{"id":24153,"date":"2025-01-17T12:36:07","date_gmt":"2025-01-17T04:36:07","guid":{"rendered":"https:\/\/aif.amtbbs.org\/?p=24153"},"modified":"2025-01-17T12:36:07","modified_gmt":"2025-01-17T04:36:07","slug":"%e7%9c%9f%e6%ad%a3%e5%ae%9e%e6%97%b6%e5%9c%b0%e5%9b%be%e6%9b%b4%e6%96%b0%ef%bc%81gs-livo%ef%bc%9a%e9%a6%96%e4%b8%aa%e5%8f%af%e9%83%a8%e7%bd%b2%e5%9c%a8%e8%b5%84%e6%ba%90%e5%8f%97%e9%99%90%e5%b5%8c","status":"publish","type":"post","link":"https:\/\/aif.amtbbs.org\/index.php\/2025\/01\/17\/24153\/","title":{"rendered":"\u771f\u6b63\u5b9e\u65f6\u5730\u56fe\u66f4\u65b0\uff01GS-LIVO\uff1a\u9996\u4e2a\u53ef\u90e8\u7f72\u5728\u8d44\u6e90\u53d7\u9650\u5d4c\u5165\u5f0f\u7cfb\u7edf\u4e0a\u7684\u5b9e\u65f6\u9ad8\u65afSLAM\u6846\u67b6"},"content":{"rendered":"
\"\"<\/div>\n
<\/div>\n
GS-LIVO\u662f\u4e00\u79cd\u7ed3\u5408\u4f20\u7edf\u6fc0\u5149\u96f7\u8fbe-\u60ef\u6027-\u89c6\u89c9\u91cc\u7a0b\u8ba1\u4e0e3D\u9ad8\u65af\u70b9\u65b0\u578b\u5730\u56fe\u8868\u793a\u7684\u5b9e\u65f6SLAM\u7cfb\u7edf\u3002<\/div>\n
\n
\n

\u672c\u6587\u7ecf3D\u89c6\u89c9\u4e4b\u5fc3\u516c\u4f17\u53f7\u6388\u6743\u8f6c\u8f7d\uff0c\u8f6c\u8f7d\u8bf7\u8054\u7cfb\u51fa\u5904\u3002<\/p>\n

\u5b9e\u65f6\u5730\u56fe\u66f4\u65b0<\/h2>\n

\u8fd1\u5e74\u6765\uff0c\u968f\u7740\u540c\u6b65\u5b9a\u4f4d\u4e0e\u5efa\u56fe\uff08SLAM\uff09\u6280\u672f\u7684\u53d1\u5c55\uff0c\u51fa\u73b0\u4e86\u591a\u79cd\u663e\u5f0f\u5730\u56fe\u8868\u793a\u65b9\u6cd5\uff0c\u5305\u62ec\u7a20\u5bc6\u5f69\u8272\u70b9\u4e91\u3001\u7a00\u758f\u57fa\u4e8e\u5757\u7684\u7ed3\u6784\uff0c\u4ee5\u53ca\u57fa\u4e8e\u7f51\u683c\u6216\u57fa\u4e8e\u66f2\u9762\u5143\u7d20\uff08surfel\uff09\u7684\u91cd\u5efa\u3002\u8fd9\u4e9b\u5f62\u5f0f\u901a\u5e38\u4e0e\u57fa\u4e8e\u7279\u5f81\u7684\u65b9\u6cd5\u6216\u76f4\u63a5\u65b9\u6cd5\u76f8\u7ed3\u5408\uff0c\u5728\u65e0\u4eba\u673a\u548c\u79fb\u52a8\u673a\u5668\u4eba\u7b49\u5e73\u53f0\u4e0a\u652f\u6301\u9ad8\u6548\u3001\u5b9e\u65f6\u64cd\u4f5c\u3002\u8bb8\u591a\u6700\u5148\u8fdb\u7684SLAM\u7cfb\u7edf\u5229\u7528\u8fd9\u4e9b\u4f20\u7edf\u5730\u56fe\u7ed3\u6784\uff0c\u5f97\u76ca\u4e8e\u5176\u6210\u719f\u7684\u6280\u672f\u6d41\u7a0b\u548c\u5728\u4f4d\u59ff\u4f30\u8ba1\u4efb\u52a1\u4e2d\u7684\u7a33\u5065\u6027\u80fd\u3002<\/p>\n

\u7136\u800c\uff0c\u8fd9\u4e9b\u4eba\u5de5\u8bbe\u8ba1\u7684\u663e\u5f0f\u8868\u793a\u65b9\u6cd5\u5c3d\u7ba1\u5df2\u9ad8\u5ea6\u6210\u719f\uff0c\u4f46\u4ecd\u5b58\u5728\u4e00\u4e9b\u5c40\u9650\u6027<\/strong>\uff1a<\/p>\n

    \n
  • \u5b83\u4eec\u901a\u5e38\u4f9d\u8d56\u4e8e\u4e30\u5bcc\u7684\u51e0\u4f55\u7279\u5f81\u548c\u9ad8\u5e27\u7387\u7684\u8f93\u5165\u4ee5\u786e\u4fdd\u8ddf\u8e2a\u7684\u7a33\u5b9a\u6027\u3002<\/li>\n
  • \u6b64\u5916\uff0c\u8fd9\u4e9b\u65b9\u6cd5\u5728\u63d0\u4f9b\u903c\u771f\u7684\u91cd\u5efa\u548c\u89e3\u91ca\u573a\u666f\u4e2d\u672a\u89c2\u6d4b\u90e8\u5206\u65f6\u5f80\u5f80\u529b\u4e0d\u4ece\u5fc3\u3002\u5728\u9700\u8981\u9884\u6d4b\u6216\u5408\u6210\u65b0\u89c6\u70b9\u7684\u5e94\u7528\u4e2d\uff08\u4f8b\u5982\u6c89\u6d78\u5f0f\u589e\u5f3a\u73b0\u5b9e\u3001\u9ad8\u8d28\u91cf\u76843D\u5efa\u6a21<\/li>\n
  • \u9700\u8981\u63a8\u65ad\u672a\u89c1\u533a\u57df\u4ee5\u5b9e\u73b0\u7a33\u5065\u51b3\u7b56\u7684\u573a\u666f\uff09<\/li>\n<\/ul>\n

