![](\"http:\/\/www.szryc.com\/uploads\/allimg\/181010\/0T00C018-0.png\")
<\/p>\n\n\t\u5f53\u4eca\u79d1\u6280\u53d1\u5c55\u901f\u5ea6\u98de\u5feb\uff0c\u60f3\u8ba9\u7528\u6237\u5728AR\/VR\u3001\u673a\u5668\u4eba\u3001\u65e0\u4eba\u673a<\/u>\u3001\u65e0\u4eba\u9a7e\u9a76<\/u>\u9886\u57df\u4f53\u9a8c\u52a0\u5f3a\uff0c\u8fd8\u662f\u9700\u8981\u66f4\u591a\u524d\u6cbf\u6280\u672f\u505a\u652f\u6301\uff0cSLAM\u5c31\u662f\u5176\u4e2d\u4e4b\u4e00\u3002\u5b9e\u9645\u4e0a\uff0c\u6709\u4eba\u5c31\u66fe\u6253\u6bd4\u65b9\uff0c\u82e5\u662f\u624b\u673a\u79bb\u5f00\u4e86WIFI\u548c\u6570\u636e\u7f51\u7edc\uff0c\u5c31\u50cf\u65e0\u4eba\u8f66\u548c\u673a\u5668\u4eba\uff0c\u79bb\u5f00\u4e86SLAM\u4e00\u6837\u3002<\/p>\n
\n\t<\/p>\n
\n\t\u4ec0\u4e48\u662fSLAM<\/p>\n
\n\tSLAM\u7684\u82f1\u6587\u5168\u79f0\u662f Simultaneous Localizati<\/u>on and Mappi<\/u>ng\uff0c\u4e2d\u6587\u79f0\u4f5c\u300c\u540c\u65f6\u5b9a\u4f4d\u4e0e\u5730\u56fe\u521b\u5efa\u300d\u3002<\/p>\n
\n\tSLAM\u8bd5\u56fe\u89e3\u51b3\u8fd9\u6837\u7684\u95ee\u9898\uff1a\u4e00\u4e2a\u673a\u5668\u4eba\u5728\u672a\u77e5\u7684\u73af\u5883\u4e2d\u8fd0\u52a8\uff0c\u5982\u4f55\u901a\u8fc7\u5bf9\u73af\u5883\u7684\u89c2\u6d4b\u786e\u5b9a\u81ea\u8eab\u7684\u8fd0\u52a8\u8f68\u8ff9\uff0c\u540c\u65f6\u6784\u5efa\u51fa\u73af\u5883\u7684\u5730\u56fe\u3002SLAM\u6280\u672f\u6b63\u662f\u4e3a\u4e86\u5b9e\u73b0\u8fd9\u4e2a\u76ee\u6807\u6d89\u53ca\u5230\u7684\u8bf8\u591a\u6280\u672f\u7684\u603b\u548c\u3002<\/p>\n
\n\tSLAM\u901a\u5e38\u5305\u62ec\u5982\u4e0b\u51e0\u4e2a\u90e8\u5206\uff0c\u7279\u5f81\u63d0\u53d6\uff0c\u6570\u636e\u5173\u8054\uff0c\u72b6\u6001\u4f30\u8ba1\uff0c\u72b6\u6001\u66f4\u65b0\u4ee5\u53ca\u7279\u5f81\u66f4\u65b0\u7b49\u3002<\/p>\n
\n\t\u6211\u4eec\u5f15\u7528\u77e5\u4e4e\u4e0a\u7684\u4e00\u4e2a\u89e3\u91ca\u628a\u5b83\u7ffb\u8bd1\u6210\u5927\u767d\u8bdd\uff0c\u5c31\u662f\uff1a<\/p>\n
\n\t\u5f53\u4f60\u6765\u5230\u4e00\u4e2a\u964c\u751f\u7684\u73af\u5883\u65f6\uff0c\u4e3a\u4e86\u8fc5\u901f\u719f\u6089\u73af\u5883\u5e76\u5b8c\u6210\u81ea\u5df1\u7684\u4efb\u52a1\uff08\u6bd4\u5982\u627e\u996d\u9986\uff0c\u627e\u65c5\u9986\uff09\uff0c\u4f60\u5e94\u5f53\u505a\u4ee5\u4e0b\u4e8b\u60c5\uff1a<\/p>\n
\n\ta.\u7528\u773c\u775b\u89c2\u5bdf\u5468\u56f4\u5730\u6807\u5982\u5efa\u7b51\u3001\u5927\u6811\u3001\u82b1\u575b\u7b49\uff0c\u5e76\u8bb0\u4f4f\u4ed6\u4eec\u7684\u7279\u5f81\uff08\u7279\u5f81\u63d0\u53d6\uff09<\/p>\n
\n\tb.\u5728\u81ea\u5df1\u7684\u8111\u6d77\u4e2d\uff0c\u6839\u636e\u53cc\u76ee\u83b7\u5f97\u7684\u4fe1\u606f\uff0c\u628a\u7279\u5f81\u5730\u6807\u5728\u4e09\u7ef4\u5730\u56fe\u4e2d\u91cd\u5efa\u51fa\u6765\uff08\u4e09\u7ef4\u91cd\u5efa\uff09<\/p>\n
\n\tc.\u5f53\u81ea\u5df1\u5728\u884c\u8d70\u65f6\uff0c\u4e0d\u65ad\u83b7\u53d6\u65b0\u7684\u7279\u5f81\u5730\u6807\uff0c\u5e76\u4e14\u6821\u6b63\u81ea\u5df1\u5934\u8111\u4e2d\u7684\u5730\u56fe\u6a21\u578b\uff08bundle adjustment or EKF\uff09<\/p>\n
\n\td.\u6839\u636e\u81ea\u5df1\u524d\u4e00\u6bb5\u65f6\u95f4\u884c\u8d70\u83b7\u5f97\u7684\u7279\u5f81\u5730\u6807\uff0c\u786e\u5b9a\u81ea\u5df1\u7684\u4f4d\u7f6e\uff08trajectory\uff09<\/p>\n
\n\te.\u5f53\u65e0\u610f\u4e2d\u8d70\u4e86\u5f88\u957f\u4e00\u6bb5\u8def\u7684\u65f6\u5019\uff0c\u548c\u8111\u6d77\u4e2d\u7684\u4ee5\u5f80\u5730\u6807\u8fdb\u884c\u5339\u914d\uff0c\u770b\u4e00\u770b\u662f\u5426\u8d70\u56de\u4e86\u539f\u8def\uff08loop-closure dete<\/u>ction\uff09\u3002\u5b9e\u9645\u8fd9\u4e00\u6b65\u53ef\u6709\u53ef\u65e0\u3002<\/p>\n
\n\t\u4ee5\u4e0a\u4e94\u6b65\u662f\u540c\u65f6\u8fdb\u884c\u7684\uff0c\u56e0\u6b64\u662fsimultaneous localization and mapping.<\/p>\n
\n\t\u4f20\u611f\u5668<\/u>\u4e0e\u89c6\u89c9SLAM\u6846\u67b6<\/p>\n
\n\t![](\"http:\/\/www.szryc.com\/uploads\/allimg\/181010\/0T0061O3-1.png\")
