{"id":199977,"date":"2024-05-10T01:26:07","date_gmt":"2024-05-09T17:26:07","guid":{"rendered":"https:\/\/docs.pingcode.com\/ask\/ask-ask\/199977.html"},"modified":"2024-05-10T01:26:11","modified_gmt":"2024-05-09T17:26:11","slug":"%e4%bc%97%e5%a4%9aslam%e7%ae%97%e6%b3%95%e5%90%84%e8%87%aa%e6%9c%89%e4%bb%80%e4%b9%88%e4%bc%98%e7%82%b9%e5%92%8c%e7%bc%ba%e7%82%b9","status":"publish","type":"post","link":"https:\/\/docs.pingcode.com\/ask\/ask-ask\/199977.html","title":{"rendered":"\u4f17\u591aSLAM\u7b97\u6cd5\u5404\u81ea\u6709\u4ec0\u4e48\u4f18\u70b9\u548c\u7f3a\u70b9"},"content":{"rendered":"<p style=\"text-align:center\"><img decoding=\"async\" src=\"https:\/\/cdn-kb.worktile.com\/kb\/wp-content\/uploads\/2024\/04\/24141008\/4e19d25f-24e8-4afd-9842-1da61ba8d5bb.webp\" alt=\"\u4f17\u591aSLAM\u7b97\u6cd5\u5404\u81ea\u6709\u4ec0\u4e48\u4f18\u70b9\u548c\u7f3a\u70b9\" \/><\/p>\n<p><p>\u4f17\u591aSLAM\uff08Simultaneous Localization and Mapping\uff0c\u540c\u65f6\u5b9a\u4f4d\u4e0e\u5730\u56fe\u6784\u5efa\uff09\u7b97\u6cd5\u5404\u81ea\u5177\u5907\u72ec\u7279\u7684\u4f18\u70b9\u548c\u7f3a\u70b9\u3002<strong>\u4e3b\u8981\u4f18\u70b9\u5305\u62ec\u9ad8\u7cbe\u5ea6\u3001\u5b9e\u65f6\u6027\u3001\u9c81\u68d2\u6027\u3001\u4ee5\u53ca\u4f4e\u8d44\u6e90\u6d88\u8017<\/strong>\u3002\u5bf9\u4e8e\u5176\u4e2d\u7684<strong>\u9ad8\u7cbe\u5ea6<\/strong>\uff0c\u5b83\u662f\u6307\u5728\u591a\u79cd\u73af\u5883\u4e2d\u8fd9\u4e9b\u7b97\u6cd5\u80fd\u591f\u63d0\u4f9b\u8f83\u4e3a\u7cbe\u786e\u7684\u5b9a\u4f4d\u4e0e\u5730\u56fe\u6784\u5efa\u6027\u80fd\u3002\u6bd4\u5982\u57fa\u4e8e\u89c6\u89c9\u7684SLAM\uff08V-SLAM\uff09\uff0c\u901a\u8fc7\u9ad8\u6e05\u6670\u5ea6\u7684\u56fe\u50cf\u6765\u589e\u5f3a\u5b9a\u4f4d\u51c6\u786e\u5ea6\u4e0e\u73af\u5883\u8bc6\u522b\u6548\u679c\u3002<\/p>\n<\/p>\n<p><h3>\u4e00\u3001\u9ad8\u7cbe\u5ea6<\/h3>\n<\/p>\n<p><p>\u89c6\u89c9SLAM\u7b97\u6cd5\u901a\u8fc7\u5206\u6790\u548c\u5904\u7406\u89c6\u9891\u6d41\u6216\u8fde\u7eed\u7684\u9759\u6001\u56fe\u50cf\u6765\u8bc6\u522b\u73af\u5883\u7279\u5f81\uff0c\u5e76\u901a\u8fc7\u8fd9\u4e9b\u7279\u5f81\u70b9\u6765\u4f30\u8ba1\u76f8\u673a\u7684\u8fd0\u52a8\u548c\u6784