<\/strong><\/p>\n<p id=\"29M81S9K\">2007\u5e74\uff0cMourikis\u548cRoumeliotis\uff082007\uff09\u63d0\u51fa\u4e86\u591a\u72b6\u6001\u7ea6\u675f\u5361\u5c14\u66fc\u6ee4\u6ce2\u5668\uff08MSCKF\uff09\uff0c\u8fd9\u662f\u6700\u65e9\u7684\u57fa\u4e8e\u6269\u5c55\u5361\u5c14\u66fc\u6ee4\u6ce2\u5668\uff08EKF\uff09\u7b97\u6cd5\u7684\u89c6\u89c9\u60ef\u6027SLAM\u7cfb\u7edf\u3002\u4e0e\u7eaf\u89c6\u89c9\u91cc\u7a0b\u8ba1\u76f8\u6bd4\uff0cMSCKF\uff08\u56fe5\uff08a\uff09\uff09\u53ef\u4ee5\u5728\u4e00\u5b9a\u65f6\u95f4\u5185\u9002\u5e94\u66f4\u5267\u70c8\u7684\u8fd0\u52a8\u548c\u7eb9\u7406\u635f\u5931\uff0c\u5177\u6709\u66f4\u9ad8\u7684\u9c81\u68d2\u6027\u3002<\/p>\n<p id=\"29M81S9L\">2012\u5e74\uff0cStephan\uff082012\uff09\u63d0\u51fa\u4e86SSF\uff08\u56fe5\uff08b\uff09\uff09\uff0c\u5b83\u662f\u4e00\u79cd\u57fa\u4e8eEKF\u548c\u677e\u8026\u5408\u65b9\u6cd5\u7684\u65f6\u95f4\u5ef6\u8fdf\u8865\u507f\u5355\u4f20\u611f\u5668\u548c\u591a\u4f20\u611f\u5668\u878d\u5408\u6846\u67b6\u30022013\u5e74\uff0cLi\u548cMourikis\uff082013\uff09\u6307\u51fa\u4e86MSCKF\u5728\u72b6\u6001\u4f30\u8ba1\u8fc7\u7a0b\u4e2d\u7684\u4e0d\u4e00\u81f4\u6027\u3002<\/p>\n<p id=\"29M81S9M\">2017\u5e74\uff0cPaul\u7b49\u4eba\uff082017\uff09\u63d0\u51fa\u4e86MSCKF2.0\uff0c\u8fd9\u5927\u5927\u63d0\u9ad8\u4e86\u51c6\u786e\u6027\u3001\u4e00\u81f4\u6027\u548c\u8ba1\u7b97\u6548\u7387\u3002\u6b64\u5916\uff0cROVIO\uff08\u9c81\u68d2\u89c6\u89c9\u60ef\u6027\u91cc\u7a0b\u8868\uff09\uff08Bloesch\u7b49\u4eba\uff0c2015\uff09\uff08\u56fe5\uff08c\uff09\uff09\u548cMSCKF-VIO\uff08Ke\u7b49\u4eba\uff09\uff08\u56fe6\uff08d\uff09\uff09\u4e5f\u662f\u8fd1\u5e74\u6765\u57fa\u4e8e\u8fc7\u6ee4\u65b9\u6cd5\u7684\u4f18\u79c0\u4f5c\u54c1\uff1b<\/p>\n<p class=\"f_center\"><img decoding=\"async\" src=\"https:\/\/nimg.ws.126.net\/?url=http%3A%2F%2Fdingyue.ws.126.net%2F2023%2F1129%2F6df9f832j00s4v2ti00n5d200u000f7g00it009i.jpg&amp;thumbnail=660x2147483647&amp;quality=80&amp;type=jpg\" \/><\/p>\n<p id=\"29M81S9Q\"><strong>\u57fa\u4e8e\u4f18\u5316\u7684\u65b9\u6cd5<\/strong><\/p>\n<p 