    \u6700\u8fd1\uff0c\u5728\u65b0\u89c6\u70b9\u5408\u6210\u9886\u57df\u7684\u7a81\u7834\u5f15\u5165\u4e86\u795e\u7ecf\u8868\u793a\uff0c\u53ef\u4ee5\u4ece\u4efb\u610f\u89c6\u70b9\u8fdb\u884c\u771f\u5b9e\u611f\u6e32\u67d3\u3002\u9690\u5f0f\u6a21\u578b\uff08\u5982Neural Radiance Fields, NeRF\uff09\u548c\u663e\u5f0f\u7ed3\u6784\uff08\u59823D Gaussian Splatting, 3DGS\uff09\u4e0d\u4ec5\u4e30\u5bcc\u4e86\u91cd\u5efa\u73af\u5883\u7684\u7ec6\u8282\uff0c\u8fd8\u4e3a\u66f4\u5148\u8fdb\u7684SLAM\u8303\u5f0f\u6253\u5f00\u4e86\u5927\u95e8\u3002\u4e00\u4e9b\u57fa\u4e8eNeRF\u7684SLAM\u65b9\u6cd5\u548c\u57fa\u4e8e3DGS\u7684\u65b9\u6cd5\u8bd5\u56fe\u5c06\u8fd9\u4e9b\u9ad8\u4fdd\u771f\u8868\u793a\u96c6\u6210\u5230SLAM\u6d41\u7a0b\u4e2d\uff0c\u65e8\u5728\u5229\u7528\u66f4\u4e30\u5bcc\u7684\u5149\u5ea6\u548c\u51e0\u4f55\u4fe1\u606f\u4ee5\u5b9e\u73b0\u66f4\u7cbe\u786e\u7684\u5b9a\u4f4d\u548c\u5efa\u56fe\u3002<\/p>\n

    \u76f4\u89c2\u5730\u8bf4\uff0c\u968f\u7740\u5730\u56fe\u8d28\u91cf\u7684\u63d0\u5347\uff0c\u63d0\u4f9b\u66f4\u597d\u7684\u7a7a\u95f4\u548c\u5916\u89c2\u7ebf\u7d22\u53ef\u4ee5\u63d0\u9ad8\u4f4d\u59ff\u4f30\u8ba1\u7684\u7cbe\u5ea6\u548c\u7a33\u5065\u6027\uff0c\u4ece\u800c\u5f3a\u5316SLAM\u4e2d\u5efa\u56fe\u4e0e\u5b9a\u4f4d\u4e4b\u95f4\u7684\u76f8\u4e92\u5173\u7cfb\u3002\u7136\u800c\uff0c\u5f53\u524d\u57fa\u4e8e\u795e\u7ecf\u7f51\u7edc\u7684SLAM\u7cfb\u7edf\u9762\u4e34\u4e00\u4e2a\u5173\u952e\u74f6\u9888\uff1a\u65e0\u6cd5\u5b9e\u73b0\u771f\u6b63\u7684\u5b9e\u65f6\u5730\u56fe\u66f4\u65b0<\/strong>\u3002\u5c3d\u7ba1\u67d0\u4e9b\u65b9\u6cd5\u53ef\u4ee5\u63a5\u8fd1\u5b9e\u65f6\u7684\u91cc\u7a0b\u8ba1\u8ba1\u7b97\uff0c\u5176\u5730\u56fe\u4f18\u5316\u548c\u7ec6\u5316\u8fc7\u7a0b\u5f80\u5f80\u6ede\u540e\uff0c\u4f9d\u8d56\u4e8e\u5355\u72ec\u7684\u3001\u8f83\u6162\u7684\u7ebf\u7a0b\u3002\u8fd9\u79cd\u4f4d\u59ff\u4f30\u8ba1\u7684\u901f\u5ea6\u4e0e\u8f83\u6162\u7684\u5730\u56fe\u66f4\u65b0\u4e4b\u95f4\u7684\u4e0d\u5339\u914d\u964d\u4f4e\u4e86\u7cfb\u7edf\u7684\u9002\u5e94\u6027\uff0c\u5c24\u5176\u662f\u5728\u9700\u8981\u6301\u7eed\u66f4\u65b0\u9ad8\u4fdd\u771f\u5730\u56fe\u7684\u52a8\u6001\u6216\u5927\u89c4\u6a21\u73af\u5883\u4e2d\u3002\u56e0\u6b64\uff0c\u8fd9\u4e9b\u9ad8\u8d28\u91cf\u8868\u793a\u5728\u673a\u5668\u4eba\u9886\u57df\u7684\u5b9e\u9645\u90e8\u7f72\u4ecd\u7136\u6709\u9650\uff0c\u800c\u5feb\u901f\u7684\u73af\u5883\u89e3\u91ca\u81f3\u5173\u91cd\u8981\u3002<\/p>\n

