{"id":7404,"date":"2024-01-08T15:35:37","date_gmt":"2024-01-08T07:35:37","guid":{"rendered":"http:\/\/192.168.10.115\/?p=7404"},"modified":"2024-01-08T15:35:37","modified_gmt":"2024-01-08T07:35:37","slug":"2024-01-08-ple-slam%ef%bc%9a%e4%b8%80%e7%a7%8d%e5%9f%ba%e4%ba%8e%e7%82%b9%e7%ba%bf%e7%89%b9%e5%be%81%e5%92%8c%e9%ab%98%e6%95%88imu%e5%88%9d%e5%a7%8b%e5%8c%96%e7%9a%84%e8%a7%86%e8%a7%89%e6%83%af","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2024\/01\/08\/7404\/","title":{"rendered":"2024-01-08 PLE-SLAM\uff1a\u4e00\u79cd\u57fa\u4e8e\u70b9\u7ebf\u7279\u5f81\u548c\u9ad8\u6548IMU\u521d\u59cb\u5316\u7684\u89c6\u89c9\u60ef\u6027SLAM"},"content":{"rendered":"\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"681\" height=\"97\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/01\/\u56fe\u7247-22.png\" alt=\"\" class=\"wp-image-7405\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/01\/\u56fe\u7247-22.png 681w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/01\/\u56fe\u7247-22-300x43.png 300w\" sizes=\"(max-width: 681px) 100vw, 681px\" \/><\/figure>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u8bba\u6587\u94fe\u63a5\uff1ahttps:\/\/arxiv.org\/pdf\/2401.01081.pdf<\/li>\n<\/ul>\n\n\n\n<p>\u6458\u8981<\/p>\n\n\n\n<p>\u672c\u6587\u4ecb\u7ecd\u4e86PLE-SLAM\uff1a\u4e00\u79cd\u57fa\u4e8e\u70b9\u7ebf\u7279\u5f81\u548c\u9ad8\u6548IMU\u521d\u59cb\u5316\u7684\u89c6\u89c9\u60ef\u6027SLAM\u3002\u89c6\u89c9\u60ef\u6027SLAM\u5728AR\/VR\u3001\u65e0\u4eba\u63a7\u5236\u98de\u884c\u5668\u3001\u5de5\u4e1a\u673a\u5668\u4eba\u548c\u81ea\u52a8\u9a7e\u9a76\u7b49\u5404\u4e2a\u9886\u57df\u4e2d\u90fd\u662f\u81f3\u5173\u91cd\u8981\u7684\u3002\u76f8\u673a\u548c\u60ef\u6027\u6d4b\u91cf\u5355\u5143\uff08IMU\uff09\u7684\u878d\u5408\u53ef\u4ee5\u5f25\u8865\u4fe1\u53f7\u4f20\u611f\u5668\u7684\u7f3a\u9677\uff0c\u8fd9\u663e\u8457\u63d0\u9ad8\u4e86\u5728\u5177\u6709\u6311\u6218\u6027\u7684\u73af\u5883\u4e2d\u5b9a\u4f4d\u7684\u7cbe\u5ea6\u548c\u9c81\u68d2\u6027\u3002\u9c81\u68d2\u7684\u8ddf\u8e2a\u548c\u7cbe\u786e\u7684\u60ef\u6027\u53c2\u6570\u4f30\u8ba1\u662f\u7cfb\u7edf\u7a33\u5b9a\u8fd0\u884c\u7684\u57fa\u7840\u3002\u672c\u6587\u63d0\u51fa\u4e86PLE-SLAM\uff0c\u8fd9\u662f\u4e00\u79cd\u57fa\u4e8e\u70b9\u7ebf\u7279\u5f81\u548c\u9ad8\u6548IMU\u521d\u59cb\u5316\u7684\u5b8c\u5168\u7cbe\u786e\u4e14\u5b9e\u65f6\u7684\u89c6\u89c9\u60ef\u6027SLAM\u7b97\u6cd5\u3002\u9996\u5148\uff0c\u6211\u4eec\u5728\u57fa\u4e8e\u70b9\u7684\u89c6\u89c9\u60ef\u6027SLAM\u7cfb\u7edf\u4e2d\u5f15\u5165\u7ebf\u7279\u5f81\u3002\u6211\u4eec\u4f7f\u7528\u5e76\u884c\u8ba1\u7b97\u65b9\u6cd5\u6765\u63d0\u53d6\u7279\u5f81\u548c\u8ba1\u7b97\u63cf\u8ff0\u5b50\uff0c\u4ee5\u786e\u4fdd\u5b9e\u65f6\u6027\u80fd\u3002\u5176\u6b21\uff0c\u6240\u63d0\u51fa\u7684\u7cfb\u7edf\u4f7f\u7528\u65cb\u