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id=\"29M81S9S\">2017\u5e74\uff0cTong\u7b49\u4eba\uff082017\uff09\u63d0\u51fa\u4e86VINS-Mono\uff0c\u5b83\u88ab\u89c6\u4e3a\u4e00\u79cd\u4f18\u79c0\u7684\u5355\u76eeVI-SLAM\u7cfb\u7edf\uff0c\u524d\u7aef\u91c7\u7528\u5149\u6d41\u65b9\u6cd5\uff0c\u540e\u7aef\u91c7\u7528\u57fa\u4e8e\u6ed1\u52a8\u7a97\u53e3\u7684\u975e\u7ebf\u6027\u4f18\u5316\u7b97\u6cd5\uff08Cheng\u7b49\u4eba\uff0c2021b\uff09\u3002\u6b64\u5916\uff0cVINS-Mono\u7684\u521d\u59cb\u5316\u65b9\u6cd5\u503c\u5f97\u6ce8\u610f\uff0c\u5b83\u91c7\u7528\u4e86\u4e0d\u76f8\u4ea4\u65b9\u6cd5\uff08\u4ee5\u53caVI-ORBSLAM Mur Artal\u548cTards\uff0c2017\uff09\uff0c\u8be5\u65b9\u6cd5\u9996\u5148\u521d\u59cb\u5316\u7eaf\u89c6\u89c9\u5b50\u7cfb\u7edf\uff0c\u7136\u540e\u4f30\u8ba1IMU\uff08\u52a0\u901f\u5ea6\u8ba1\u548c\u9640\u87ba\u4eea\uff09\u7684\u504f\u5dee\u3001\u91cd\u529b\u3001\u6bd4\u4f8b\u548c\u901f\u5ea6\u3002<\/p>\n<p id=\"29M81S9T\">\u901a\u8fc7KITTI\u548cEuRoC\u6570\u636e\u96c6\u7684\u6d4b\u8bd5\uff0cVINS 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id=\"29M81S9U\">2020\u5e74\uff0cCampos\u7b49\u4eba\uff082020\uff09\u63d0\u51fa\u4e86\u4e00\u79cd\u57fa\u4e8e\u7279\u5f81\u7684\u7d27\u5bc6\u96c6\u6210\u89c6\u89c9\u60ef\u6027SLAM\u7cfb\u7edfORB-SLAM3\u3002\u8fd9\u662f\u901a\u8fc7\u6700\u5927\u540e\u9a8c\uff08MAP\uff09\u7b97\u6cd5\u5b9e\u73b0\u7684\u66f4\u9ad8\u6548\u521d\u59cb\u5316\u8fc7\u7a0b\u7684\u6700\u65b0\u6210\u679c\uff0c\u5e76\u4e14\u5b83\u5b9e\u73b0\u4e86\u591a\u5730\u56fe\u529f\u80fd\uff0c\u8be5\u529f\u80fd\u4f9d\u8d56\u4e8e\u5177\u6709\u6539\u8fdb\u7684\u53ec\u56de\u7387\u7684\u65b0\u5730\u70b9\u8bc6\u522b\u65b9\u6cd5\u3002\u6b64\u5916\uff0c\u8be5\u7cfb\u7edf\u80fd\u591f\u4f7f\u7528\u5355\u76ee\u3001\u53cc\u76ee\u548cRGB-D\u76f8\u673a\u6267\u884c\u89c6\u89c9\u3001\u89c6\u89c9-\u60ef\u6027\u548c\u591a\u5730\u56feSLAM\u3002\u6237\u5916\u573a\u666f\u7684\u5b9e\u9a8c\u7ed3\u679c\u5982\u56fe6\uff08d\uff09\u6240\u793a\u3002<\/p>\n<p 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id=\"29M81SA0\">\u76ee\u524d\uff0c\u57fa\u4e8e\u4f18\u5316\u7684VI-SLAM\u65b9\u6cd5\u5df2\u6210\u4e3a\u4e3b\u6d41\u3002\u9664\u4e0a\u8ff0\u65b9\u6cd5\u5916\uff0c\u8fd8\u6709\u5176\u4ed6\u6700\u5148\u8fdb\u7684\u5de5\u4f5c\u53ef\u4ee5\u603b\u7ed3\u5982\u4e0b\uff0c\u4f46\u4e0d\u9650\u4e8eBASALT\u3001Kimera\u3001ICE-BA\u3001Maplab\u3001StructVIO\u3002<\/p>\n<p