    \"\u56fe\u7247\"<\/p>\n

    GS-LIVO<\/strong>[1]\u662f\u4e00\u79cd\u6fc0\u5149\u96f7\u8fbe-\u60ef\u6027-\u89c6\u89c9\u91cc\u7a0b\u8ba1\u7cfb\u7edf\uff0c\u8be5\u7cfb\u7edf\u901a\u8fc7\u9ad8\u65af\u5730\u56fe\u7684\u65b0\u9896\u8868\u793a\u5f62\u5f0f\uff0c\u7d27\u5bc6\u7ed3\u5408\u4e86\u6fc0\u5149\u96f7\u8fbe\u4e0e\u6444\u50cf\u5934\u7684\u6d4b\u91cf\u3002\u672c\u6587\u7684\u76ee\u6807\u5305\u62ec\uff1a\u901a\u8fc7\u9ad8\u65af\u5730\u56fe\u5185\u7684\u591a\u4f20\u611f\u5668\u878d\u5408\u5b9e\u73b0\u9ad8\u7cbe\u5ea6\u5b9a\u4f4d\uff0c\u4ee5\u53ca\u5728\u5927\u89c4\u6a21\u548c\u590d\u6742\u73af\u5883\u4e2d\u663e\u8457\u63d0\u9ad8\u9ad8\u65af\u5730\u56fe\u66f4\u65b0\u7684\u6548\u7387\u3002\u672c\u65b9\u6cd5\u89e3\u51b3\u4e86\u5f53\u524d\u9ad8\u65afSLAM\u7cfb\u7edf\u5b9e\u9645\u90e8\u7f72\u4e2d\u7684\u5173\u952e\u74f6\u9888\u3002<\/p>\n

    \u9879\u76ee\u4e3b\u9875<\/strong>\uff1ahttps:\/\/github.com\/HKUST-Aerial-Robotics\/GS-LIVO<\/p>\n

    \u4e3b\u8981\u8d21\u732e<\/strong>\u5305\u62ec\uff1a<\/p>\n

      \n
    1. \u5f15\u5165\u4e86\u4e00\u79cd\u57fa\u4e8e\u7a7a\u95f4\u54c8\u5e0c\u7d22\u5f15\u516b\u53c9\u6811\u7684\u5168\u5c40\u9ad8\u65af\u5730\u56fe\u8868\u793a\u7ed3\u6784\u3002\u8be5\u5c42\u6b21\u7ed3\u6784\u652f\u6301\u9ad8\u6548\u7684\u5168\u5c40\u7d22\u5f15\u3001\u5171\u89c6\u6027\u68c0\u67e5\uff0c\u5e76\u672c\u8d28\u4e0a\u652f\u6301\u53ef\u53d8\u7684\u7ec6\u8282\u5c42\u6b21\u4ee5\u9002\u5e94\u5927\u89c4\u6a21\u573a\u666f\u3002<\/li>\n
    2. \u63d0\u51fa\u4e86\u57fa\u4e8e\u6fc0\u5149\u96f7\u8fbe\u4e0e\u89c6\u89c9\u6570\u636e\u7684\u5feb\u901f\u521d\u59cb\u5316\u7b56\u7565\uff0c\u4ee5\u5feb\u901f\u751f\u6210\u7ed3\u6784\u826f\u597d\u7684\u5168\u5c40\u9ad8\u65af\u5730\u56fe\uff0c\u5e76\u5b9e\u73b0\u9ad8\u4fdd\u771f\u6e32\u67d3\u3002<\/li>\n
    3. \u63d0\u51fa\u4e86\u4e00\u79cd\u589e\u91cf\u5f0f\u6ed1\u52a8\u7a97\u53e3\u9ad8\u65af\u7ef4\u62a4\u65b9\u6cd5\uff0c\u4f18\u5316\u9ad8\u65af\u5730\u56fe\u65f6\u80fd\u591f\u6709\u6548\u964d\u4f4e\u8ba1\u7b97\u6210\u672c\u548cGPU\u5185\u5b58\u8d1f\u62c5\u3002<\/li>\n
    4. \u63d0\u51fa\u4e86\u4e00\u79cd\u5229\u7528\u9ad8\u65af\u5730\u56fe\u7684\u5149\u5ea6\u6e32\u67d3\u80fd\u529b\u7684\u89c6\u89c9\u6d4b\u91cf\u6a21\u578b\uff0c\u901a\u8fc7IESKF\u5b9e\u73b0\u6fc0\u5149\u96f7\u8fbe-\u60ef\u6027\u6d4b\u91cf\u7684\u7d27\u5bc6\u96c6\u6210\u3002<\/li>\n<\/ol>\n

      \u5177\u4f53\u65b9\u6cd5<\/h2>\n

      \"\u56fe\u7247\"<\/p>\n

      GS-LIVO\u7cfb\u7edf\u7684\u67b6\u6784\u5982\u56fe2\u6240\u793a\u3002\u786c\u4ef6\u914d\u7f6e\u6574\u5408\u4e86\u6fc0\u5149\u96f7\u8fbe\uff08LiDAR\uff09\u3001\u60ef\u6027\u6d4b\u91cf\u5355\u5143\uff08IMU\uff09\u548c\u6444\u50cf\u5934\u6570\u636e\uff0c\u5e76\u901a\u8fc7\u6a21\u62df\u7684\u6bcf\u79d2\u8109\u51b2\u4fe1\u53f7\uff08PPS\uff09\u5b9e\u73b0\u4e86\u7cbe\u786e\u7684\u65f6\u95f4\u540c\u6b65\u3002\u8f6f\u4ef6\u6846\u67b6\u7531\u4ee5\u4e0b\u56db\u4e2a\u5173\u952e\u6a21\u5757\u7ec4\u6210\uff1a<\/p>\n