8f6c\u9884\u79ef\u5206\u4ee5\u53ca\u70b9\u548c\u7ebf\u89c2\u6d4b\u6765\u4f30\u8ba1\u9640\u87ba\u4eea\u504f\u7f6e\u3002\u52a0\u901f\u5ea6\u8ba1\u7684\u504f\u7f6e\u548c\u91cd\u529b\u65b9\u5411\u901a\u8fc7\u89e3\u6790\u65b9\u6cd5\u8fdb\u884c\u6c42\u89e3\u3002\u5728\u521d\u59cb\u5316\u4e4b\u540e\uff0c\u901a\u8fc7\u6700\u5927\u540e\u9a8c\uff08MAP\uff09\u4f30\u8ba1\u6765\u4f18\u5316\u6240\u6709\u60ef\u6027\u53c2\u6570\u3002\u6b64\u5916\uff0c\u6211\u4eec\u5f00\u542f\u4e00\u4e2a\u52a8\u6001\u7279\u5f81\u5254\u9664\u7ebf\u7a0b\u6765\u63d0\u9ad8\u5bf9\u52a8\u6001\u73af\u5883\u7684\u9002\u5e94\u6027\uff0c\u5e76\u4e14\u4f7f\u7528CNN\u3001\u8bcd\u888b\u548cGNN\u6765\u68c0\u6d4b\u56de\u73af\u548c\u5339\u914d\u7279\u5f81\u3002\u57fa\u4e8eDNN\u7684\u5339\u914d\u65b9\u6cd5\u5177\u6709\u826f\u597d\u7684\u5bbd\u57fa\u7ebf\u5339\u914d\u80fd\u529b\u548c\u5149\u7167\u9c81\u68d2\u6027\uff0c\u8fd9\u663e\u8457\u63d0\u9ad8\u4e86\u56de\u73af\u68c0\u6d4b\u7684\u53ec\u56de\u7387\u548c\u56de\u73af\u5e27\u95f4\u4f4d\u59ff\u4f30\u8ba1\u3002\u524d\u7aef\u548c\u540e\u7aef\u662f\u4e3a\u786c\u4ef6\u52a0\u901f\u800c\u8bbe\u8ba1\u7684\u3002\u5728\u516c\u5f00\u6570\u636e\u96c6\u4e0a\u8fdb\u884c\u5b9e\u9a8c\uff0c\u7ed3\u679c\u8868\u660e\uff0c\u6240\u63d0\u51fa\u7684\u7cfb\u7edf\u662f\u590d\u6742\u573a\u666f\u4e2d\u6700\u5148\u8fdb\u7684\u65b9\u6cd5\u4e4b\u4e00\u3002<\/p>\n\n\n\n<p>\u4e3b\u8981\u8d21\u732e<\/p>\n\n\n\n<p>\u672c\u6587\u7684\u4e3b\u8981\u8d21\u732e\u603b\u7ed3\u5982\u4e0b\uff1a<\/p>\n\n\n\n<p>1\uff09\u4e3a\u4e86\u63d0\u9ad8SLAM\u7cfb\u7edf\u5728\u5177\u6709\u6311\u6218\u6027\u7684\u73af\u5883\u4e2d\u7684\u7cbe\u5ea6\u548c\u9c81\u68d2\u6027\uff0c\u672c\u6587\u63d0\u51fa\u4e86\u4e00\u79cd\u57fa\u4e8e\u70b9\u7ebf\u7279\u5f81\u7684\u89c6\u89c9\u60ef\u6027SLAM\u3002\u6211\u4eec\u5408\u5e76\u6216\u8005\u6291\u5236\u4e0d\u7a33\u5b9a\u7684\u7ebf\u7279\u5f81\uff0c\u4ee5\u786e\u4fdd\u8ddf\u8e2a\u8fc7\u7a0b\u4e2d\u7ebf\u7279\u5f81\u7684\u7a33\u5b9a\u6027\u3002\u70b9\u548c\u7ebf\u7279\u5f81\u5728\u8ddf\u8e2a\u548c\u5149\u675f\u5e73\u5dee\u8fc7\u7a0b\u4e2d\u7d27\u8026\u5408\uff1b<\/p>\n\n\n\n<p>2\uff09\u672c\u6587\u63d0\u51fa\u4e86\u4e00\u79cd\u9ad8\u6548\u7684\u89c6\u89c9\u60ef\u6027\u521d\u59cb\u5316\u65b9\u6cd5\uff0c\u5176\u5305\u542b\u8fed\u4ee3\u548c\u89e3\u6790\u6c42\u89e3\u7684\u6df7\u5408\u8fc7\u7a0b\u3002\u901a\u8fc7\u57fa\u4e8e\u89c6\u89c9\u89c2\u6d4b\u7684\u70b9\u7ebf\u7eaf\u65cb\u8f6c\u89e3\u51b3\u65b9\u6848\u76f4\u63a5\u4f18\u5316\u9640\u87ba\u4eea\u504f\u7f6e\u3002\u52a0\u901f\u5ea6\u8ba1\u504f\u7f6e\u548c\u91cd\u529b\u65b9\u5411\u901a\u8fc7\u89e3\u6790\u89e3\u6765\u6c42\u89e3\uff0c\u8fd9\u6bd4\u8fed\u4ee3\u89e3\u66f4\u5feb\u3002\u6240\u6709\u60ef\u6027\u53c2\u6570\u901a\u8fc7\u540e\u7aef\u4e2d\u7684MAP\u8fdb\u884c\u4f18\u5316\uff1b<\/p>\n\n\n\n<p>3\uff09\u