<\/p>\n
\n\t\u667a\u80fd\u673a\u5668\u4eba\u6280\u672f\u5728\u4e16\u754c\u8303\u56f4\u5185\u5f97\u5230\u4e86\u5927\u529b\u53d1\u5c55\u3002\u4eba\u4eec\u81f4\u529b\u4e8e\u628a\u673a\u5668\u4eba\u7528\u4e8e\u5b9e\u9645\u573a\u666f\uff1a\u4ece\u5ba4\u5185\u7684\u79fb\u52a8\u673a\u5668\u4eba\uff0c\u5230\u91ce\u5916\u7684\u81ea\u52a8\u9a7e\u9a76<\/u>\u6c7d\u8f66\u3001\u7a7a\u4e2d\u7684\u65e0\u4eba\u673a\u3001\u6c34\u4e0b\u73af\u5883\u7684\u63a2\u6d4b\u673a\u5668\u4eba\u7b49\u7b49\uff0c\u5747\u5f97\u5230\u4e86\u5e7f\u6cdb\u7684\u5173\u6ce8\u3002<\/p>\n
\n\t\u6ca1\u6709\u51c6\u786e\u7684\u5b9a\u4f4d\u4e0e\u5730\u56fe\uff0c\u626b\u5730\u673a\u5c31\u65e0\u6cd5\u5728\u623f\u95f4\u81ea\u4e3b\u5730\u79fb\u52a8\uff0c\u53ea\u80fd\u968f\u673a\u4e71\u78b0\uff1b\u5bb6\u7528\u673a\u5668\u4eba\u5c31\u65e0\u6cd5\u6309\u7167\u6307\u4ee4\u51c6\u786e\u5230\u8fbe\u67d0\u4e2a\u623f\u95f4\u3002\u6b64\u5916\uff0c\u5728\u865a\u62df\u73b0\u5b9e\uff08Virtual Reality\uff09\u548c\u589e\u5f3a\u73b0\u5b9e\u6280\u672f\uff08Argument Reality\uff09\u4e2d\uff0c\u6ca1\u6709SLAM\u63d0\u4f9b\u7684\u5b9a\u4f4d\uff0c\u7528\u6237\u5c31\u65e0\u6cd5\u5728\u573a\u666f\u4e2d\u6f2b\u6e38\u3002\u5728\u8fd9\u51e0\u4e2a\u5e94\u7528\u9886\u57df\u4e2d\uff0c\u4eba\u4eec\u9700\u8981SLAM\u5411\u5e94\u7528\u5c42\u63d0\u4f9b\u7a7a\u95f4\u5b9a\u4f4d\u7684\u4fe1\u606f\uff0c\u5e76\u5229\u7528SLAM\u7684\u5730\u56fe\u5b8c\u6210\u5730\u56fe\u7684\u6784\u5efa\u6216\u573a\u666f\u7684\u751f\u6210\u3002<\/p>\n
\n\t\u5f53\u6211\u4eec\u8c08\u8bbaSLAM\u65f6\uff0c\u6700\u5148\u95ee\u5230\u7684\u5c31\u662f\u4f20\u611f\u5668\u3002SLAM\u7684\u5b9e\u73b0\u65b9\u5f0f\u4e0e\u96be\u5ea6\u548c\u4f20\u611f\u5668\u7684\u5f62\u5f0f\u4e0e\u5b89\u88c5\u65b9\u5f0f\u5bc6\u5207\u76f8\u5173\u3002\u4f20\u611f\u5668\u5206\u4e3a\u6fc0\u5149\u548c\u89c6\u89c9\u4e24\u5927\u7c7b\uff0c\u89c6\u89c9\u4e0b\u9762\u53c8\u5206\u4e09\u5c0f\u65b9\u5411\u3002\u4e0b\u9762\u5c31\u5e26\u4f60\u8ba4\u8bc6\u8fd9\u4e2a\u5e9e\u5927\u5bb6\u65cf\u4e2d\u6bcf\u4e2a\u6210\u5458\u7684\u7279\u6027\u3002<\/p>\n
\n\t1. \u4f20\u611f\u5668\u4e4b\u6fc0\u5149\u96f7\u8fbe<\/p>\n
\n\t\u6fc0\u5149\u96f7\u8fbe\u662f\u6700\u53e4\u8001\uff0c\u7814\u7a76\u4e5f\u6700\u591a\u7684SLAM\u4f20\u611f\u5668\u3002\u5b83\u4eec\u63d0\u4f9b\u673a\u5668\u4eba\u672c\u4f53\u4e0e\u5468\u56f4\u73af\u5883\u969c\u788d\u7269\u95f4\u7684\u8ddd\u79bb\u4fe1\u606f\u3002\u5e38\u89c1\u7684\u6fc0\u5149\u96f7\u8fbe\uff0c\u4f8b\u5982SICK\u3001Velodyne\u8fd8\u6709\u6211\u4eec\u56fd\u4ea7\u7684rplidar\u7b49\uff0c\u90fd\u53ef\u4ee5\u62ff\u6765\u505aSLAM\u3002\u6fc0\u5149\u96f7\u8fbe\u80fd\u4ee5\u5f88\u9ad8\u7cbe\u5ea6\u6d4b\u51fa\u673a\u5668\u4eba\u5468\u56f4\u969c\u788d\u70b9\u7684\u89d2\u5ea6\u548c\u8ddd\u79bb\uff0c\u4ece\u800c\u5f88\u65b9\u4fbf\u5730\u5b9e\u73b0SLAM\u3001\u907f\u969c\u7b49\u529f\u80fd\u3002<\/p>\n
\n\t\u4e3b\u6d41\u76842D\u6fc0\u5149\u4f20\u611f\u5668\u626b\u63cf\u4e00\u4e2a\u5e73\u9762\u5185\u7684\u969c\u788d\u7269\uff0c\u9002\u7528\u4e8e\u5e73\u9762\u8fd0\u52a8\u7684\u673a\u5668\u4eba\uff08\u5982\u626b\u5730\u673a\u7b49\uff09\u8fdb\u884c\u5b9a\u4f4d\uff0c\u5e76\u5efa\u7acb2D\u7684\u6805\u683c\u5730\u56fe\u3002\u8fd9\u79cd\u5730\u56fe\u5728\u673a\u5668\u4eba\u5bfc\u822a\u4e2d\u5f88\u5b9e\u7528\uff0c\u56e0\u4e3a\u591a\u6570\u673a\u5668\u4eba\u8fd8\u4e0d\u80fd\u5728\u7a7a\u4e2d\u98de\u884c\u6216\u8d70\u4e0a\u53f0\u9636\uff0c\u4ecd\u9650\u4e8e\u5730\u9762\u3002\u5728SLAM\u7814\u7a76\u53f2\u4e0a\uff0c\u65e9\u671fSLAM\u7814\u7a76\u51e0\u4e4e\u5168\u4f7f\u7528\u6fc0\u5149\u4f20\u611f\u5668\u8fdb\u884c\u5efa\u56fe\uff0c\u4e14\u591a\u6570\u4f7f\u7528\u6ee4\u6ce2\u5668<\/u>\u65b9\u6cd5\uff0c\u4f8b\u5982\u5361\u5c14\u66fc\u6ee4\u6ce2\u5668\u4e0e\u7c92\u5b50\u6ee4\u6ce2\u5668\u7b49\u3002<\/p>\n