        \n
      1. \u5168\u5c40\u9ad8\u65af\u5730\u56fe<\/strong>\uff1a\u91c7\u7528\u7a7a\u95f4\u54c8\u5e0c\u7d22\u5f15\u7684\u516b\u53c9\u6811\u7ec4\u7ec7\u5f62\u5f0f\uff0c\u80fd\u591f\u6709\u6548\u8986\u76d6\u7a00\u758f\u7a7a\u95f4\u4f53\u79ef\uff0c\u540c\u65f6\u9002\u5e94\u5404\u79cd\u73af\u5883\u7ec6\u8282\u548c\u89c4\u6a21\u3002<\/li>\n
      2. \u57fa\u4e8e\u5149\u5ea6\u68af\u5ea6\u7684\u9ad8\u65af\u521d\u59cb\u5316\u4e0e\u5728\u7ebf\u4f18\u5316<\/strong>\uff1a\u5229\u7528\u6fc0\u5149\u96f7\u8fbe\u4e0e\u89c6\u89c9\u4fe1\u606f\u5b9e\u73b0\u9ad8\u6548\u7684\u9ad8\u65af\u521d\u59cb\u5316\u548c\u4f18\u5316\u3002<\/li>\n
      3. \u6ed1\u52a8\u7a97\u53e3\u9ad8\u65af\u589e\u91cf\u7ef4\u62a4<\/strong>\uff1a\u901a\u8fc7\u5c40\u90e8\u9ad8\u65af\u6ed1\u52a8\u7a97\u53e3\u8fdb\u884c\u5b9e\u65f6\u4f18\u5316\uff0c\u663e\u8457\u51cf\u5c11\u56fe\u5f62\u5185\u5b58\u4f7f\u7528\u3002<\/li>\n
      4. \u57fa\u4e8eIESKF\u7684\u4f4d\u59ff\u4f18\u5316<\/strong>\uff1a\u91c7\u7528\u5e8f\u5217\u66f4\u65b0\u7684\u8fed\u4ee3\u8bef\u5dee\u72b6\u6001\u5361\u5c14\u66fc\u6ee4\u6ce2\u5668\uff08IESKF\uff09\u5b9e\u73b0\u4f4d\u59ff\u4f18\u5316\u3002<\/li>\n<\/ol>\n

        \u672c\u7cfb\u7edf\u662f\u4e00\u4e2a\u65e0\u7f1d\u96c6\u6210\u6fc0\u5149\u96f7\u8fbe\u3001\u60ef\u6027\u6d4b\u91cf\u5355\u5143\u548c\u89c6\u89c9\u4f20\u611f\u5668\u7684\u5b9e\u65f6SLAM\u6846\u67b6\uff0c\u5728\u7ade\u4e89\u6027\u7684\u5b9a\u4f4d\u7cbe\u5ea6\u4e0b\u5b9e\u73b0\u4e86\u9ad8\u6548\u8fd0\u884c\u3002\u4e3a\u65b9\u4fbf\u63cf\u8ff0\uff0c\u672c\u8282\u9996\u5148\u5b9a\u4e49\u4e86\u76f8\u5173\u7b26\u53f7\u53ca\u5176\u89e3\u91ca\uff08\u5982\u8868I\uff09\uff0c\u5305\u62ec\u5750\u6807\u53d8\u6362\u3001\u9ad8\u65af\u5c5e\u6027\u3001\u7a7a\u95f4\u7ed3\u6784\u53ca\u4f18\u5316\u53c2\u6570\u3002<\/p>\n

        \"\u56fe\u7247\"<\/p>\n

        \u5168\u5c40\u9ad8\u65af\u5730\u56fe\uff1a\u54c8\u5e0c\u7d22\u5f15\u516b\u53c9\u6811<\/h3>\n

        \u56fe3\u5c55\u793a\u4e86\u672c\u6587\u7cfb\u7edf\u4e2d\u5168\u5c40\u5730\u56fe\u548c\u9ad8\u65af\u6ed1\u52a8\u7a97\u53e3\u7684\u7ed3\u6784\u3002\u6620\u5c04\u7cfb\u7edf\u4e3b\u8981\u7531\u4e24\u4e2a\u90e8\u5206\u7ec4\u6210\uff1a\u5168\u5c40\u9ad8\u65af\u5730\u56fe\u548c\u5c40\u90e8\u9ad8\u65af\u6ed1\u52a8\u7a97\u53e3\u3002\u5168\u5c40\u9ad8\u65af\u5730\u56fe\u91c7\u7528\u54c8\u5e0c\u7d22\u5f15\u7684\u516b\u53c9\u6811\u7ed3\u6784\uff0c\u901a\u8fc7\u7a7a\u95f4\u54c8\u5e0c\u6280\u672f\u9ad8\u6548\u5730\u8986\u76d6\u573a\u666f\u4e2d\u7684\u7a00\u758f\u7a7a\u95f4\u4f53\u79ef\u3002\u8be5\u7ed3\u6784\u80fd\u591f\u6839\u636e\u73af\u5883\u590d\u6742\u5ea6\u9012\u5f52\u5212\u5206\u533a\u57df\uff0c\u4ece\u800c\u5b9e\u73b0\u66f4\u52a0\u7ec6\u81f4\u7684\u5730\u56fe\u8868\u793a\u3002\u6839\u4f53\u7d20\uff08root voxel\uff09\u7684\u7d22\u5f15\u7531\u4ee5\u4e0b\u516c\u5f0f\u8ba1\u7b97\uff1a<\/p>\n

        <\/p>\n

        \u5176\u4e2d\uff0c(v_s) \u662f\u6839\u4f53\u7d20\u7684\u957f\u5ea6\u3002\u6b64\u65b9\u6cd5\u5141\u8bb8\u5bf9\u7a00\u758f\u5206\u5e03\u7684\u6570\u636e\u70b9\u8fdb\u884c\u9ad8\u6548\u7ba1\u7406\u548c\u7d22\u5f15\uff0c\u5c24\u5176\u9002\u7528\u4e8e\u5927\u89c4\u6a21\u73af\u5883\u3002<\/p>\n

