{"id":9979,"date":"2024-05-06T16:47:14","date_gmt":"2024-05-06T08:47:14","guid":{"rendered":"http:\/\/192.168.10.115\/?p=9979"},"modified":"2024-05-06T16:47:31","modified_gmt":"2024-05-06T08:47:31","slug":"2024-05-06-bundledslam%ef%bc%9a%e4%b8%80%e7%a7%8d%e4%bd%bf%e7%94%a8%e5%a4%9a%e7%9b%b8%e6%9c%ba%e7%9a%84%e7%b2%be%e7%a1%ae%e8%a7%86%e8%a7%89slam%e7%b3%bb%e7%bb%9f-%e8%ae%ba%e6%96%87%e5%9b%be%e7%89%87","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2024\/05\/06\/9979\/","title":{"rendered":"2024-05-06 BundledSLAM\uff1a\u4e00\u79cd\u4f7f\u7528\u591a\u76f8\u673a\u7684\u7cbe\u786e\u89c6\u89c9SLAM\u7cfb\u7edf"},"content":{"rendered":"\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"1022\" height=\"238\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/05\/\u56fe\u7247-8.png\" alt=\"\" class=\"wp-image-9980\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/05\/\u56fe\u7247-8.png 1022w, 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\/><\/figure>\n\n\n\n<p>\u8bba\u6587\u94fe\u63a5\uff1ahttps:\/\/arxiv.org\/pdf\/2403.19886.pdf<\/p>\n\n\n\n<p>\u6458\u8981<\/p>\n\n\n\n<p>\u672c\u6587\u4ecb\u7ecd\u4e86BundledSLAM\uff1a\u4e00\u79cd\u4f7f\u7528\u591a\u76f8\u673a\u7684\u7cbe\u786e\u89c6\u89c9SLAM\u7cfb\u7edf\u3002\u591a\u76f8\u673aSLAM\u7cfb\u7edf\u63d0\u4f9b\u4e86\u5927\u91cf\u4f18\u52bf\uff0c\u4e3b\u8981\u6e90\u4e8e\u5b83\u4eec\u80fd\u591f\u878d\u5408\u6765\u81ea\u5bbd\u89c6\u89d2\u7684\u4fe1\u606f\uff0c\u4ece\u800c\u6539\u8fdb\u4e86\u9c81\u68d2\u6027\u5e76\u4e14\u63d0\u9ad8\u4e86\u5b9a\u4f4d\u7cbe\u5ea6\u3002\u672c\u9879\u7814\u7a76\u5bf9\u6700\u5148\u8fdb\u7684\u53cc\u76eeSLAM\u7cfb\u7edf\uff08ORB-SLAM2\uff09\u8fdb\u884c\u6269\u5c55\u548c\u4f18\u5316\uff0c\u76ee\u6807\u662f\u83b7\u5f97\u66f4\u9ad8\u7684\u7cbe\u5ea6\u3002\u4e3a\u4e86\u5b9e\u73b0\u8fd9\u4e00\u76ee\u6807\uff0c\u9996\u5148\u5c06\u6240\u6709\u76f8\u673a\u7684\u6d4b\u91cf\u6570\u636e\u6620\u5c04\u5230\u4e00\u4e2a\u79f0\u4e3aBundledFrame\u7684\u865a\u62df\u76f8\u673a\u4e2d\u3002\u8fd9\u4e2a\u865a\u62df\u76f8\u673a\u7ecf\u8fc7\u7cbe\u5fc3\u8bbe\u8ba1\uff0c\u80fd\u591f\u5b8c\u7f8e\u5730\u9002\u5e94\u591a\u76f8\u673a\u914d\u7f6e\uff0c\u6709\u52a9\u4e8e\u6709\u6548\u878d\u5408\u4ece\u591a\u4e2a\u76f8\u673a\u91c7\u96c6\u7684\u6570\u636e\u3002\u6b64\u5916\uff0c\u672c\u6587\u8fd8\u5728\u6346\u96c6\u8c03\u6574\uff08BA\uff09\u8fc7\u7a0b\u4e2d\u5229\u7528\u5916\u53c2\u6765\u5b9e\u73b0\u7cbe\u786e\u7684\u8f68\u8ff9\u4f30\u8ba1\u3002\u672c\u6587\u5bf9BA\u5728\u591a\u76f8\u673a\u573a\u666f\u4e2d\u7684\u4f5c\u7528\u8fdb\u884c\u5927\u91cf\u5206\u6790\uff0c\u6df1\u5165\u7814\u7a76\u5176\u5bf9\u8ddf\u8e2a\u3001\u5c40\u90e8\u5efa\u56fe\u548c\u5168\u5c40\u4f18\u5316\u7684\u5f71\u54cd\u3002\u672c\u6587\u7684\u5b9e\u9a8c\u8bc4\u4f30\u9700\u8981\u5bf9\u771f\u503c\u6570\u636e\u548c\u6700\u5148\u8fdb\u7684SLAM\u7cfb\u7edf\u8fdb\u884c\u5168\u9762\u6bd4\u8f83\u3002\u4e3a\u4e86\u4e25\u683c\u8bc4\u4f30\u7cfb\u7edf\u7684\u6027\u80fd\uff0c\u672c\u6587\u4f7f\u7528\u4e86EuRoC\u6570\u636e\u96c6\u3002\u8bc4\u4f30\u7ed3\u679c\u4e00\u81f4\u8868\u660e\uff0c\u4e0e\u73b0\u6709\u65b9\u6cd5\u76f8\u6bd4\uff0c\u672c\u6587\u7cfb\u7edf\u5177\u6709\u66f4\u4f18\u7684\u7cbe\u5ea6\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<strong>\u5168\u9762\u6027<\/strong>\uff1a\u672c\u6587\u4e3a\u591a\u76f8\u673a\u63d0\u4f9b\u4e86\u4e00\u4e2a\u5b8c\u6574\u7684SLAM\u7cfb\u7edf\uff0c\u5305\u62ec\u56de\u73af\u548c\u5730\u56fe\u590d\u7528\uff1b<\/p>\n\n\n\n<p>2\uff09<strong>\u53ef\u6269\u5c55\u6027<\/strong>\uff1a\u901a\u8fc7\u5229\u7528\u4e00\u79cd\u79f0\u4e3a\u201cBundled\u201d\u7684\u9ad8\u6548\u6570\u636e\u7ed3\u6784\uff0c\u5c06\u6765\u81ea\u591a\u76f8\u673a\u7684\u6570\u636e\u6574\u5408\u4e3a\u201cBundledFrame\u201d\u6216\u8005\u201cBundledKeyFrame\u201d\u3002\u8fd9\u6784\u6210\u4e86\u7cfb\u7edf\u6240\u6709\u64cd\u4f5c\u7684\u57fa\u77f3\uff0c\u5305\u62ec\u8ddf\u8e2a\u3001\u4f4d\u7f6e\u8bc6\u522b\u548c\u4f18\u5316\u3002\u672c\u6587\u7cfb\u7edf\u901a\u8fc7\u76f8\u673a\u4e4b\u95f4\u7684\u5916\u53c2\u5b9e\u73b0\u6346\u96c6\u8c03\u6574\uff08BA\uff09\uff0c\u6613\u4e8e\u6269\u5c55\u989d\u5916\u7684\u76f8\u673a\u3002<\/p>\n\n\n\n<p>\u8bba\u6587\u56fe\u7247\u548c\u8868\u683c<\/p>\n\n\n\n<figure 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