\n\t\u6fc0\u5149\u7684\u4f18\u70b9\u662f\u7cbe\u5ea6\u5f88\u9ad8\uff0c\u901f\u5ea6\u5feb\uff0c\u8ba1\u7b97\u91cf\u4e5f\u4e0d\u5927\uff0c\u5bb9\u6613\u505a\u6210\u5b9e\u65f6SLAM\u3002\u7f3a\u70b9\u662f\u4ef7\u683c\u6602\u8d35\uff0c\u4e00\u53f0\u6fc0\u5149\u52a8\u8f84\u4e0a\u4e07\u5143\uff0c\u4f1a\u5927\u5e45\u63d0\u9ad8\u4e00\u4e2a\u673a\u5668\u4eba\u7684\u6210\u672c\u3002\u56e0\u6b64\u6fc0\u5149\u7684\u7814\u7a76\u4e3b\u8981\u96c6\u4e2d\u4e8e\u5982\u4f55\u964d\u4f4e\u4f20\u611f\u5668\u7684\u6210\u672c\u4e0a\u3002\u5bf9\u5e94\u4e8e\u6fc0\u5149\u7684EKF-SLAM\u7406\u8bba\u65b9\u9762\uff0c\u56e0\u4e3a\u7814\u7a76\u8f83\u65e9\uff0c\u73b0\u5728\u5df2\u7ecf\u975e\u5e38\u6210\u719f\u3002\u4e0e\u6b64\u540c\u65f6\uff0c\u4eba\u4eec\u4e5f\u5bf9EKF-SLAM\u7684\u7f3a\u70b9\u4e5f\u6709\u8f83\u6e05\u695a\u7684\u8ba4\u8bc6\uff0c\u4f8b\u5982\u4e0d\u6613\u8868\u793a\u56de\u73af\u3001\u7ebf\u6027\u5316\u8bef\u5dee\u4e25\u91cd\u3001\u5fc5\u987b\u7ef4\u62a4\u8def\u6807\u70b9\u7684\u534f\u65b9\u5dee\u77e9\u9635\uff0c\u5bfc\u81f4\u4e00\u5b9a\u7684\u7a7a\u95f4\u4e0e\u65f6\u95f4\u7684\u5f00\u9500\uff0c\u7b49\u7b49\u3002<\/p>\n
\n\t2.\u3001\u4f20\u611f\u5668\u4e4b\u89c6\u89c9SLAM<\/p>\n
\n\t\u89c6\u89c9SLAM\u662f21\u4e16\u7eaaSLAM\u7814\u7a76\u70ed\u70b9\u4e4b\u4e00\uff0c\u4e00\u65b9\u9762\u662f\u56e0\u4e3a\u89c6\u89c9\u5341\u5206\u76f4\u89c2\uff0c\u4e0d\u514d\u4ee4\u4eba\u89c9\u5f97\uff1a\u4e3a\u4f55\u4eba\u80fd\u901a\u8fc7\u773c\u775b\u8ba4\u8def\uff0c\u673a\u5668\u4eba\u5c31\u4e0d\u884c\u5462\uff1f\u53e6\u4e00\u65b9\u9762\uff0c\u7531\u4e8eCPU<\/u>\u3001GPU<\/u>\u5904\u7406\u901f\u5ea6\u7684\u589e\u957f\uff0c\u4f7f\u5f97\u8bb8\u591a\u4ee5\u524d\u88ab\u8ba4\u4e3a\u65e0\u6cd5\u5b9e\u65f6\u5316\u7684\u89c6\u89c9\u7b97\u6cd5\uff0c\u5f97\u4ee5\u572810 Hz\u4ee5\u4e0a\u7684\u901f\u5ea6\u8fd0\u884c\u3002\u786c\u4ef6\u7684\u63d0\u9ad8\u4e5f\u4fc3\u8fdb\u4e86\u89c6\u89c9SLAM\u7684\u53d1\u5c55\u3002<\/p>\n
\n\t\u4ee5\u4f20\u611f\u5668\u800c\u8bba\uff0c\u89c6\u89c9SLAM\u7814\u7a76\u4e3b\u8981\u5206\u4e3a\u4e09\u5927\u7c7b\uff1a\u5355\u76ee\u3001\u53cc\u76ee\uff08\u6216\u591a\u76ee\uff09\u3001RGBD\u3002\u5176\u4f59\u8fd8\u6709\u9c7c\u773c\u3001\u5168\u666f\u7b49\u7279\u6b8a\u76f8\u673a\uff0c\u4f46\u662f\u5728\u7814\u7a76\u548c\u4ea7\u54c1\u4e2d\u90fd\u5c5e\u4e8e\u5c11\u6570\u3002\u6b64\u5916\uff0c\u7ed3\u5408\u60ef\u6027\u6d4b\u91cf\u5668\u4ef6\uff08Inertial Measurement Unit\uff0cIMU\uff09\u7684\u89c6\u89c9SLAM\u4e5f\u662f\u73b0\u5728\u7814\u7a76\u70ed\u70b9\u4e4b\u4e00\u3002\u5c31\u5b9e\u73b0\u96be\u5ea6\u800c\u8a00\uff0c\u6211\u4eec\u53ef\u4ee5\u5927\u81f4\u5c06\u8fd9\u4e09\u7c7b\u65b9\u6cd5\u6392\u5e8f\u4e3a\uff1a\u5355\u76ee\u89c6\u89c9>\u53cc\u76ee\u89c6\u89c9>RGBD\u3002<\/p>\n
\n\t![](\"http:\/\/www.szryc.com\/uploads\/allimg\/181010\/0T00B446-2.jpg\")
<\/p>\n
\n\t\u5355\u76ee\u76f8\u673aSLAM\u7b80\u79f0MonoSLAM\uff0c\u5373\u53ea\u7528\u4e00\u652f\u6444\u50cf\u5934\u5c31\u53ef\u4ee5\u5b8c\u6210SLAM\u3002\u8fd9\u6837\u505a\u7684\u597d\u5904\u662f\u4f20\u611f\u5668\u7279\u522b\u7684\u7b80\u5355\u3001\u6210\u672c\u7279\u522b\u7684\u4f4e\uff0c\u6240\u4ee5\u5355\u76eeSLAM\u975e\u5e38\u53d7\u7814\u7a76\u8005\u5173\u6ce8\u3002\u76f8\u6bd4\u522b\u7684\u89c6\u89c9\u4f20\u611f\u5668\uff0c\u5355\u76ee\u6709\u4e2a\u6700\u5927\u7684\u95ee\u9898\uff0c\u5c31\u662f\u6ca1\u6cd5\u786e\u5207\u5730\u5f97\u5230\u6df1\u5ea6\u3002\u8fd9\u662f\u4e00\u628a\u53cc\u5203\u5251\u3002<\/p>\n