4e3a\u4e86\u66f4\u597d\u5730\u9002\u5e94\u590d\u6742\u573a\u666f\uff0c\u6211\u4eec\u5728\u672c\u6587\u7cfb\u7edf\u4e2d\u4f7f\u7528\u57fa\u4e8eDNN\u7684\u65b9\u6cd5\uff0c\u5176\u5305\u542b\u4e00\u4e2a\u52a8\u6001\u7279\u5f81\u5254\u9664\u6a21\u5757\u548c\u4e00\u4e2a\u6539\u8fdb\u7684\u57fa\u4e8eSuperPoint\u548cSuperGlue\u7684\u56de\u73af\u7ebf\u7a0b\u3002\u91c7\u7528\u57fa\u4e8eDNN\u7684\u65b9\u6cd5\u63d0\u9ad8\u4e86\u7cfb\u7edf\u5728\u590d\u6742\u73af\u5883\u4e2d\u957f\u671f\u8fd0\u884c\u7684\u7a33\u5b9a\u6027\u548c\u5b9a\u4f4d\u7cbe\u5ea6\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=\"691\" height=\"409\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/01\/\u56fe\u7247-23.png\" alt=\"\" class=\"wp-image-7406\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/01\/\u56fe\u7247-23.png 691w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/01\/\u56fe\u7247-23-300x178.png 300w\" sizes=\"(max-width: 691px) 100vw, 691px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"340\" height=\"178\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/01\/\u56fe\u7247-25.png\" alt=\"\" class=\"wp-image-7408\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/01\/\u56fe\u7247-25.png 340w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/01\/\u56fe\u7247-25-300x157.png 300w\" sizes=\"(max-width: 340px) 100vw, 340px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"340\" height=\"380\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/01\/\u56fe\u7247-24.png\" alt=\"\" class=\"wp-image-7407\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/01\/\u56fe\u7247-24.png 340w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/01\/\u56fe\u7247-24-268x300.png 268w\" sizes=\"(max-width: 340px) 100vw, 340px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"684\" height=\"305\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/01\/\u56fe\u7247-26.png\" alt=\"\" class=\"wp-image-7409\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/01\/\u56fe\u7247-26.png 684w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/01\/\u56fe\u7247-26-300x134.png 300w\" sizes=\"(max-width: 684px) 100vw, 684px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"680\" height=\"212\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/01\/\u56fe\u7247-27.png\" alt=\"\" class=\"wp-image-7410\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/01\/\u56fe\u7247-27.png 680w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/01\/\u56fe\u7247-27-300x94.png 300w\" sizes=\"(max-width: 680px) 100vw, 680px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"336\" height=\"462\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/01\/\u56fe\u7247-30.png\" alt=\"\" class=\"wp-image-7413\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/01\/\u56fe\u7247-30.png 