        \u5728\u6fc0\u5149\u96f7\u8fbe-\u60ef\u6027-\u89c6\u89c9\u7cfb\u7edf\u4e2d\uff0c\u6211\u4eec\u5229\u7528\u5f53\u524d\u5e27\u7684\u6fc0\u5149\u96f7\u8fbe\u6570\u636e\u8ba1\u7b97\u7a7a\u95f4\u952e\uff0c\u4ece\u800c\u9ad8\u6548\u5730\u8bc6\u522b\u5168\u5c40\u9ad8\u65af\u5730\u56fe\u4e2d\u4e0e\u5f53\u524d\u89c6\u573a\uff08FoV\uff09\u5bf9\u5e94\u7684\u6839\u4f53\u7d20\u3002\u8fd9\u79cd\u65b9\u6cd5\u80fd\u591f\u5728\u7a7a\u95f4\u73af\u5883\u4e2d\u8bc6\u522b\u5171\u89c6\u533a\u57df\uff0c\u786e\u5b9a\u54ea\u4e9b\u533a\u57df\u5728\u5f53\u524d\u89c6\u70b9\u4e0b\u53ef\u89c1\uff0c\u4ece\u800c\u4e3a\u540e\u7eed\u5904\u7406\u63d0\u4f9b\u51c6\u786e\u7684\u5730\u56fe\u4fe1\u606f\u3002\u7136\u800c\uff0c\u7531\u4e8e\u54c8\u5e0c\u7d22\u5f15\u5b58\u50a8\u7684\u4e0d\u8fde\u7eed\u6027\uff0c\u76f4\u63a5\u5728GPU\u4e0a\u5bf9\u9ad8\u65af\u53c2\u6570\u8fdb\u884c\u5e76\u884c\u4f18\u5316\u5b58\u5728\u5c40\u9650\u6027\u3002\u4e0d\u8fde\u7eed\u7684\u5185\u5b58\u5e03\u5c40\u4f1a\u5bfc\u81f4GPU\u8bbf\u95ee\u548c\u5904\u7406\u6548\u7387\u7684\u964d\u4f4e\uff0c\u5f15\u5165\u4e0d\u5fc5\u8981\u7684\u5ef6\u8fdf\u3002<\/p>\n

        \u4e3a\u4e86\u89e3\u51b3\u8fd9\u4e00\u95ee\u9898\uff0c\u6211\u4eec\u8bbe\u8ba1\u4e86\u4e00\u79cd\u4e13\u95e8\u7684\u9ad8\u65af\u6ed1\u52a8\u7a97\u53e3\uff0c\u7528\u4e8e\u7ef4\u62a4\u89c6\u573a\u8303\u56f4\u5185\u7684\u9ad8\u65af\u6570\u636e\uff0c\u5e76\u91c7\u7528\u8fde\u7eed\u7684\u5185\u5b58\u5e03\u5c40\u4ee5\u786e\u4fddGPU\u5bf9\u9ad8\u65af\u53c2\u6570\u7684\u9ad8\u6548\u5904\u7406\u3002\u5177\u4f53\u800c\u8a00\uff0c\u5927\u89c4\u6a21\u73af\u5883\u4e2d\u7684\u6240\u6709\u9ad8\u65af\u6570\u636e\u4ee5\u975e\u8fde\u7eed\u7684\u54c8\u5e0c\u516b\u53c9\u6811\u7ed3\u6784\u5b58\u50a8\u5728\u4e3b\u5b58\uff08RAM\uff09\u4e2d\uff0c\u800c\u4ec5\u89c6\u573a\u8303\u56f4\u5185\u7684\u9ad8\u65af\u6570\u636e\u88ab\u5b58\u50a8\u5728\u8fde\u7eed\u7684\u4e3b\u5b58\u533a\u57df\u4e2d\uff0c\u5e76\u5728\u89c6\u9891\u968f\u673a\u5b58\u50a8\u5668\uff08VRAM\uff09\u4e2d\u4fdd\u7559\u526f\u672c\u3002\u5f53\u9700\u8981\u4f18\u5316\u9ad8\u65af\u53c2\u6570\u65f6\uff0c\u8fd9\u4e9b\u53c2\u6570\u4f1a\u4ece\u4e3b\u5b58\u4f20\u8f93\u5230\u89c6\u9891\u5b58\u50a8\u5668\uff0c\u5141\u8bb8GPU\u9ad8\u6548\u5730\u6267\u884c\u5e76\u884c\u4f18\u5316\u3002\u4f18\u5316\u5b8c\u6210\u540e\uff0c\u66f4\u65b0\u540e\u7684\u9ad8\u65af\u53c2\u6570\u4f1a\u4ece\u89c6\u9891\u5b58\u50a8\u5668\u4f20\u56de\u4e3b\u5b58\uff0c\u4ee5\u4fdd\u6301\u5168\u5c40\u5730\u56fe\u7684\u4e00\u81f4\u6027\u3002<\/p>\n

        \u4e0e\u4f20\u7edf\u7684\u6709\u9650\u4e14\u4e0d\u53ef\u6269\u5c55\u7684\u56fe\u5f62\u5185\u5b58\u4e0d\u540c\uff0c\u4e3b\u5b58\u5177\u6709\u66f4\u5927\u7684\u5bb9\u91cf\uff0c\u5e76\u53ef\u4ee5\u901a\u8fc7\u4ea4\u6362\u7a7a\u95f4\u8fdb\u4e00\u6b65\u6269\u5c55\uff0c\u4ece\u800c\u80fd\u591f\u5904\u7406\u66f4\u5927\u3001\u66f4\u590d\u6742\u7684\u573a\u666f\u3002\u8fd9\u79cd\u8bbe\u8ba1\u4e0d\u4ec5\u63d0\u9ad8\u4e86GPU\u5904\u7406\u7684\u6548\u7387\uff0c\u8fd8\u786e\u4fdd\u7cfb\u7edf\u5728\u5904\u7406\u5927\u89c4\u6a21\u6570\u636e\u96c6\u65f6\u7684\u7a33\u5b9a\u6027\u548c\u53ef\u9760\u6027\uff0c\u5982\u56fe3\u6240\u793a\u3002<\/p>\n