\n\t\u4e00\u65b9\u9762\uff0c\u7531\u4e8e\u7edd\u5bf9\u6df1\u5ea6\u672a\u77e5\uff0c\u5355\u76eeSLAM\u6ca1\u6cd5\u5f97\u5230\u673a\u5668\u4eba\u8fd0\u52a8\u8f68\u8ff9\u4ee5\u53ca\u5730\u56fe\u7684\u771f\u5b9e\u5927\u5c0f\u3002\u76f4\u89c2\u5730\u8bf4\uff0c\u5982\u679c\u628a\u8f68\u8ff9\u548c\u623f\u95f4\u540c\u65f6\u653e\u5927\u4e24\u500d\uff0c\u5355\u76ee\u770b\u5230\u7684\u50cf\u662f\u4e00\u6837\u7684\u3002\u56e0\u6b64\uff0c\u5355\u76eeSLAM\u53ea\u80fd\u4f30\u8ba1\u4e00\u4e2a\u76f8\u5bf9\u6df1\u5ea6\uff0c\u5728\u76f8\u4f3c\u53d8\u6362\u7a7a\u95f4Sim(3)\u4e2d\u6c42\u89e3\uff0c\u800c\u975e\u4f20\u7edf\u7684\u6b27\u6c0f\u7a7a\u95f4SE(3)\u3002\u5982\u679c\u6211\u4eec\u5fc5\u987b\u8981\u5728SE(3)\u4e2d\u6c42\u89e3\uff0c\u5219\u9700\u8981\u7528\u4e00\u4e9b\u5916\u90e8\u7684\u624b\u6bb5\uff0c\u4f8b\u5982GPS\u3001IMU\u7b49\u4f20\u611f\u5668\uff0c\u786e\u5b9a\u8f68\u8ff9\u4e0e\u5730\u56fe\u7684\u5c3a\u5ea6\uff08Scale\uff09\u3002<\/p>\n
\n\t\u53e6\u4e00\u65b9\u9762\uff0c\u5355\u76ee\u76f8\u673a\u65e0\u6cd5\u4f9d\u9760\u4e00\u5f20\u56fe\u50cf\u83b7\u5f97\u56fe\u50cf\u4e2d\u7269\u4f53\u79bb\u81ea\u5df1\u7684\u76f8\u5bf9\u8ddd\u79bb\u3002\u4e3a\u4e86\u4f30\u8ba1\u8fd9\u4e2a\u76f8\u5bf9\u6df1\u5ea6\uff0c\u5355\u76eeSLAM\u8981\u9760\u8fd0\u52a8\u4e2d\u7684\u4e09\u89d2\u6d4b\u91cf\uff0c\u6765\u6c42\u89e3\u76f8\u673a\u8fd0\u52a8\u5e76\u4f30\u8ba1\u50cf\u7d20\u7684\u7a7a\u95f4\u4f4d\u7f6e\u3002\u5373\u662f\u8bf4\uff0c\u5b83\u7684\u8f68\u8ff9\u548c\u5730\u56fe\uff0c\u53ea\u6709\u5728\u76f8\u673a\u8fd0\u52a8\u4e4b\u540e\u624d\u80fd\u6536\u655b\uff0c\u5982\u679c\u76f8\u673a\u4e0d\u8fdb\u884c\u8fd0\u52a8\u65f6\uff0c\u5c31\u65e0\u6cd5\u5f97\u77e5\u50cf\u7d20\u7684\u4f4d\u7f6e\u3002\u540c\u65f6\uff0c\u76f8\u673a\u8fd0\u52a8\u8fd8\u4e0d\u80fd\u662f\u7eaf\u7cb9\u7684\u65cb\u8f6c\uff0c\u8fd9\u5c31\u7ed9\u5355\u76eeSLAM\u7684\u5e94\u7528\u5e26\u6765\u4e86\u4e00\u4e9b\u9ebb\u70e6\uff0c\u597d\u5728\u65e5\u5e38\u4f7f\u7528SLAM\u65f6\uff0c\u76f8\u673a\u90fd\u4f1a\u53d1\u751f\u65cb\u8f6c\u548c\u5e73\u79fb\u3002\u4e0d\u8fc7\uff0c\u65e0\u6cd5\u786e\u5b9a\u6df1\u5ea6\u540c\u65f6\u4e5f\u6709\u4e00\u4e2a\u597d\u5904\uff1a\u5b83\u4f7f\u5f97\u5355\u76eeSLAM\u4e0d\u53d7\u73af\u5883\u5927\u5c0f\u7684\u5f71\u54cd\uff0c\u56e0\u6b64\u65e2\u53ef\u4ee5\u7528\u4e8e\u5ba4\u5185\uff0c\u53c8\u53ef\u4ee5\u7528\u4e8e\u5ba4\u5916\u3002<\/p>\n
\n\t![](\"http:\/\/www.szryc.com\/uploads\/allimg\/181010\/0T00CP7-3.jpg\")
<\/p>\n
\n\t\u76f8\u6bd4\u4e8e\u5355\u76ee\uff0c\u53cc\u76ee\u76f8\u673a\u901a\u8fc7\u591a\u4e2a\u76f8\u673a\u4e4b\u95f4\u7684\u57fa\u7ebf\uff0c\u4f30\u8ba1\u7a7a\u95f4\u70b9\u7684\u4f4d\u7f6e\u3002\u4e0e\u5355\u76ee\u4e0d\u540c\u7684\u662f\uff0c\u7acb\u4f53\u89c6\u89c9\u65e2\u53ef\u4ee5\u5728\u8fd0\u52a8\u65f6\u4f30\u8ba1\u6df1\u5ea6\uff0c\u4ea6\u53ef\u5728\u9759\u6b62\u65f6\u4f30\u8ba1\uff0c\u6d88\u9664\u4e86\u5355\u76ee\u89c6\u89c9\u7684\u8bb8\u591a\u9ebb\u70e6\u3002\u4e0d\u8fc7\uff0c\u53cc\u76ee\u6216\u591a\u76ee\u76f8\u673a\u914d\u7f6e\u4e0e\u6807\u5b9a\u5747\u8f83\u4e3a\u590d\u6742\uff0c\u5176\u6df1\u5ea6\u91cf\u7a0b\u4e5f\u968f\u53cc\u76ee\u7684\u57fa\u7ebf\u4e0e\u5206\u8fa8\u7387\u9650\u5236\u3002\u901a\u8fc7\u53cc\u76ee\u56fe\u50cf\u8ba1\u7b97\u50cf\u7d20\u8ddd\u79bb\uff0c\u662f\u4e00\u4ef6\u975e\u5e38\u6d88\u8017\u8ba1\u7b97\u91cf\u7684\u4e8b\u60c5\uff0c\u73b0\u5728\u591a\u7528FPGA<\/u>\u6765\u5b8c\u6210\u3002<\/p>\n
\n\t![](\"http:\/\/www.szryc.com\/uploads\/allimg\/181010\/0T0061519-4.jpg\")
<\/p>\n
\n\tRGBD\u76f8\u673a\u662f2010\u5e74\u5de6\u53f3\u5f00\u59cb\u5174\u8d77\u7684\u4e00\u79cd\u76f8\u673a\uff0c\u5b83\u6700\u5927\u7684\u7279\u70b9\u662f\u53ef\u4ee5\u901a\u8fc7\u7ea2\u5916\u7ed3\u6784\u5149\u6216Time-of-Flight\u539f\u7406\uff0c\u76f4\u63a5\u6d4b\u51fa\u56fe\u50cf\u4e2d\u5404\u50cf\u7d20\u79bb\u76f8\u673a\u7684\u8ddd\u79bb\u3002\u56e0\u6b64\uff0c\u5b83\u6bd4\u4f20\u7edf\u76f8\u673a\u80fd\u591f\u63d0\u4f9b\u66f4\u4e30\u5bcc\u7684\u4fe1\u606f\uff0c\u4e5f\u4e0d\u5fc5\u50cf\u5355\u76ee\u6216\u53cc\u76ee\u90a3\u6837\u8d39\u65f6\u8d39\u529b\u5730\u8ba1\u7b97\u6df1\u5ea6\u3002\u76ee\u524d\u5e38\u7528\u7684RGBD\u76f8\u673a\u5305\u62ecKinect\/Kinect V2\u3001Xtion\u7b49\u3002\u4e0d\u8fc7\uff0c\u73b0\u5728\u591a\u6570RGBD\u76f8\u673a\u8fd8\u5b58\u5728\u6d4b\u91cf\u8303\u56f4\u7a84\u3001\u566a\u58f0\u5927\u3001\u89c6\u91ce\u5c0f\u7b49\u8bf8\u591a\u95ee\u9898\u3002\u51fa\u4e8e\u91cf\u7a0b\u7684\u9650\u5236\uff0c\u4e3b\u8981\u7528\u4e8e\u5ba4\u5185SLAM\u3002<\/p>\n