\u5efa\u73af\u5883\u4e09\u7ef4\u5730\u56fe\u3002\u76f8\u8f83\u4e8e\u57fa\u4e8e\u6fc0\u5149\u96f7\u8fbe\u7684SLAM\uff0cV-SLAM\u80fd\u591f\u63d0\u4f9b\u66f4\u4e3a\u4e30\u5bcc\u7684\u73af\u5883\u7ec6\u8282\u548c\u6df1\u5ea6\u4fe1\u606f\uff0c\u8fd9\u4f7f\u5f97\u5b83\u5728\u590d\u6742\u73af\u5883\u4e2d\u62e5\u6709\u66f4\u597d\u7684\u8868\u73b0\u3002\u5176\u9ad8\u7cbe\u5ea6\u7684\u8868\u73b0\u5728\u4e8e\uff0c\u5373\u4f7f\u5728\u52a8\u6001\u53d8\u5316\u6216\u8005\u5149\u7167\u4e0d\u4e00\u7684\u573a\u666f\u4e2d\uff0c\u4f9d\u65e7\u80fd\u591f\u901a\u8fc7\u5148\u8fdb\u7684\u7b97\u6cd5\u6a21\u578b\uff0c\u5982ORB-SLAM\u3001SVO\u7b49\uff0c\u5b9e\u73b0\u5bf9\u73af\u5883\u7684\u51c6\u786e\u8bc6\u522b\u548c\u5b9a\u4f4d\u3002<\/p>\n<\/p>\n<p><p>\u7136\u800c\uff0c\u89c6\u89c9SLAM\u5728\u5904\u7406\u5927\u89c4\u6a21\u573a\u666f\u65f6\uff0c\u4f1a\u9762\u4e34\u5904\u7406\u901f\u5ea6\u6162\u548c\u8d44\u6e90\u6d88\u8017\u5927\u7684\u95ee\u9898\u3002\u7b97\u6cd5\u9700\u8981\u5904\u7406\u5927\u91cf\u7684\u56fe\u50cf\u6570\u636e\uff0c\u8fd9\u5bf9\u8ba1\u7b97\u8d44\u6e90\u7684\u8981\u6c42\u8f83\u9ad8\u3002<\/p>\n<\/p>\n<p><h3>\u4e8c\u3001\u5b9e\u65f6\u6027<\/h3>\n<\/p>\n<p><p>\u5b9e\u65f6\u6027\u662f\u6307SLAM\u7cfb\u7edf\u80fd\u591f\u5728\u79fb\u52a8\u8fc7\u7a0b\u4e2d\u5feb\u901f\u53cd\u5e94\u73af\u5883\u53d8\u5316\uff0c\u5e76\u5b9e\u65f6\u66f4\u65b0\u5730\u56fe\u4e0e\u5b9a\u4f4d\u4fe1\u606f\u3002\u8fd9\u5728\u673a\u5668\u4eba\u5bfc\u822a\u3001\u589e\u5f3a\u73b0\u5b9e\u7b49\u9886\u57df\u5c24\u4e3a\u91cd\u8981\u3002\u5982\u57fa\u4e8e\u6fc0\u5149\u7684SLAM\u7b97\u6cd5\uff08\u5982LOAM\uff09\uff0c\u56e0\u5176\u5904\u7406\u901f\u5ea6\u5feb\u3001\u5ef6\u8fdf\u4f4e\uff0c\u80fd\u591f\u5728\u52a8\u6001\u73af\u5883\u4e2d\u63d0\u4f9b\u8fde\u8d2f\u4e14\u5b9e\u65f6\u7684\u5b9a\u4f4d\u548c\u5730\u56fe\u6784\u5efa\u3002<\/p>\n<\/p>\n<p><p>\u6fc0\u5149SLAM\u7684\u4f18\u52bf\u5728\u4e8e\u5b83\u53ef\u4ee5\u63d0\u4f9b\u8f83\u4e3a\u51c6\u786e\u548c\u5feb\u901f\u7684\u8ddd\u79bb\u6d4b\u91cf\uff0c\u8fd9\u4f7f\u5f97\u5728\u9047\u5230\u590d\u6742\u73af\u5883\u65f6\uff0c\u80fd\u591f\u8fc5\u901f\u505a\u51fa\u53cd\u5e94\u5e76\u7ef4\u62a4\u