class=\"f_center\"><img decoding=\"async\" src=\"https:\/\/nimg.ws.126.net\/?url=http%3A%2F%2Fdingyue.ws.126.net%2F2023%2F1129%2F547b8586j00s4v2tw00eqc000u000osc.jpg&amp;thumbnail=660x2147483647&amp;quality=80&amp;type=jpg\" \/><\/p>\n<p id=\"29M81SA3\"><strong>\u6d4b\u8bd5\u548c\u8bc4\u4f30<\/strong><\/p>\n<p id=\"29M81SA4\">\u4e3a\u4e86\u76f4\u89c2\u5730\u7406\u89e3\u4e0a\u8ff0SLAM\u65b9\u6cd5\u7684\u5b9a\u4f4d\u6548\u679c\uff0c\u5728\u914d\u5907Intel Core i7-9700 CPU\u300116 GB 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class=\"f_center\"><img decoding=\"async\" src=\"https:\/\/nimg.ws.126.net\/?url=http%3A%2F%2Fdingyue.ws.126.net%2F2023%2F1129%2F606c0733j00s4v2tl007vd200u000htg00it00b5.jpg&amp;thumbnail=660x2147483647&amp;quality=80&amp;type=jpg\" \/><\/p>\n<p id=\"29M81SA7\">\u9700\u8981\u4f30\u8ba1\u7684\u521d\u59cb\u53c2\u6570\u5305\u62ec\u6bd4\u4f8b\u56e0\u5b50\u3001\u901f\u5ea6\u3001\u91cd\u529b\u4ee5\u53ca\u52a0\u901f\u5ea6\u8ba1\u548c\u9640\u87ba\u4eea\u7684\u504f\u5dee\u3002\u4e3a\u4e86\u4f7f\u6240\u6709\u53d8\u91cf\u90fd\u53ef\u89c2\u5bdf\u5230\uff0c\u7eafORB-SLAM\u7cfb\u7edf\u9700\u8981\u6267\u884c\u51e0\u79d2\u949f\u3002\u8be5\u65b9\u6cd5\u7684\u5177\u4f53\u6b65\u9aa4\u5982\u4e0b\uff1a\u9996\u5148\uff0c\u6267\u884c\u89c6\u89c9\u521d\u59cb\u5316\u8fc7\u7a0b\uff0c\u5305\u62ecORB\u63d0\u53d6\u3001\u5730\u56fe\u521d\u59cb\u5316\u548c\u521d\u59cb\u4f4d\u59ff\u4f30\u8ba1\u3002<\/p>\n<p 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id=\"29M81SB3\"><strong>LIDAR\u5f15\u5bfc\u65b9\u6cd5<\/strong><\/p>\n<p id=\"29M81SB4\">\u5728LIDAR\u5f15\u5bfc\u7684\u65b9\u6cd5\u65b9\u9762\uff0c\u5b83\u91c7\u7528\u89c6\u89c9\u4fe1\u606f\u6765\u63d0\u9ad8\u56de\u73af\u68c0\u6d4b\u7684\u51c6\u786e\u6027\uff0c\u6216\u8005\u5728\u59ff\u6001\u4f30\u8ba1\u9636\u6bb5\u6784\u5efaLIDAR\u7279\u5f81\u53d8\u6362\u8bef\u5dee\u548c\u89c6\u89c9\u91cd\u6295\u5f71\u8bef\u5dee\u7684\u8054\u5408\u4f18\u5316\u51fd\u6570\u6765\u63d0\u9ad8\u4f4d\u59ff\u4f30\u8ba1\u7684\u9c81\u68d2\u6027\uff0c\u4f8b\u5982Bai\u7b49\uff08Bai\u7b49\u4eba\uff0c2016\uff09\u4f7f\u7528\u5377\u79ef\u795e\u7ecf\u7f51\u7edc\u63d0\u53d6\u7279\u5f81\u4ee5\u5b9e\u73b0\u56de\u73af\u68c0\u6d4b\uff0c\u5e76\u901a\u8fc7\u8bbe\u7f6e\u5339\u914d\u8303\u56f4\u6709\u6548\u907f\u514d\u73af\u8def\u95ed\u5408\u573a\u666f\u7684\u5931\u914d\uff0c\u5e76\u901a\u8fc7\u7279\u5f81\u538b\u7f29\u786e\u4fddSLAM\u7cfb\u7edf\u7684\u5b9e\u65f6\u6027\u80fd\u3002<\/p>\n<p