\n\tSLAM\u6846\u67b6\u4e4b\u89c6\u89c9\u91cc\u7a0b\u8ba1<\/p>\n
\n\t\u89c6\u89c9SLAM\u51e0\u4e4e\u90fd\u6709\u4e00\u4e2a\u57fa\u672c\u7684\u6846\u67b6 \u3002\u4e00\u4e2aSLAM\u7cfb\u7edf\u5206\u4e3a\u56db\u4e2a\u6a21\u5757\uff08\u9664\u53bb\u4f20\u611f\u5668\u6570\u636e\u8bfb\u53d6\uff09\uff1aVO\u3001\u540e\u7aef\u3001\u5efa\u56fe\u3001\u56de\u73af\u68c0\u6d4b\u3002<\/p>\n
\n\t![](\"http:\/\/www.szryc.com\/uploads\/allimg\/181010\/0T00C959-5.png\")
<\/p>\n
\n\tVisual Odometry\uff0c\u5373\u89c6\u89c9\u91cc\u7a0b\u8ba1\u3002\u5b83\u4f30\u8ba1\u4e24\u4e2a\u65f6\u523b\u673a\u5668\u4eba\u7684\u76f8\u5bf9\u8fd0\u52a8\uff08Ego-motion\uff09\u3002\u5728\u6fc0\u5149SLAM\u4e2d\uff0c\u6211\u4eec\u53ef\u4ee5\u5c06\u5f53\u524d\u7684\u89c2\u6d4b\u4e0e\u5168\u5c40\u5730\u56fe\u8fdb\u884c\u5339\u914d\uff0c\u7528ICP\u6c42\u89e3\u76f8\u5bf9\u8fd0\u52a8\u3002\u800c\u5bf9\u4e8e\u76f8\u673a\uff0c\u5b83\u5728\u6b27\u6c0f\u7a7a\u95f4\u91cc\u8fd0\u52a8\uff0c\u6211\u4eec\u7ecf\u5e38\u9700\u8981\u4f30\u8ba1\u4e00\u4e2a\u4e09\u7ef4\u7a7a\u95f4\u7684\u53d8\u6362\u77e9\u9635——SE3\u6216Sim3\uff08\u5355\u76ee\u60c5\u5f62\uff09\u3002\u6c42\u89e3\u8fd9\u4e2a\u77e9\u9635\u662fVO\u7684\u6838\u5fc3\u95ee\u9898\uff0c\u800c\u6c42\u89e3\u7684\u601d\u8def\uff0c\u5219\u5206\u4e3a\u57fa\u4e8e\u7279\u5f81\u7684\u601d\u8def\u548c\u4e0d\u4f7f\u7528\u7279\u5f81\u7684\u76f4\u63a5\u65b9\u6cd5\u3002<\/p>\n
\n\t![](\"http:\/\/www.szryc.com\/uploads\/allimg\/181010\/0T00B931-6.jpg\")
<\/p>\n
\n\t\u7279\u5f81\u5339\u914d<\/p>\n
\n\t\u57fa\u4e8e\u7279\u5f81\u7684\u65b9\u6cd5\u662f\u76ee\u524dVO\u7684\u4e3b\u6d41\u65b9\u5f0f\u3002\u5bf9\u4e8e\u4e24\u5e45\u56fe\u50cf\uff0c\u9996\u5148\u63d0\u53d6\u56fe\u50cf\u4e2d\u7684\u7279\u5f81\uff0c\u7136\u540e\u6839\u636e\u4e24\u5e45\u56fe\u7684\u7279\u5f81\u5339\u914d\uff0c\u8ba1\u7b97\u76f8\u673a\u7684\u53d8\u6362\u77e9\u9635\u3002\u6700\u5e38\u7528\u7684\u662f\u70b9\u7279\u5f81\uff0c\u4f8b\u5982Harris\u89d2\u70b9\u3001SIFT\u3001SURF\u3001ORB\u3002\u5982\u679c\u4f7f\u7528RGBD\u76f8\u673a\uff0c\u5229\u7528\u5df2\u77e5\u6df1\u5ea6\u7684\u7279\u5f81\u70b9\uff0c\u5c31\u53ef\u4ee5\u76f4\u63a5\u4f30\u8ba1\u76f8\u673a\u7684\u8fd0\u52a8\u3002\u7ed9\u5b9a\u4e00\u7ec4\u7279\u5f81\u70b9\u4ee5\u53ca\u5b83\u4eec\u4e4b\u95f4\u7684\u914d\u5bf9\u5173\u7cfb\uff0c\u6c42\u89e3\u76f8\u673a\u7684\u59ff\u6001\uff0c\u8be5\u95ee\u9898\u88ab\u79f0\u4e3aPnP\u95ee\u9898\uff08Pers<\/u>pective-N-Point\uff09\u3002PnP\u53ef\u4ee5\u7528\u975e\u7ebf\u6027\u4f18\u5316\u6765\u6c42\u89e3\uff0c\u5f97\u5230\u4e24\u4e2a\u5e27\u4e4b\u95f4\u7684\u4f4d\u7f6e\u5173\u7cfb\u3002<\/p>\n
\n\t\u4e0d\u4f7f\u7528\u7279\u5f81\u8fdb\u884cVO\u7684\u65b9\u6cd5\u79f0\u4e3a\u76f4\u63a5\u6cd5\u3002\u5b83\u76f4\u63a5\u628a\u56fe\u50cf\u4e2d\u6240\u6709\u50cf\u7d20\u5199\u8fdb\u4e00\u4e2a\u4f4d\u59ff\u4f30\u8ba1\u65b9\u7a0b\uff0c\u6c42\u51fa\u5e27\u95f4\u76f8\u5bf9\u8fd0\u52a8\u3002\u4f8b\u5982\uff0c\u5728RGBD SLAM\u4e2d\uff0c\u53ef\u4ee5\u7528ICP\uff08Iterative Closest Point\uff0c\u8fed\u4ee3\u6700\u8fd1\u90bb\uff09\u6c42\u89e3\u4e24\u4e2a\u70b9\u4e91\u4e4b\u95f4\u7684\u53d8\u6362\u77e9\u9635\u3002\u5bf9\u4e8e\u5355\u76eeSLAM\uff0c\u6211\u4eec\u53ef\u4ee5\u5339\u914d\u4e24\u4e2a\u56fe\u50cf\u95f4\u7684\u50cf\u7d20\uff0c\u6216\u8005\u50cf\u56fe\u50cf\u4e0e\u4e00\u4e2a\u5168\u5c40\u7684\u6a21\u578b\u76f8\u5339\u914d\u3002\u76f4\u63a5\u6cd5\u7684\u5178\u578b\u4f8b\u5b50\u662fSVO\u548cLSD-SLAM\u3002\u5b83\u4eec\u5728\u5355\u76eeSLAM\u4e2d\u4f7f\u7528\u76f4\u63a5\u6cd5\uff0c\u53d6\u5f97\u4e86\u8f83\u597d\u7684\u6548\u679c\u3002\u76ee\u524d\u770b\u6765\uff0c\u76f4\u63a5\u6cd5\u6bd4\u7279\u5f81VO\u9700\u8981\u66f4\u591a\u7684\u8ba1\u7b97\u91cf\uff0c\u800c\u4e14\u5bf9\u76f8\u673a\u7684\u56fe\u50cf\u91c7\u96c6\u901f\u7387\u4e5f\u6709\u8f83\u9ad8\u7684\u8981\u6c42\u3002<\/p>\n