336w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/01\/\u56fe\u7247-30-218x300.png 218w\" sizes=\"(max-width: 336px) 100vw, 336px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"344\" height=\"173\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/01\/\u56fe\u7247-29.png\" alt=\"\" class=\"wp-image-7412\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/01\/\u56fe\u7247-29.png 344w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/01\/\u56fe\u7247-29-300x151.png 300w\" sizes=\"(max-width: 344px) 100vw, 344px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"332\" height=\"133\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/01\/\u56fe\u7247-31.png\" alt=\"\" class=\"wp-image-7414\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/01\/\u56fe\u7247-31.png 332w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/01\/\u56fe\u7247-31-300x120.png 300w\" sizes=\"(max-width: 332px) 100vw, 332px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"690\" height=\"408\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/01\/\u56fe\u7247-32.png\" alt=\"\" class=\"wp-image-7415\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/01\/\u56fe\u7247-32.png 690w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/01\/\u56fe\u7247-32-300x177.png 300w\" sizes=\"(max-width: 690px) 100vw, 690px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"688\" height=\"102\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/01\/\u56fe\u7247-33.png\" alt=\"\" class=\"wp-image-7416\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/01\/\u56fe\u7247-33.png 688w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/01\/\u56fe\u7247-33-300x44.png 300w\" sizes=\"(max-width: 688px) 100vw, 688px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"344\" height=\"191\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/01\/\u56fe\u7247-34.png\" alt=\"\" class=\"wp-image-7417\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/01\/\u56fe\u7247-34.png 344w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/01\/\u56fe\u7247-34-300x167.png 300w\" sizes=\"(max-width: 344px) 100vw, 344px\" \/><\/figure>\n\n\n\n<p>\u603b\u7ed3<\/p>\n\n\n\n<p>\u672c\u6587\u63d0\u51fa\u4e86\u4e00\u79cd\u57fa\u4e8e\u70b9\u7ebf\u7279\u5f81\u7684\u7cbe\u786e\u53cc\u76ee\u89c6\u89c9\u60ef\u6027SLAM\u7cfb\u7edf\u3002\u8be5\u65b9\u6cd5\u5e76\u884c\u63d0\u53d6\u7ebf\u6bb5\u4ee5\u53ca\u70b9\u7279\u5f81\uff0c\u5e76\u4e14\u4f7f\u7528\u591a\u7ebf\u7a0b\u6280\u672f\u6765\u52a0\u901f\u91d1\u5b57\u5854\u56fe\u50cf\u548c\u7279\u5f81\u7f51\u7edc\u7684\u5904\u7406\u3002\u4e3a\u4e86\u5728\u8ddf\u8e2a\u8fc7\u7a0b\u4e2d\u7ef4\u6301\u7ebf\u6bb5\u7684\u7a33\u5b9a\u6027\uff0c\u6211\u4eec\u6839\u636e\u77ed\u7ebf\u6bb5\u7684\u503e\u659c\u5ea6\u548c\u5782\u76f4