6301\u7eed\u7684\u5b9e\u65f6\u5b9a\u4f4d\u4e0e\u5730\u56fe\u66f4\u65b0\u3002\u7136\u800c\uff0c\u6fc0\u5149SLAM\u8bbe\u5907\u6210\u672c\u9ad8\u6602\uff0c\u4e14\u5728\u5ba4\u5916\u56e0\u5149\u7ebf\u5f71\u54cd\u53ef\u80fd\u5bfc\u81f4\u6027\u80fd\u4e0b\u964d\uff0c\u8fd9\u9650\u5236\u4e86\u5b83\u7684\u666e\u53ca\u548c\u5e94\u7528\u8303\u56f4\u3002<\/p>\n<\/p>\n<p><h3>\u4e09\u3001\u9c81\u68d2\u6027<\/h3>\n<\/p>\n<p><p>\u9c81\u68d2\u6027\u6307\u7684\u662f\u7b97\u6cd5\u5728\u9762\u5bf9\u73af\u5883\u566a\u58f0\u3001\u52a8\u6001\u53d8\u5316\u6216\u662f\u4f20\u611f\u5668\u8bef\u5dee\u7b49\u4e0d\u786e\u5b9a\u56e0\u7d20\u65f6\uff0c\u4f9d\u7136\u80fd\u591f\u4fdd\u6301\u7a33\u5b9a\u7684\u6027\u80fd\u3002\u5728\u8fd9\u65b9\u9762\uff0c\u591a\u4f20\u611f\u5668\u878d\u5408SLAM\u7b97\u6cd5\u8868\u73b0\u7a81\u51fa\uff0c\u901a\u8fc7\u6574\u5408\u6765\u81eaIMU\u3001GPS\u3001\u89c6\u89c9\u7b49\u591a\u79cd\u4f20\u611f\u5668\u4fe1\u606f\uff0c\u63d0\u9ad8\u4e86\u6574\u4e2a\u7cfb\u7edf\u7684\u9c81\u68d2\u6027\u548c\u7cbe\u5ea6\u3002<\/p>\n<\/p>\n<p><p>\u591a\u4f20\u611f\u5668\u878d\u5408SLAM\u80fd\u591f\u5728\u4e0d\u540c\u7684\u73af\u5883\u548c\u6761\u4ef6\u4e0b\uff0c\u901a\u8fc7\u76f8\u4e92\u8865\u5145\u4fe1\u606f\u6765\u4f18\u5316\u548c\u77eb\u6b63\u5b9a\u4f4d\u4e0e\u5730\u56fe\u6784\u5efa\u7ed3\u679c\u3002\u8fd9\u79cd\u65b9\u6cd5\u5728\u81ea\u52a8\u9a7e\u9a76\u3001\u65e0\u4eba\u673a\u5bfc\u822a\u7b49\u9886\u57df\u663e\u5f97\u5c24\u4e3a\u91cd\u8981\u3002\u7f3a\u70b9\u5219\u5728\u4e8e\u7cfb\u7edf\u7684\u590d\u6742\u5ea6\u9ad8\uff0c\u9700\u8981\u7cbe\u786e\u7684\u65f6\u95f4\u540c\u6b65\u548c\u590d\u6742\u7684\u6570\u636e\u878d\u5408\u7b97\u6cd5\u3002<\/p>\n<\/p>\n<p><h3>\u56db\u3001\u4f4e\u8d44\u6e90\u6d88\u8017<\/h3>\n<\/p>\n<p><p>\u4f4e\u8d44\u6e90\u6d88\u8017\u662f\u6307SLAM\u7b97\u6cd5\u5728\u4fdd\u6301\u8f83\u597d\u6027\u80fd\u7684\u540c\u65f6\uff0c\u5bf9\u8ba1\u7b97\u8d44\u6e90\u7684\u9700\u6c42\u8f83\u4f4e\u3002\u8fd9\u5bf9\u4e8e\u5d4c\u5165\u5f0f\u7cfb\u7edf\u3001\u79fb\u52a8\u8bbe\u5907\u7b49\u8ba1\u7b97\u80fd\u529b\u6709\u9650\u7684\u5e73\u53f0\u5c24\u4e3a\u91cd\u8981\u3002\u4f8b\u5982\uff0c\u901a\u8fc7\