\n\tSLAM\u6846\u67b6\u4e4b\u540e\u7aef<\/p>\n
\n\t\u5728VO\u4f30\u8ba1\u5e27\u95f4\u8fd0\u52a8\u4e4b\u540e\uff0c\u7406\u8bba\u4e0a\u5c31\u53ef\u4ee5\u5f97\u5230\u673a\u5668\u4eba\u7684\u8f68\u8ff9\u4e86\u3002\u7136\u800c\u89c6\u89c9\u91cc\u7a0b\u8ba1\u548c\u666e\u901a\u7684\u91cc\u7a0b\u8ba1\u4e00\u6837\uff0c\u5b58\u5728\u7d2f\u79ef\u8bef\u5dee\u7684\u95ee\u9898\uff08Drift\uff09\u3002\u76f4\u89c2\u5730\u8bf4\uff0c\u5728t1\u548ct2\u65f6\u523b\uff0c\u4f30\u8ba1\u7684\u8f6c\u89d2\u6bd4\u771f\u5b9e\u8f6c\u89d2\u5c111\u5ea6\uff0c\u90a3\u4e48\u4e4b\u540e\u7684\u8f68\u8ff9\u5c31\u5168\u90e8\u5c11\u6389\u4e86\u8fd91\u5ea6\u3002\u65f6\u95f4\u4e00\u957f\uff0c\u5efa\u51fa\u7684\u623f\u95f4\u53ef\u80fd\u7531\u65b9\u5f62\u53d8\u6210\u4e86\u591a\u8fb9\u5f62\uff0c\u4f30\u8ba1\u51fa\u7684\u8f68\u8ff9\u4ea6\u4f1a\u6709\u4e25\u91cd\u7684\u6f02\u79fb\u3002\u6240\u4ee5\u5728SLAM\u4e2d\uff0c\u8fd8\u4f1a\u628a\u5e27\u95f4\u76f8\u5bf9\u8fd0\u52a8\u653e\u5230\u4e00\u4e2a\u79f0\u4e4b\u4e3a\u540e\u7aef\u7684\u7a0b\u5e8f\u4e2d\u8fdb\u884c\u52a0\u5de5\u5904\u7406\u3002<\/p>\n
\n\t\u65e9\u671f\u7684SLAM\u540e\u7aef\u4f7f\u7528\u6ee4\u6ce2\u5668\u65b9\u5f0f\u3002\u7531\u4e8e\u90a3\u65f6\u8fd8\u672a\u5f62\u6210\u524d\u540e\u7aef\u7684\u6982\u5ff5\uff0c\u6709\u65f6\u4eba\u4eec\u4e5f\u79f0\u7814\u7a76\u6ee4\u6ce2\u5668\u7684\u5de5\u4f5c\u4e3a\u7814\u7a76SLAM\u3002SLAM\u6700\u65e9\u7684\u63d0\u51fa\u8005R. Smith\u7b49\u4eba\u5c31\u628aSLAM\u5efa\u6784\u6210\u4e86\u4e00\u4e2aEKF\uff08Extended Kalman Filter\uff0c\u6269\u5c55\u5361\u5c14\u66fc\u6ee4\u6ce2\uff09\u95ee\u9898\u3002\u4ed6\u4eec\u6309\u7167EKF\u7684\u5f62\u5f0f\uff0c\u628aSLAM\u5199\u6210\u4e86\u4e00\u4e2a\u8fd0\u52a8\u65b9\u7a0b\u548c\u89c2\u6d4b\u65b9\u5f0f\uff0c\u4ee5\u6700\u5c0f\u5316\u8fd9\u4e24\u4e2a\u65b9\u7a0b\u4e2d\u7684\u566a\u58f0\u9879\u4e3a\u76ee\u7684\uff0c\u4f7f\u7528\u5178\u578b\u7684\u6ee4\u6ce2\u5668\u601d\u8def\u6765\u89e3\u51b3SLAM\u95ee\u9898\u3002<\/p>\n
\n\t\u5f53\u4e00\u4e2a\u5e27\u5230\u8fbe\u65f6\uff0c\u6211\u4eec\u80fd\uff08\u901a\u8fc7\u7801\u76d8\u6216IMU\uff09\u6d4b\u51fa\u8be5\u5e27\u4e0e\u4e0a\u4e00\u5e27\u7684\u76f8\u5bf9\u8fd0\u52a8\uff0c\u4f46\u662f\u5b58\u5728\u566a\u58f0\uff0c\u662f\u4e3a\u8fd0\u52a8\u65b9\u7a0b\u3002\u540c\u65f6\uff0c\u901a\u8fc7\u4f20\u611f\u5668\u5bf9\u8def\u6807\u7684\u89c2\u6d4b\uff0c\u6211\u4eec\u6d4b\u51fa\u4e86\u673a\u5668\u4eba\u4e0e\u8def\u6807\u95f4\u7684\u4f4d\u59ff\u5173\u7cfb\uff0c\u540c\u6837\u4e5f\u5e26\u6709\u566a\u58f0\uff0c\u662f\u4e3a\u89c2\u6d4b\u65b9\u7a0b\u3002\u901a\u8fc7\u8fd9\u4e24\u8005\u4fe1\u606f\uff0c\u6211\u4eec\u53ef\u4ee5\u9884\u6d4b\u51fa\u673a\u5668\u4eba\u5728\u5f53\u524d\u65f6\u523b\u7684\u4f4d\u7f6e\u3002\u540c\u6837\uff0c\u6839\u636e\u4ee5\u5f80\u8bb0\u5f55\u7684\u8def\u6807\u70b9\uff0c\u6211\u4eec\u53c8\u80fd\u8ba1\u7b97\u51fa\u4e00\u4e2a\u5361\u5c14\u66fc\u589e\u76ca\uff0c\u4ee5\u8865\u507f\u566a\u58f0\u7684\u5f71\u54cd\u3002\u4e8e\u662f\uff0c\u5bf9\u5f53\u524d\u5e27\u548c\u8def\u6807\u7684\u4f30\u8ba1\uff0c\u5373\u662f\u8fd9\u4e2a\u9884\u6d4b\u4e0e\u66f4\u65b0\u7684\u4e0d\u65ad\u8fed\u4ee3\u7684\u8fc7\u7a0b\u3002<\/p>\n