        \"\u56fe\u7247\"<\/p>\n

        \u9ad8\u65af\u7684\u521d\u59cb\u5316\u4e0e\u4f18\u5316<\/h3>\n

        \u5f53\u63a5\u6536\u5230\u65b0\u7684\u6fc0\u5149\u96f7\u8fbe\u548c\u6444\u50cf\u5934\u5e27\u65f6\uff0c\u7cfb\u7edf\u4f1a\u5bf9\u7a20\u5bc6\u7684\u6fc0\u5149\u96f7\u8fbe\u70b9\u4e91\u8fdb\u884c\u57fa\u4e8e\u4f53\u7d20\u7684\u5730\u56fe\u4e0b\u91c7\u6837\uff0c\u4ee5\u51cf\u5c11GPU\u5185\u5b58\u6d88\u8017\u3002\u4e0e\u4f7f\u7528\u8fb9\u754c\u9009\u62e9\u7684\u65b9\u6cd5\u4e0d\u540c\uff0c\u672c\u6587\u91c7\u7528\u516b\u53c9\u6811\u7684\u53f6\u8282\u70b9\u4f53\u7d20\u5bf9\u7269\u4f53\u8868\u9762\u76843D\u7a7a\u95f4\u8fdb\u884c\u91c7\u6837\u3002\u901a\u8fc7\u9009\u62e9\u6bcf\u4e2a\u4f53\u7d20\u5185\u7684\u6fc0\u5149\u96f7\u8fbe\u70b9\uff0c\u573a\u666f\u5f97\u4ee5\u66f4\u9ad8\u6548\u5730\u8868\u793a\u3002<\/p>\n

        \u5982\u679c\u53f6\u4f53\u7d20\u672a\u88ab\u586b\u5145\uff0c\u5219\u4f1a\u57fa\u4e8e\u6fc0\u5149\u96f7\u8fbe\u548c\u6444\u50cf\u5934\u7c97\u7565\u5730\u521d\u59cb\u5316\u65b0\u7684\u9ad8\u65af\u53c2\u6570\uff0c\u5e76\u5c06\u5176\u63d2\u5165\u53f6\u4f53\u7d20\u4e2d\u3002<\/p>\n

        \u6fc0\u5149\u96f7\u8fbe-\u6444\u50cf\u5934\u8054\u5408\u521d\u59cb\u5316\u9ad8\u65af\u53c2\u6570<\/h4>\n

        \u5728\u8be5\u6b65\u9aa4\u4e2d\uff0c\u9ad8\u65af\u7684\u7ed3\u6784\u53c2\u6570\u901a\u8fc7\u6fc0\u5149\u96f7\u8fbe\u6570\u636e\u521d\u59cb\u5316\u3002\u5177\u4f53\u800c\u8a00\uff0c\u9ad8\u65af\u7684\u7f29\u653e\u77e9\u9635S\u6839\u636e\u54c8\u5e0c\u4f53\u7d20\u7684\u5c42\u7ea7\u8fdb\u884c\u521d\u59cb\u5316\uff0c\u5176\u8868\u8fbe\u5f0f\u5982\u4e0b\uff1a<\/p>\n

        <\/p>\n

        \u6ed1\u52a8\u7a97\u53e3\u4e2d\u9ad8\u65af\u7684\u5b9e\u65f6\u4f18\u5316<\/h4>\n

        <\/p>\n

        \u9ad8\u65af\u6ed1\u52a8\u7a97\u53e3\u7684\u7ef4\u62a4<\/h3>\n

        \u4e3a\u4e86\u63d0\u9ad8\u5185\u5b58\u6548\u7387\u5e76\u4f18\u5316\u8ba1\u7b97\u901f\u5ea6\uff0c\u672c\u7cfb\u7edf\u5c06\u4f18\u5316\u8303\u56f4\u9650\u5236\u5728\u6ed1\u52a8\u7a97\u53e3\u5185\u7684\u9ad8\u65af\u3002\u8fd9\u79cd\u65b9\u6cd5\u80fd\u591f\u663e\u8457\u63d0\u9ad8\u4f18\u5316\u901f\u5ea6\u5e76\u51cf\u5c11\u5185\u5b58\u6d88\u8017\uff0c\u540c\u65f6\u907f\u514d\u4f20\u7edf3D\u9ad8\u65af\u65b9\u6cd5\u4e2d\u57fa\u4e8e\u56fe\u5757\u6df1\u5ea6\u6392\u5e8f\u7684\u6df7\u53e0\u6548\u5e94\uff08aliasing effects\uff09\uff0c\u786e\u4fdd\u524d\u666f\u548c\u80cc\u666f\u5143\u7d20\u4e4b\u95f4\u7684\u6e05\u6670\u5206\u79bb\uff0c\u4ece\u800c\u63d0\u5347\u6df1\u5ea6\u8868\u793a\u7684\u8d28\u91cf\u3002<\/p>\n