u4f18\u5316\u7b97\u6cd5\u548c\u6570\u636e\u7ed3\u6784\u7684\u8f7b\u91cf\u7ea7SLAM\u7b97\u6cd5\uff0c\u5982ORB-SLAM2\u5728\u4fdd\u6301\u8f83\u9ad8\u7684\u7cbe\u5ea6\u548c\u9c81\u68d2\u6027\u7684\u540c\u65f6\uff0c\u5927\u5e45\u5ea6\u964d\u4f4e\u4e86\u8ba1\u7b97\u8d44\u6e90\u7684\u6d88\u8017\u3002<\/p>\n<\/p>\n<p><p>\u8f7b\u91cf\u7ea7SLAM\u7b97\u6cd5\u7684\u8bbe\u8ba1\u901a\u5e38\u7740\u91cd\u4e8e\u4f18\u5316\u5173\u952e\u7b97\u6cd5\u6b65\u9aa4\u548c\u6570\u636e\u7ed3\u6784\uff0c\u4ee5\u51cf\u5c11\u4e0d\u5fc5\u8981\u7684\u8ba1\u7b97\u548c\u5185\u5b58\u6d88\u8017\u3002\u8fd9\u79cd\u7b97\u6cd5\u9002\u7528\u4e8e\u8d44\u6e90\u53d7\u9650\u7684\u573a\u5408\uff0c\u6bd4\u5982\u5728\u667a\u80fd\u624b\u673a\u6216\u5c0f\u578b\u673a\u5668\u4eba\u4e0a\u7684\u5e94\u7528\u3002\u4e0d\u8fc7\uff0c\u4e3a\u4e86\u8fbe\u5230\u4f4e\u8d44\u6e90\u6d88\u8017\uff0c\u6709\u65f6\u53ef\u80fd\u9700\u8981\u727a\u7272\u4e00\u5b9a\u7684\u5b9a\u4f4d\u7cbe\u5ea6\u6216\u5730\u56fe\u7ec6\u8282\u3002<\/p>\n<\/p>\n<p><p>\u901a\u8fc7\u4e0a\u8ff0\u5206\u6790\uff0c\u6211\u4eec\u53ef\u4ee5\u770b\u51fa\u4e0d\u540cSLAM\u7b97\u6cd5\u5404\u6709\u5343\u79cb\uff0c\u9002\u7528\u4e8e\u4e0d\u540c\u7684\u5e94\u7528\u573a\u666f\u548c\u8981\u6c42\u3002\u9009\u62e9\u5408\u9002\u7684SLAM\u7b97\u6cd5\uff0c\u9700\u8981\u7efc\u5408\u8003\u8651\u9879\u76ee\u7684\u9700\u6c42\u3001\u6210\u672c\u3001\u73af\u5883\u7279\u6027\u4ee5\u53ca\u5b9e\u9645\u7684\u5e94\u7528\u76ee\u6807\u3002<\/p>\n<\/p>\n<h2><strong>\u76f8\u5173\u95ee\u7b54FAQs\uff1a<\/strong><\/h2>\n<p><strong>SLAM\u7b97\u6cd5\u7684\u4f18\u70b9\u548c\u7f3a\u70b9\u662f\u4ec0\u4e48\uff1f<\/strong><\/p>\n<p>SLAM\uff08Simultaneous Localization and Mapping\uff09\u7b97\u6cd5\u662f\u4e00\u79cd\u5728\u672a\u77e5\u73af\u5883\u4e2d\u540c\u65f6\u5b9e\u73b0\u5b9a\u4f4d\u548c\u5730\u56fe\u6784\u5efa\u7684\u6280\u672f\u3002\u5404\u79cdSLAM\u7b97\u6cd5\u6709\u5404\u81ea\u7684\u4f18\u70b9\u548c\u7f3a\u70b9\uff0c\u4e0b\u9762\u5217\u4e3e\u4e86\u51e0\u79cd\u5e38\u89c1\u7684SLAM\u7b97\u6cd5\u7684\u7279\u70b9\uff1a<\/p>\n<p><strong>1. \u57fa\u4e8e\u7279\u5f81\u7684\u89c6\u89c9SLAM\u7b97\u6cd5\uff1a<\/strong><\/p>\n<p