\n\t21\u4e16\u7eaa\u4e4b\u540e\uff0cSLAM\u7814\u7a76\u8005\u5f00\u59cb\u501f\u9274SfM\uff08Structure from<\/u> Motion\uff09\u95ee\u9898\u4e2d\u7684\u65b9\u6cd5\uff0c\u628a\u6346\u96c6\u4f18\u5316\uff08Bundle Adjustment\uff09\u5f15\u5165\u5230SLAM\u4e2d\u6765\u3002\u4f18\u5316\u65b9\u6cd5\u548c\u6ee4\u6ce2\u5668\u65b9\u6cd5\u6709\u6839\u672c\u4e0a\u7684\u4e0d\u540c\u3002\u5b83\u5e76\u4e0d\u662f\u4e00\u4e2a\u8fed\u4ee3\u7684\u8fc7\u7a0b\uff0c\u800c\u662f\u8003\u8651\u8fc7\u53bb\u6240\u6709\u5e27\u4e2d\u7684\u4fe1\u606f\u3002\u901a\u8fc7\u4f18\u5316\uff0c\u628a\u8bef\u5dee\u5e73\u5747\u5206\u5230\u6bcf\u4e00\u6b21\u89c2\u6d4b\u5f53\u4e2d\u3002\u5728SLAM\u4e2d\u7684Bundle Adjustment\u5e38\u5e38\u4ee5\u56fe\u7684\u5f62\u5f0f\u7ed9\u51fa\uff0c\u6240\u4ee5\u7814\u7a76\u8005\u4ea6\u79f0\u4e4b\u4e3a\u56fe\u4f18\u5316\u65b9\u6cd5\uff08Graph Optimization\uff09\u3002\u56fe\u4f18\u5316\u53ef\u4ee5\u76f4\u89c2\u5730\u8868\u793a\u4f18\u5316\u95ee\u9898\uff0c\u53ef\u5229\u7528\u7a00\u758f\u4ee3\u6570\u8fdb\u884c\u5feb\u901f\u7684\u6c42\u89e3\uff0c\u8868\u8fbe\u56de\u73af\u4e5f\u5341\u5206\u7684\u65b9\u4fbf\uff0c\u56e0\u800c\u6210\u4e3a\u73b0\u4eca\u89c6\u89c9SLAM\u4e2d\u4e3b\u6d41\u7684\u4f18\u5316\u65b9\u6cd5\u3002<\/p>\n
\n\tSLAM\u6846\u67b6\u4e4b\u56de\u73af\u68c0\u6d4b<\/p>\n
\n\t\u56de\u73af\u68c0\u6d4b\uff0c\u53c8\u79f0\u95ed\u73af\u68c0\u6d4b\uff08Loop closure detection\uff09\uff0c\u662f\u6307\u673a\u5668\u4eba\u8bc6\u522b\u66fe\u5230\u8fbe\u573a\u666f\u7684\u80fd\u529b\u3002\u5982\u679c\u68c0\u6d4b\u6210\u529f\uff0c\u53ef\u4ee5\u663e\u8457\u5730\u51cf\u5c0f\u7d2f\u79ef\u8bef\u5dee\u3002\u56de\u73af\u68c0\u6d4b\u5b9e\u8d28\u4e0a\u662f\u4e00\u79cd\u68c0\u6d4b\u89c2\u6d4b\u6570\u636e\u76f8\u4f3c\u6027\u7684\u7b97\u6cd5\u3002\u5bf9\u4e8e\u89c6\u89c9SLAM\uff0c\u591a\u6570\u7cfb\u7edf\u91c7\u7528\u76ee\u524d\u8f83\u4e3a\u6210\u719f\u7684\u8bcd\u888b\u6a21\u578b\uff08Bag-of-Words, BoW\uff09\u3002\u8bcd\u888b\u6a21\u578b\u628a\u56fe\u50cf\u4e2d\u7684\u89c6\u89c9\u7279\u5f81\uff08SIFT, SURF\u7b49\uff09\u805a\u7c7b\uff0c\u7136\u540e\u5efa\u7acb\u8bcd\u5178\uff0c\u8fdb\u800c\u5bfb\u627e\u6bcf\u4e2a\u56fe\u4e2d\u542b\u6709\u54ea\u4e9b“\u5355\u8bcd”\uff08word\uff09\u3002\u4e5f\u6709\u7814\u7a76\u8005\u4f7f\u7528\u4f20\u7edf\u6a21\u5f0f\u8bc6\u522b\u7684\u65b9\u6cd5\uff0c\u628a\u56de\u73af\u68c0\u6d4b\u5efa\u6784\u6210\u4e00\u4e2a\u5206\u7c7b\u95ee\u9898\uff0c\u8bad\u7ec3\u5206\u7c7b\u5668\u8fdb\u884c\u5206\u7c7b\u3002<\/p>\n
\n\t\u56de\u73af\u68c0\u6d4b\u7684\u96be\u70b9\u5728\u4e8e\uff0c\u9519\u8bef\u7684\u68c0\u6d4b\u7ed3\u679c\u53ef\u80fd\u4f7f\u5730\u56fe\u53d8\u5f97\u5f88\u7cdf\u7cd5\u3002\u8fd9\u4e9b\u9519\u8bef\u5206\u4e3a\u4e24\u7c7b\uff1a1.\u5047\u9633\u6027\uff08False Positive\uff09\uff0c\u53c8\u79f0\u611f\u77e5\u504f\u5dee\uff08Perceptual Aliasing\uff09\uff0c\u6307\u4e8b\u5b9e\u4e0a\u4e0d\u540c\u7684\u573a\u666f\u88ab\u5f53\u6210\u4e86\u540c\u4e00\u4e2a\uff1b2.\u5047\u9634\u6027\uff08False Negative\uff09\uff0c\u53c8\u79f0\u611f\u77e5\u53d8\u5f02\uff08Perceptual Variability\uff09\uff0c\u6307\u4e8b\u5b9e\u4e0a\u540c\u4e00\u4e2a\u573a\u666f\u88ab\u5f53\u6210\u4e86\u4e24\u4e2a\u3002\u611f\u77e5\u504f\u5dee\u4f1a\u4e25\u91cd\u5730\u5f71\u54cd\u5730\u56fe\u7684\u7ed3\u679c\uff0c\u901a\u5e38\u662f\u5e0c\u671b\u907f\u514d\u7684\u3002\u4e00\u4e2a\u597d\u7684\u56de\u73af\u68c0\u6d4b\u7b97\u6cd5\u5e94\u8be5\u80fd\u68c0\u6d4b\u51fa\u5c3d\u91cf\u591a\u7684\u771f\u5b9e\u56de\u73af\u3002\u7814\u7a76\u8005\u5e38\u5e38\u7528\u51c6\u786e\u7387-\u53ec\u56de\u7387\u66f2\u7ebf\u6765\u8bc4\u4ef7\u4e00\u4e2a\u68c0\u6d4b\u7b97\u6cd5\u7684\u597d\u574f\u3002<\/p>\n
\n\tSLAM\u6280\u672f\u76ee\u524d\u4e3b\u8981\u5e94\u7528\u5728\u54ea\u4e9b\u9886\u57df\uff1f<\/p>\n