id=\"29M81SB5\">Liang\u7b49\u4eba\uff082016\uff09\u4f7f\u7528\u626b\u63cf\u5339\u914d\u548c\u57fa\u4e8eORB\u7279\u5f81\u7684\u56de\u73af\u68c0\u6d4b\u6280\u672f\u6765\u6539\u5584\u57fa\u4e8eLIDAR\u7684SLAM\u7684\u5f31\u6027\u80fd\u3002Zhu\u7b49\u4eba\uff082018\uff09\u63d0\u51fa\u4e86\u4e00\u79cd\u4f7f\u7528\u89c6\u89c9\u56de\u73af\u68c0\u6d4b\u76843D\u6fc0\u5149SLAM\u65b9\u6cd5\uff0c\u8be5\u65b9\u6cd5\u901a\u8fc7\u4f7f\u7528\u89c6\u89c9\u8bcd\u6c47\u888b\u7684\u5173\u952e\u5e27\u6280\u672f\u6765\u5b9e\u73b0\u56de\u8def\u68c0\u6d4b\u3002\u6b64\u5916\uff0c\u8fed\u4ee3\u6700\u8fd1\u70b9\uff08ICP\uff09\u65b9\u6cd5\uff08Arun\u7b49\u4eba\uff0c1987\uff09\u4e5f\u53ef\u4ee5\u901a\u8fc7\u6fc0\u5149\u96f7\u8fbe\u548c\u89c6\u89c9\u878d\u5408\u8fdb\u884c\u4f18\u5316\u3002Pande\u7b49\u4eba\uff082011\uff09\u4f7f\u7528\u89c6\u89c9\u4fe1\u606f\u6765\u4f30\u8ba1\u521a\u4f53\u53d8\u6362\uff0c\u7136\u540e\u63d0\u51fa\u4e86\u4e00\u4e2a\u5e7f\u4e49ICP\u6846\u67b6\u3002<\/p>\n<p id=\"29M81SB8\"><strong>\u89c6\u89c9-\u6fc0\u5149\u96f7\u8fbe\u76f8\u4e92\u6821\u6b63\u65b9\u6cd5<\/strong><\/p>\n<p id=\"29M81SB9\">\u4e0a\u8ff0\u7814\u7a76\u65b9\u6cd5\u5927\u591a\u4f7f\u7528\u5355\u4e00SLAM\u65b9\u6cd5\uff0c\u5e76\u4f7f\u7528\u53e6\u4e00\u4e2a\u4f20\u611f\u5668\u4f5c\u4e3a\u8f85\u52a9\u8bbe\u5907\u3002\u4e5f\u6709\u4e00\u4e9b\u7814\u7a76\u8bd5\u56fe\u5c06\u4e24\u79cdSLAM\u65b9\u6cd5\u7ed3\u5408\u8d77\u6765\uff0c\u4ee5\u76f8\u4e92\u7ea0\u6b63\u3002VLOAM\uff08Zhang\u548cSingh\uff0c2015\uff09\u662f\u89c6\u89c9\u6fc0\u5149\u96f7\u8fbe\u76f8\u4e92\u6821\u6b63\u7684\u7ecf\u5178\u5b9e\u65f6\u65b9\u6cd5\u3002\u8be5\u65b9\u6cd5\u4f7f\u7528\u6fc0\u5149\u96f7\u8fbe\u626b\u63cf\u5706\u5185\u7684\u89c6\u89c9\u91cc\u7a0b\u8ba1\u4f30\u8ba1\u7684\u76f8\u673a\u4f4d\u59ff\u6765\u6821\u6b63\u6fc0\u5149\u70b9\u4e91\u3002<\/p>\n<p