        \u6ed1\u52a8\u7a97\u53e3\u589e\u91cf\u66f4\u65b0<\/h4>\n

        \u4ece\u5168\u5c40\u9ad8\u65af\u5730\u56fe\u4e2d\u91cd\u65b0\u6784\u5efa\u6bcf\u4e00\u5e27\u7684\u9ad8\u65af\u6ed1\u52a8\u7a97\u53e3\u9700\u8981\u5927\u91cf\u7684\u5185\u5b58\u62f7\u8d1d\uff0c\u5bfc\u81f4\u663e\u8457\u7684\u8ba1\u7b97\u5f00\u9500\u3002\u7136\u800c\uff0c\u8fde\u7eed\u5e27\u4e4b\u95f4\u901a\u5e38\u5b58\u5728\u8f83\u5927\u7684\u573a\u666f\u91cd\u53e0\uff0c\u4f7f\u5f97\u5927\u90e8\u5206\u5de5\u4f5c\u662f\u91cd\u590d\u7684\u3002\u4e3a\u4e86\u5229\u7528\u5e27\u95f4\u7684\u91cd\u53e0\uff0c\u672c\u7cfb\u7edf\u63d0\u51fa\u4e86\u4e00\u79cd\u589e\u91cf\u66f4\u65b0\u7b56\u7565\uff0c\u7528\u4e8e\u9ad8\u65af\u6ed1\u52a8\u7a97\u53e3\u7684\u7ef4\u62a4\u3002\u8be5\u65b9\u6cd5\u663e\u8457\u51cf\u5c11\u4e86\u5197\u4f59\u5185\u5b58\u4f20\u8f93\uff0c\u63d0\u5347\u4e86\u5b9e\u65f6\u6027\u80fd\uff0c\u5e76\u4f7f\u7cfb\u7edf\u80fd\u591f\u66f4\u6709\u6548\u5730\u6269\u5c55\u81f3\u5927\u89c4\u6a21\u548c\u590d\u6742\u73af\u5883\u3002<\/p>\n

        \u6ed1\u52a8\u7a97\u53e3\u7ef4\u62a4\u6b65\u9aa4<\/h4>\n

        \u9ad8\u65af\u6ed1\u52a8\u7a97\u53e3\u7684\u7ef4\u62a4\u5305\u62ec\u4ee5\u4e0b\u5173\u952e\u6b65\u9aa4\uff1a<\/p>\n

          \n
        1. \u5168\u5c40\u5730\u56fe\u66f4\u65b0<\/strong>
          \n\u786e\u5b9a\u4e0a\u4e00\u5e27\u6ed1\u52a8\u7a97\u53e3\u4e2d\u7684\u9ad8\u65af\u4f53\u7d20\u662f\u5426\u4ecd\u5728\u5f53\u524d\u89c6\u573a\uff08FoV\uff09\u5185\u3002\u5982\u679c\u4f53\u7d20\u8d85\u51fa\u89c6\u573a\uff0c\u5176\u4f18\u5316\u53c2\u6570\u5c06\u88ab\u590d\u5236\u56de\u5168\u5c40\u9ad8\u65af\u5730\u56fe\u5e76\u6807\u8bb0\u4e3a\u201c\u5220\u9664\u201d\u3002<\/li>\n
        2. \u5220\u9664\u548c\u538b\u7f29<\/strong>
          \n\u5c06\u6807\u8bb0\u4e3a\u201c\u5220\u9664\u201d\u7684\u4f53\u7d20\u53c2\u6570\u4e0e\u6ed1\u52a8\u7a97\u53e3\u5e8f\u5217\u672b\u5c3e\u7684\u53c2\u6570\u4ea4\u6362\u3002\u91cd\u65b0\u5b9a\u4f4d\u540e\uff0c\u4ece\u5e8f\u5217\u672b\u5c3e\u79fb\u9664\u8fd9\u4e9b\u4f53\u7d20\uff0c\u4ece\u800c\u4fdd\u6301\u5185\u5b58\u7684\u8fde\u7eed\u6027\u3002<\/li>\n
        3. \u91cd\u53e0\u548c\u6dfb\u52a0<\/strong>
          \n\u5229\u7528\u5f53\u524d\u6fc0\u5149\u96f7\u8fbe\u5e27\u7684\u7a7a\u95f4\u54c8\u5e0c\u952e\uff0c\u8bc6\u522b\u4e0e\u4e0a\u4e00\u5e27\u6ed1\u52a8\u7a97\u53e3\u91cd\u53e0\u7684\u4f53\u7d20\uff0c\u5e76\u786e\u5b9a\u9700\u8981\u6dfb\u52a0\u5230\u5f53\u524d\u89c6\u573a\u6ed1\u52a8\u7a97\u53e3\u7684\u65b0\u533a\u57df\u3002<\/li>\n
        4. \u9644\u52a0\u65b0\u53f6\u4f53\u7d20<\/strong>
          \n\u5c06\u65b0\u589e\u4f53\u7d20\u9644\u52a0\u5230CPU\u9ad8\u65af\u7f13\u51b2\u533a\uff08CGB\uff09\u7684\u672b\u5c3e\uff0c\u5e76\u66f4\u65b0\u7a7a\u95f4\u54c8\u5e0c\u8868\uff08SHT\uff09\u3002\u968f\u540e\uff0c\u5c06\u9ad8\u65af\u6570\u636e\u4eceCGB\uff08\u4e3b\u5b58\u50a8\u5668\uff09\u76f4\u63a5\u4f20\u8f93\u81f3GPU\u9ad8\u65af\u7f13\u51b2\u533a\uff08GGB\uff09\uff0c\u786e\u4fdd\u6ed1\u52a8\u7a97\u53e3\u4e2d\u7684\u9ad8\u65af\u80fd\u591f\u88abGPU\u7acb\u5373\u4f18\u5316\u548c\u6e32\u67d3\u3002<\/li>\n
        5. \u4f18\u5316\u4e0e\u6e32\u67d3<\/strong>
          \n\u5728\u6ed1\u52a8\u7a97\u53e3\u5185\u7684\u9ad8\u65af\u4f53\u7d20\u4f1a\u901a\u8fc7GPU\u9ad8\u6548\u4f18\u5316\uff0c\u5e76\u5728\u4f18\u5316\u5b8c\u6210\u540e\u5c06\u66f4\u65b0\u7684\u53c2\u6570\u4eceGGB\u4f20\u56deCGB\uff0c\u4ee5\u4fdd\u6301\u5168\u5c40\u5730\u56fe\u7684\u4e00\u81f4\u6027\u3002<\/li>\n<\/ol>\n