\n\t\u76ee\u524d\uff0cSLAM\uff08\u5373\u65f6\u5b9a\u4f4d\u4e0e\u5730\u56fe\u6784\u5efa\uff09\u6280\u672f\u4e3b\u8981\u88ab\u8fd0\u7528\u4e8e\u65e0\u4eba\u673a\u3001\u65e0\u4eba\u9a7e\u9a76\u3001\u673a\u5668\u4eba\u3001AR\u3001\u667a\u80fd\u5bb6\u5c45\u7b49\u9886\u57df\uff0c\u4ece\u5404\u5e94\u7528\u573a\u666f\u5165\u624b\uff0c\u4fc3\u8fdb\u6d88\u8d39\u5347\u7ea7\u3002<\/p>\n
\n\t\u673a\u5668\u4eba<\/p>\n
\n\t\u6fc0\u5149+SLAM\u662f\u76ee\u524d\u673a\u5668\u4eba\u81ea\u4e3b\u5b9a\u4f4d\u5bfc\u822a\u6240\u4f7f\u7528\u7684\u4e3b\u6d41\u6280\u672f\u3002\u6fc0\u5149\u6d4b\u8ddd\u76f8\u6bd4\u8f83\u4e8e\u56fe\u50cf\u548c\u8d85\u58f0\u6ce2\u6d4b\u8ddd\uff0c\u5177\u6709\u826f\u597d\u7684\u6307\u5411\u6027\u548c\u9ad8\u5ea6\u805a\u7126\u6027\uff0c\u662f\u76ee\u524d\u6700\u53ef\u9760\u3001\u7a33\u5b9a\u7684\u5b9a\u4f4d\u6280\u672f\u3002\u6fc0\u5149\u96f7\u8fbe\u4f20\u611f\u5668\u83b7\u53d6\u5730\u56fe\u4fe1\u606f\uff0c\u6784\u5efa\u5730\u56fe\uff0c\u5b9e\u73b0\u8def\u5f84\u89c4\u5212\u4e0e\u5bfc\u822a\u3002<\/p>\n
\n\t![](\"http:\/\/www.szryc.com\/uploads\/allimg\/181010\/0T0063D6-7.jpg\")
<\/p>\n
\n\t\u65e0\u4eba\u9a7e\u9a76<\/p>\n
\n\t\u65e0\u4eba\u9a7e\u9a76\u662f\u8fd1\u5e74\u6765\u8f83\u706b\u7684\u8bdd\u9898\u4e4b\u4e00\uff0cGoogle\u3001Uber\u3001\u767e\u5ea6\u7b49\u4f01\u4e1a\u90fd\u5728\u52a0\u901f\u7814\u53d1\u65e0\u4eba\u9a7e\u9a76\u76f8\u5173\u6280\u672f\uff0c\u62a2\u5360\u5148\u673a\u3002<\/p>\n
\n\t\u968f\u7740\u57ce\u5e02\u7269\u8054\u7f51\u548c\u667a\u80fd\u7cfb\u7edf\u7684\u5b8c\u5584\uff0c\u65e0\u4eba\u9a7e\u9a76\u5fc5\u662f\u5927\u52bf\u6240\u8d8b\u3002\u65e0\u4eba\u9a7e\u9a76\u5229\u7528\u6fc0\u5149\u96f7\u8fbe\u4f20\u611f\u5668\uff08Velodyne\u3001IBEO\u7b49\uff09\u4f5c\u4e3a\u5de5\u5177\uff0c\u83b7\u53d6\u5730\u56fe\u6570\u636e\uff0c\u5e76\u6784\u5efa\u5730\u56fe\uff0c\u89c4\u907f\u8def\u7a0b\u4e2d\u9047\u5230\u7684\u969c\u788d\u7269\uff0c\u5b9e\u73b0\u8def\u5f84\u89c4\u5212\u3002\u8ddfSLAM\u6280\u672f\u5728\u673a\u5668\u4eba\u9886\u57df\u7684\u5e94\u7528\u7c7b\u4f3c\uff0c\u53ea\u662f\u76f8\u6bd4\u8f83\u4e8eSLAM\u5728\u673a\u5668\u4eba\u4e2d\u7684\u5e94\u7528\uff0c\u65e0\u4eba\u9a7e\u9a76\u7684\u96f7\u8fbe\u8981\u6c42\u548c\u6210\u672c\u8981\u660e\u663e\u9ad8\u4e8e\u673a\u5668\u4eba\u3002<\/p>\n
\n\t![](\"http:\/\/www.szryc.com\/uploads\/allimg\/181010\/0T0062R3-8.jpg\")
<\/p>\n
\n\t\u65e0\u4eba\u673a<\/p>\n
\n\t\u65e0\u4eba\u673a\u5728\u98de\u884c\u7684\u8fc7\u7a0b\u4e2d\u9700\u8981\u77e5\u9053\u54ea\u91cc\u6709\u969c\u788d\u7269\uff0c\u8be5\u600e\u4e48\u89c4\u907f\uff0c\u600e\u4e48\u91cd\u65b0\u89c4\u5212\u8def\u7ebf\u3002\u663e\u7136\uff0c\u8fd9\u662fSLAM\u6280\u672f\u7684\u5e94\u7528\u3002\u4f46\u65e0\u4eba\u673a\u98de\u884c\u7684\u8303\u56f4\u8f83\u5927\uff0c\u6240\u4ee5\u5bf9\u7cbe\u5ea6\u7684\u8981\u6c42\u4e0d\u9ad8\uff0c\u5e02\u9762\u4e0a\u5176\u4ed6\u7684\u4e00\u4e9b\u5149\u6d41\u3001\u8d85\u58f0\u6ce2\u4f20\u611f\u5668\u53ef\u4ee5\u4f5c\u4e3a\u8f85\u52a9\u3002<\/p>\n
\n\t![](\"http:\/\/www.szryc.com\/uploads\/allimg\/181010\/0T00C007-9.jpg\")
<\/p>\n
\n\tAR<\/p>\n
\n\tAR\u901a\u8fc7\u7535\u8111\u6280\u672f\uff0c\u5c06\u865a\u62df\u7684\u4fe1\u606f\u5e94\u7528\u5230\u771f\u5b9e\u4e16\u754c\uff0c\u771f\u5b9e\u7684\u73af\u5883\u548c\u865a\u62df\u7684\u7269\u4f53\u5b9e\u65f6\u5730\u53e0\u52a0\u5230\u4e86\u540c\u4e00\u4e2a\u753b\u9762\u6216\u7a7a\u95f4\u540c\u65f6\u5b58\u5728\u3002\u8fd9\u4e00\u753b\u9762\u7684\u5b9e\u73b0\uff0c\u79bb\u4e0d\u5f00SLAM\u6280\u672f\u7684\u5b9e\u65f6\u5b9a\u4f4d\u3002\u867d\u7136\u5728AR\u884c\u4e1a\u6709\u5f88\u591a\u53ef\u4ee3\u66ff\u6280\u672f\uff0c\u4f46\u662f\uff0cSLAM\u6280\u672f\u662f\u6700\u7406\u60f3\u7684\u5b9a\u4f4d\u5bfc\u822a\u6280\u672f\u3002<\/p>\n
\n\t![](\"http:\/\/www.szryc.com\/uploads\/allimg\/181010\/0T0061135-10.jpg\")
<\/p>\n
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