id=\"29M81SBA\">\u70b9\u4e91\u8fd0\u52a8\u5931\u771f\uff0c\u4f7f\u7528\u5728\u76f8\u90bb\u626b\u63cf\u6821\u6b63\u4e4b\u540e\u4eceLIDAR\u70b9\u4e91\u4f30\u8ba1\u7684\u76f8\u5bf9\u4f4d\u59ff\u6765\u6821\u6b63\u89c6\u89c9\u4f30\u8ba1\u59ff\u6001\uff0c\u5e76\u5c06\u6821\u6b63\u540e\u7684\u70b9\u4e91\u6620\u5c04\u5230\u5c40\u90e8\u5730\u56fe\u4ee5\u8fdb\u884c\u540e\u7eed\u4f4d\u59ff\u4f18\u5316\u3002Seo\u548cChou\uff082019\uff09\u63d0\u51fa\u4e86\u4e00\u79cd\u5e76\u884cSLAM\u65b9\u6cd5\uff0c\u8be5\u65b9\u6cd5\u540c\u65f6\u4f7f\u7528\u6fc0\u5149\u96f7\u8fbeSLAM\u548c\u89c6\u89c9SLAM\uff0c\u5176\u7279\u5f81\u5728\u4e8e\u5728\u540e\u7aef\u4f7f\u7528\u4e24\u79cd\u6a21\u5f0f\u7684\u6d4b\u91cf\u6b8b\u5dee\u6765\u4f18\u5316\u540e\u7aef\u3002<\/p>\n<p id=\"29M81SBB\">Jiang\u7b49\u4eba\uff082019\uff09\u4f7f\u7528LIDAR\u7ea6\u675f\u548c\u7279\u5f81\u70b9\u7ea6\u675f\u6765\u5b9a\u4e49\u56fe\u4f18\u5316\u7684\u6210\u672c\u51fd\u6570\uff0c\u5e76\u6784\u5efa\u4e862.5D\u5730\u56fe\u4ee5\u52a0\u5feb\u56de\u73af\u68c0\u6d4b\u8fc7\u7a0b\u3002\u76ee\u524d\uff0c\u57fa\u4e8e\u89c6\u89c9LIDAR\u878d\u5408\u7684SLAM\u65b9\u6cd5\u7684\u7814\u7a76\u6210\u679c\u548c\u5b9e\u9645\u5e94\u7528\u6bd4\u89c6\u89c9\u60ef\u6027\u878d\u5408\u5c11\uff0c\u9700\u8981\u8fdb\u4e00\u6b65\u63a2\u7d22\u548c\u7814\u7a76\u3002<\/p>\n<p id=\"29M81SBD\"><strong>Visual-LIDAR-IMU SLAM<\/strong><\/p>\n<p id=\"29M81SBE\">\u76ee\u524d\uff0c\u591a\u4f20\u611f\u5668\u878d\u5408\u65b9\u6cd5\uff08\u5982\u89c6\u89c9-LIDAR-IMU\u878d\u5408SLAM\uff09\u88ab\u8ba4\u4e3a\u9002\u7528\u4e8eL3\u7ea7\u522b\u7684\u81ea\u52a8\u9a7e\u9a76\uff0c\u5e76\u5f15\u8d77\u4e86\u8bb8\u591a\u5b66\u8005\u7684\u5173\u6ce8\u3002\u57fa\u4e8e\u6fc0\u5149\u96f7\u8fbe\u7684SLAM\u7cfb\u7edf\u53ef\u4ee5\u83b7\u5f97\u5e7f\u6cdb\u7684\u73af\u5883\u7ec6\u8282\uff0c\u4f46\u5728\u7f3a\u4e4f\u7ed3\u6784\u4fe1\u606f\u7684\u573a\u666f\uff08\u5c24\u5176\u662f\u81ea\u52a8\u9a7e\u9a76\u573a\u666f\uff09\u4e2d\u5f88\u5bb9\u6613\u5931\u8d25\u3002<\/p>\n<p id=\"29M81SBF\">\u4f8b\u5982\uff0c\u957f\u957f\u7684\u8d70\u5eca\u6216\u5f00\u9614\u7684\u5e7f\u573a\u3002\u57fa\u4e8e\u89c6\u89c9\u7684\u65b9\u6cd5\u5728\u5177\u6709\u4e30\u5bcc\u7eb9\u7406\u4fe1\u606f\u7684\u573a\u666f\u4e2d\u8868\u73b0\u826f\u597d\uff0c\u5e76\u4e14\u5f88\u5bb9\u6613\u91cd\u65b0\u8bc6\u522b\u573a\u666f\uff08Shin\u7b49\u4eba\uff0c2020\uff09\u3002\u4f46\u5b83\u5bf9\u7167\u660e\u3001\u5feb\u901f\u79fb\u