>\u4f18\u70b9\uff1a<\/p>\n<ul>\n<li>\u53ef\u4ee5\u63d0\u53d6\u56fe\u50cf\u4e2d\u7684\u7279\u5f81\u70b9\uff0c\u5bf9\u4e8e\u4e0d\u540c\u573a\u666f\u4e0b\u7684\u7ed3\u6784\u548c\u7eb9\u7406\u53d8\u5316\u8f83\u5927\u7684\u73af\u5883\u9002\u7528\u6027\u8f83\u9ad8\uff1b<\/li>\n<li>\u53ef\u4ee5\u8fdb\u884c\u9ad8\u6548\u7684\u7279\u5f81\u5339\u914d\u548c\u8ddf\u8e2a\uff0c\u9002\u7528\u4e8e\u5b9e\u65f6\u5e94\u7528\u3002<\/li>\n<\/ul>\n<p>\u7f3a\u70b9\uff1a<\/p>\n<ul>\n<li>\u5bf9\u4e8e\u7f3a\u4e4f\u7eb9\u7406\u7684\u573a\u666f\uff0c\u5982\u7eaf\u8272\u5899\u58c1\u6216\u5149\u6ed1\u8868\u9762\uff0c\u7279\u5f81\u63d0\u53d6\u548c\u5339\u914d\u7684\u6548\u679c\u53ef\u80fd\u8f83\u5dee\uff1b<\/li>\n<li>\u5bf9\u4e8e\u52a8\u6001\u573a\u666f\u4e0b\u7684\u7279\u5f81\u70b9\u53d8\u5316\uff0c\u53ef\u80fd\u5bfc\u81f4\u5730\u56fe\u7684\u6f02\u79fb\u6216\u4e0d\u7a33\u5b9a\u3002<\/li>\n<\/ul>\n<p><strong>2. \u57fa\u4e8e\u6fc0\u5149\u96f7\u8fbe\u7684SLAM\u7b97\u6cd5\uff1a<\/strong><\/p>\n<p>\u4f18\u70b9\uff1a<\/p>\n<ul>\n<li>\u6fc0\u5149\u96f7\u8fbe\u53ef\u4ee5\u63d0\u4f9b\u7cbe\u786e\u7684\u8ddd\u79bb\u548c\u89d2\u5ea6\u4fe1\u606f\uff0c\u5bf9\u4e8e\u5efa\u7acb\u51c6\u786e\u7684\u5730\u56fe\u975e\u5e38\u6709\u5229\uff1b<\/li>\n<li>\u5bf9\u4e8e\u5ba4\u5185\u73af\u5883\u4e2d\u7684\u969c\u788d\u7269\u68c0\u6d4b\u548c\u907f\u969c\u6709\u8f83\u597d\u7684\u6548\u679c\u3002<\/li>\n<\/ul>\n<p>\u7f3a\u70b9\uff1a<\/p>\n<ul>\n<li>\u6fc0\u5149\u96f7\u8fbe\u4ef7\u683c\u76f8\u5bf9\u8f83\u9ad8\uff0c\u9650\u5236\u4e86\u5176\u5728\u67d0\u4e9b\u5e94\u7528\u4e2d\u7684\u666e\u53ca\uff1b<\/li>\n<li>\u5bf9\u4e8e\u6237\u5916\u73af\u5883\u6216\u590d\u6742\u5730\u5f62\uff0c\u6fc0\u5149\u96f7\u8fbe\u7684\u9065\u611f\u8303\u56f4\u548c\u89d2\u5ea6\u53ef\u80fd\u6709\u9650\uff0c\u53ef\u80fd\u5bfc\u81f4\u6570\u636e\u4e0d\u8db3\u3002<\/li>\n<\/ul>\n<p><strong>3. \u57fa\u4e8e\u89c6\u89c9\u60ef\u6027\u6d4b\u91cf\u5355\u5143\uff08Visual-Inertial Odometry, 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Localization and Mapping\uff0c\u540c\u65f6\u5b9a\u4f4d\u4e0e\u5730\u56fe\u6784\u5efa\uff09 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