\u8ddd\u79bb\u5bf9\u5176\u8fdb\u884c\u5408\u5e76\u3002\u5728\u878d\u5408\u4e4b\u540e\uff0c\u5c06\u6ee4\u9664\u77ed\u4e8e\u9884\u5b9a\u4e49\u9608\u503c\u7684\u7ebf\u6bb5\u3002\u4e0e\u7eaf\u57fa\u4e8e\u70b9\u7684\u65b9\u6cd5\u76f8\u6bd4\uff0c\u7ebf\u7684\u5f15\u5165\u63d0\u9ad8\u4e86\u8ddf\u8e2a\u7a33\u5b9a\u6027\u548c\u7cbe\u5ea6\u3002\u672c\u6587\u8fd8\u63d0\u51fa\u4e86\u4e00\u79cd\u9ad8\u6548\u7684\u89c6\u89c9\u60ef\u6027\u521d\u59cb\u5316\u65b9\u6cd5\uff0c\u5206\u4e24\u6b65\u72ec\u7acb\u4f30\u8ba1\u9640\u87ba\u4eea\u504f\u7f6e\u548c\u52a0\u901f\u5ea6\u8ba1\u504f\u7f6e\u3002\u5728\u6ca1\u6709\u4f7f\u7528SfM\u7684\u60c5\u51b5\u4e0b\uff0c\u901a\u8fc7\u539f\u59cb\u70b9\u7ebf\u89c2\u6d4b\u548c\u60ef\u6027\u6d4b\u91cf\u76f4\u63a5\u4f18\u5316\u9640\u87ba\u4eea\u504f\u7f6e\u3002\u52a0\u901f\u5ea6\u8ba1\u504f\u7f6e\u548c\u91cd\u529b\u65b9\u5411\u901a\u8fc7\u89e3\u6790\u89e3\u6765\u6c42\u89e3\uff0c\u8fd9\u6bd4\u8fed\u4ee3\u89e3\u8fd0\u884c\u66f4\u5feb\u3002\u6240\u6709\u521d\u59cb\u7684\u72b6\u6001\u53d8\u91cf\u5c06\u5728\u540e\u7aef\u901a\u8fc7MAP\u8fdb\u884c\u4f18\u5316\u3002\u6211\u4eec\u8fd8\u5c06\u591a\u4e2a\u795e\u7ecf\u7f51\u7edc\u96c6\u6210\u5230\u7cfb\u7edf\u4e2d\uff0c\u4ee5\u83b7\u53d6\u8bed\u4e49\u4fe1\u606f\u548c\u5904\u7406\u5173\u952e\u5e27\uff0c\u8fd9\u663e\u8457\u5730\u63d0\u9ad8\u4e86\u5728\u5177\u6709\u6311\u6218\u6027\u7684\u73af\u5883\u4e2d\u7684\u9c81\u68d2\u6027\u548c\u5b9a\u4f4d\u7cbe\u5ea6\u3002\u5728\u516c\u5f00\u6570\u636e\u96c6\u4e0a\u7684\u5b9e\u9a8c\u7ed3\u679c\u9a8c\u8bc1\u4e86\u672c\u6587\u6240\u63d0\u51fa\u7b97\u6cd5\u7684\u6709\u6548\u6027\uff0c\u5e76\u4e14\u8bc1\u660e\u4e86\u672c\u6587\u65b9\u6cd5\u662f\u6700\u5148\u8fdb\u7684\u89c6\u89c9\u60ef\u6027SLAM\u7cfb\u7edf\u4e4b\u4e00\u3002<\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u6458\u8981 \u672c\u6587\u4ecb\u7ecd\u4e86PLE-SLAM\uff1a\u4e00\u79cd\u57fa\u4e8e\u70b9\u7ebf [&hellip;]<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[3,1],"tags":[],"class_list":["post-7404","post","type-post","status-publish","format-standard","hentry","category-technology-frontier","category-home"],"views":1,"_links":{"self":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/7404"}],"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=7404"}],"version-history":[{"count":1,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/7404\/revisions"}],"predecessor-version":[{"id":7418,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/7404\/revisions\/7418"}],"wp:attachment":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/media?parent=7404"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/categories?post=7404"},{"taxonomy":"post_tag","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/tags?post=7404"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}