52a8\u548c\u521d\u59cb\u5316\u8fc7\u7a0b\u7684\u53d8\u5316\u975e\u5e38\u654f\u611f\u3002\u56e0\u6b64\uff0c\u6fc0\u5149\u96f7\u8fbe\u548c\u89c6\u89c9\u4f20\u611f\u5668\u7ecf\u5e38\u4e0eIMU\u878d\u5408\uff0c\u4ee5\u63d0\u9ad8\u7cfb\u7edf\u7684\u51c6\u786e\u6027\u548c\u9c81\u68d2\u6027\u3002IMU\u53ef\u4ee5\u6d88\u9664\u70b9\u4e91\u7684\u8fd0\u52a8\u5931\u771f\uff0c\u5e76\u5728\u7f3a\u4e4f\u7279\u5f81\u7684\u73af\u5883\u4e2d\u6301\u7eed\u4e00\u6bb5\u65f6\u95f4\uff0c\u540c\u65f6\u53ef\u4ee5\u5e2e\u52a9\u89c6\u89c9\u7cfb\u7edf\u6062\u590d\u5c3a\u5ea6\u4fe1\u606f\u3002<\/p>\n<p id=\"29M81SBG\">\u76ee\u524d\uff0c\u5173\u4e8e\u89c6\u89c9-LIDAR-IMU\u878d\u5408SLAM\u7684\u7814\u7a76\u6210\u679c\u5f88\u5c11\uff08Debeunne\u548cVivet\uff0c2020b\uff09\u3002\u4e00\u4e9b\u5b66\u8005\u5c1d\u8bd5\u4f7f\u7528\u89c6\u89c9-IMU\u878d\u5408\u7cfb\u7edf\uff08\u5373\u89c6\u89c9-\u60ef\u6027\u7cfb\u7edf\uff0cVIS\uff09\u548cLIDAR-IMU\u878d\u5408\u7cfb\u7edf\uff08\u5982LIDAR-\u60ef\u6027\u7cfb\u7edf\uff0cLIS\uff09\uff0c\u56e0\u4e3a\u8fd9\u4e24\u4e2a\u5355\u72ec\u7684\u6a21\u5757\u8fdb\u4e00\u6b65\u878d\u5408\uff0c\u4ee5\u5f62\u6210\u6027\u80fd\u66f4\u597d\u7684\u89c6\u89c9-LIDAR-IMU\u878d\u5408\u7cfb\u7edf\uff08LIDAR-\u89c6\u89c9-\u60ef\u6027\u7cfb\u7edf\uff0cLVIS\uff09\uff08Chen\u7b49\u4eba\uff0c2018\uff09\u3002 \u672c\u6587\u8fd8\u4ecb\u7ecd\u4e86\u6fc0\u5149-IMU\u878d\u5408SLAM\u65b9\u6cd5\u7684\u7814\u7a76\u60c5\u51b5\u3002<\/p>\n<p id=\"29M81SBH\">\u57fa\u4e8eLIDAR-IMU\u878d\u5408\u7684\u65b9\u6848\u5206\u4e3a\u4e24\u7c7b\uff1a\u677e\u8026\u5408\u548c\u7d27\u8026\u5408\u65b9\u6848\u3002\u5178\u578b\u7684\u677e\u8026\u5408\u65b9\u6848\u662fLOAM\uff0c\uff08\u56fe16\uff08a\uff09\uff09\u548cLeGO-LOMA\uff08Shan\u548cEnglot\uff0c2018\uff09\uff0c\u5176\u4e2dIMU\u6d4b\u91cf\u4fe1\u606f\u672a\u7528\u4e8e\u4f18\u5316\u6b65\u9aa4\u3002\u4e0e\u677e\u8026\u5408\u65b9\u6848\u76f8\u6bd4\uff0c\u7d27\u8026\u5408\u65b9\u6848\u5904\u4e8e\u5f00\u53d1\u9636\u6bb5\uff0c\u8fd9\u901a\u5e38\u5927\u5927\u63d0\u9ad8\u4e86\u7cfb\u7edf\u7684\u51c6\u786e\u6027\u548c\u9c81\u68d2\u6027\u3002<\/p>\n<p id=\"29M81SBI\">\u5728\u5f53\u524d\u516c\u5f00\u7684\u7d27\u5bc6\u8026\u5408\u7cfb\u7edf\u4e2d\uff0cLIO-Mapping\uff08Ye\u7b49\u4eba\uff0c2019\uff09\u4f7f\u7528VINS-Mono\u4e2d\u7684\u4f18\u5316\u8fc7\u7a0b\u6765\u6700\u5c0f\u5316IMU\u6b8b\u5dee\u548cLIDAR\u6d4b\u91cf\u8bef\u5dee\u3002\u7531\u4e8eLIO\u5efa\u56fe\u65e8\u5728\u4f18\u5316\u6240\u6709\u6d4b\u91cf\u503c\uff0c\u56e0\u6b64\u7cfb\u7edf\u7684\u5b9e\u65f6\u6548\u679c\u8f83\u5dee\u3002Zou\u7b49\u4eba\u63d0\u51fa\u4e86LIC\u878d\u5408\uff0c\u5982\u56fe16\uff08b\uff09\u6240\u793a\u3002\u5b83\u878d\u5408\u4e86\u70b9\u4e91\u4e2d\u63d0\u53d6\u7684LiDAR\u7279\u5f81\u548c\u7a00\u758f\u89c6\u89c9\u7279\u5f81\uff0c\u84dd\u8272\u548c\u7ea2\u8272\u7684LiDARR\u70b9\u5206\u522b\u662f\u5e73\u9762\u548c\u8fb9\u7f18\u7279\u5f81\uff0c\u4f30\u8ba1\u7684\u8f68\u8ff9\u7528\u7eff\u8272\u6807\u8bb0\u3002<\/p>\n<p id=\"29M81SBJ\">\u4e3a\u4e86\u8282\u7701\u8ba1\u7b97\u8d44\u6e90\uff0cLIO-SAM\uff08\u56fe16\uff08c\uff09\uff09\u5f15\u5165\u4e86\u6ed1\u52a8\u7a97\u53e3\u4f18\u5316\u7b97\u6cd5\uff0c\u4f7f\u7528\u56e0\u5b50\u56fe\u65b9\u6cd5\u8054\u5408\u4f18\u5316IMU\u548cLIDAR\u7684\u6d4b\u91cf\u7ea6\u675f\u3002LINS\uff08\u56fe16\uff08e\uff09\uff09\uff0c\u4e13\u95e8\u4e3a\u5730\u9762\u8f66\u8f86\u8bbe\u8ba1\uff0c\u4f7f\u7528\u57fa\u4e8e\u8bef\u5dee\u72b6\u6001\u7684\u5361\u5c14\u66fc\u6ee4\u6ce2\u5668\u8fed\u4ee3\u4fee\u6b63\u5f85\u4f30\u8ba1\u7684\u72b6\u6001\u91cf\u3002Zhang\u548cSingh\uff082018\uff09\u63d0\u51fa\u4e86\u4e00\u79cd\u7d27\u5bc6\u8026\u5408\u7684LVIO\uff08\u6fc0\u5149\u96f7\u8fbe\u89c6\u89c9\u60ef\u6027\u91cc\u7a0b\u8868\uff09\u7cfb\u7edf\uff0c\u8be5\u7cfb\u7edf\u4f7f\u7528\u4ece\u7c97\u5230\u7cbe\u7684\u72b6\u6001\u4f30\u8ba1\u65b9\u6cd5\uff0c\u4eceIMU\u9884\u6d4b\u5f00\u59cb\u8fdb\u884c\u7c97\u7565\u4f30\u8ba1\uff0c\u7136\u540e\u7531VIO\u548cLIO\u8fdb\u4e00\u6b65\u7ec6\u5316\u3002<\/p>\n<p id=\"29M81SBK\">\u76ee\u524d\uff0cLVIO\u7b97\u6cd5\u662fKITTI\u6570\u636e\u96c6\u4e0a\u6d4b\u8bd5\u7cbe\u5ea6\u6700\u9ad8\u7684\u7b97\u6cd5\u3002Zoo\u7b49\u4eba\uff082019\uff09\u57fa\u4e8eMSCKF\u6846\u67b6\u5b9e\u73b0\u4e86\u65f6\u7a7a\u591a\u4f20\u611f\u5668\u7684\u5728\u7ebf\u6821\u51c6\u3002\u4e0d\u5e78\u7684\u662f\uff0cZhang\u548cSingh\uff082018\uff09\u548cZoo\u7b49\u4eba\uff082019\uff09\u5b9e\u65bd\u7684\u4ee3\u7801\u76ee\u524d\u4e0d\u662f\u5f00\u6e90\u7684\u3002Shan\u7b49\u4eba\uff082021\uff09\u4e8e2021\u53d1\u5e03\u4e86\u6700\u65b0\u7684\u53ef\u89c6\u5316LIDAR-IMU\u7d27\u8026\u5408\u65b9\u6848\uff1aLVI-SAM\uff08\u56fe16\uff08d\uff09\uff09\u3002<\/p>\n<p id=\"29M81SBL\">\u4e3a\u4e86\u63d0\u9ad8\u7cfb\u7edf\u7684\u5b9e\u65f6\u6027\u80fd\uff0c\u5b83\u4f7f\u7528\u4e86\u5e73\u6ed1\u548c\u5efa\u56fe\u7b97\u6cd5\u3002\u4f5c\u8005\u5c06\u89c6\u89c9IMU\u548c\u6fc0\u5149\u96f7\u8fbeIMU\u89c6\u4e3a\u4e24\u4e2a\u72ec\u7acb\u7684\u5b50\u7cfb\u7edf\u3002\u5f53\u68c0\u6d4b\u5230\u8db3\u591f\u591a\u7684\u7279\u5f81\u70b9\u65f6\uff0c\u8fd9\u4e24\u4e2a\u5b50\u7cfb\u7edf\u5c06\u94fe\u63a5\u5728\u4e00\u8d77\u3002\u5f53\u5176\u4e2d\u4e00\u4e2a\u5b50\u7cfb\u7edf\u68c0\u6d4b\u4e0d\u5230\u65f6\uff0c\u8fd9\u4e24\u4e2a\u5b50\u7cfb\u7edf\u53ef\u4ee5\u72ec\u7acb\u5206\u79bb\uff0c\u56e0\u4e3a\u4e0d\u4f1a\u76f8\u4e92\u5f71\u54cd\u3002\u88685\u603b\u7ed3\u4e86\u8fd1\u5e74\u6765\u89c6\u89c9-\u60ef\u6027SLAM\u6846\u67b6\u4e2d\u7684\u4e3b\u8981\u7b97\u6cd5\u3002<\/p>\n<p class=\"f_center\"><img decoding=\"async\" src=\"https:\/\/nimg.ws.126.net\/?url=http%3A%2F%2Fdingyue.ws.126.net%2F2023%2F1129%2Ff3e34578j00s4v2tr00cud200u0008xg00it005l.jpg&amp;thumbnail=660x2147483647&amp;quality=80&amp;type=jpg\" \/><\/p>\n<p class=\"f_center\"><img decoding=\"async\" src=\"https:\/\/nimg.ws.126.net\/?url=http%3A%2F%2Fdingyue.ws.126.net%2F2023%2F1129%2F336fc6eaj00s4v2ts00ayd200u000e1g00it008s.jpg&amp;thumbnail=660x2147483647&amp;quality=80&amp;type=jpg\" \/><\/p>\n<p><strong>4 \u8ba8\u8bba<\/strong><\/p>\n<p 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id=\"29M81SC2\">\u57ce\u5e02\u9053\u8def\u573a\u666f\u7684\u81ea\u52a8\u9a7e\u9a76\u4ecd\u5904\u4e8eL2\u548cL3\u4e4b\u95f4\u7684\u6280\u672f\u653b\u5173\u9636\u6bb5\uff0c\u5176\u4e2d\u4e00\u4e2a\u5173\u952e\u95ee\u9898\u662f\u8f66\u8f86\u7684\u4f4d\u7f6e\u7cbe\u5ea6\u5f88\u7c97\u7cd9\u3002\u8bba\u6587\u89c2\u5bdf\u5230\uff0c\u9ad8\u8d28\u91cf\u7684\u81ea\u52a8\u9a7e\u9a76\u79bb\u4e0d\u5f00\u7cbe\u786e\u7684\u4f4d\u7f6e\uff0c\u5373\u4f7f\u5728\u672a\u5efa\u56fe\u7684\u73af\u5883\u4e2d\uff0c\u8f66\u8f86\u4e5f\u80fd\u5728\u5398\u7c73\u7ea7\u7684\u4f4d\u7f6e\u4e0a\u5bfc\u822a\u3002<\/p>\n<p 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