          \u7cfb\u7edf\u67b6\u6784\u548c\u5185\u5b58\u5e03\u5c40<\/h4>\n

          \u9ad8\u65af\u6ed1\u52a8\u7a97\u53e3\u7684\u67b6\u6784\u5305\u62ec\u4ee5\u4e0b\u4e3b\u8981\u7ec4\u4ef6\uff1a<\/p>\n

            \n
          • \u7a7a\u95f4\u54c8\u5e0c\u8868\uff08SHT\uff09<\/strong>
            \n\u57fa\u4e8e\u54c8\u5e0c\u7684\u7d22\u5f15\u7ed3\u6784\uff0c\u7528\u4e8e\u5c06\u7a7a\u95f4\u5750\u6807\u6620\u5c04\u5230CPU\u5185\u5b58\u4e2d\u7684\u9ad8\u65af\u53c2\u6570\u6307\u9488\u3002<\/li>\n
          • CPU\u9ad8\u65af\u7f13\u51b2\u533a\uff08CGB\uff09<\/strong>
            \nCPU\u5185\u5b58\u4e2d\u7684\u4e00\u4e2a\u8fde\u7eed\u5b58\u50a8\u533a\u57df\uff0c\u7528\u4e8e\u5b58\u50a8\u5f53\u524d\u6d3b\u52a8\u4f53\u7d20\u7684\u9ad8\u65af\u53c2\u6570\u3002\u8fd9\u79cd\u7d27\u51d1\u7684\u5e03\u5c40\u4f7f\u6570\u636e\u80fd\u591f\u5feb\u901f\u4f20\u8f93\u81f3GPU\u3002<\/li>\n
          • GPU\u9ad8\u65af\u7f13\u51b2\u533a\uff08GGB\uff09<\/strong>
            \nGPU\u4e0a\u5206\u914d\u7684\u5185\u5b58\u5757\uff0c\u7528\u4e8e\u5e76\u884c\u5904\u7406\u548c\u5feb\u901f\u6e32\u67d3\uff0c\u53ef\u76f4\u63a5\u8bbf\u95ee\u9ad8\u65af\u6570\u636e\u3002<\/li>\n<\/ul>\n

            \u4f18\u5316\u6027\u80fd\u4e0e\u5185\u5b58\u4f7f\u7528<\/h4>\n

            \u589e\u91cf\u7ef4\u62a4\u9ad8\u65af\u6ed1\u52a8\u7a97\u53e3\u7684\u7b56\u7565\u901a\u8fc7\u4ee5\u4e0b\u65b9\u5f0f\u63d0\u5347\u4e86\u7cfb\u7edf\u6027\u80fd\uff1a<\/p>\n

              \n
            • \u51cf\u5c11\u5185\u5b58\u64cd\u4f5c<\/strong>
              \n\u4ec5\u66f4\u65b0\u89c6\u573a\u53d8\u5316\u7684\u4f53\u7d20\uff0c\u800c\u975e\u91cd\u65b0\u52a0\u8f7d\u6574\u4e2a\u6ed1\u52a8\u7a97\u53e3\uff0c\u51cf\u5c11\u4e86\u5197\u4f59\u64cd\u4f5c\u3002<\/li>\n
            • \u964d\u4f4e\u8ba1\u7b97\u6d88\u8017<\/strong>
              \n\u5c06\u4f18\u5316\u8303\u56f4\u9650\u5236\u5728\u5f53\u524d\u89c6\u573a\u5185\u7684\u9ad8\u65af\u4f53\u7d20\uff0c\u4ece\u800c\u964d\u4f4e\u8ba1\u7b97\u6210\u672c\u5e76\u63d0\u5347\u5b9e\u65f6\u6027\u80fd\u3002<\/li>\n
            • \u6269\u5c55\u6027<\/strong>
              \n\u5229\u7528CPU\u5185\u5b58\u7684\u53ef\u6269\u5c55\u6027\u548c\u5bb9\u91cf\u652f\u6301\uff0c\u66f4\u9ad8\u6548\u5730\u5904\u7406\u5927\u89c4\u6a21\u548c\u590d\u6742\u573a\u666f\u3002<\/li>\n<\/ul>\n

              \u6027\u80fd\u4f18\u52bf<\/h4>\n

              \u901a\u8fc7\u6ed1\u52a8\u7a97\u53e3\u7ef4\u62a4\u7b56\u7565\uff0c\u7cfb\u7edf\u663e\u8457\u51cf\u5c11\u4e86GPU\u5185\u5b58\u6d88\u8017\uff0c\u540c\u65f6\u4fdd\u6301\u9ad8\u6620\u5c04\u8d28\u91cf\u548c\u4f18\u5316\u6548\u7387\u3002\u7ed3\u679c\u663e\u793a\uff0c\u603b\u5904\u7406\u65f6\u95f4\uff08\u5305\u62ec\u6ed1\u52a8\u7a97\u53e3\u7ef4\u62a4\u548c\u9ad8\u65af\u4f18\u5316\uff09\u5728\u5ba4\u5185\u548c\u5ba4\u5916\u573a\u666f\u4e2d\u59cb\u7ec8\u4f4e\u4e8e100\u6beb\u79d2\uff0c\u652f\u6301\u6bcf\u79d210\u5e27\u7684\u5b9e\u65f6\u66f4\u65b0\u3002\u8fd9\u79cd\u9ad8\u6548\u8bbe\u8ba1\u4f7f\u5f97\u672c\u7cfb\u7edf\u80fd\u591f\u9002\u5e94\u5404\u79cd\u8ba1\u7b97\u8d44\u6e90\u548c\u573a\u666f\u590d\u6742\u6027\u3002<\/p>\n

              \u72b6\u6001\u4f30\u8ba1<\/h3>\n

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              \u5982\u56fe2\u6240\u793a\uff0c\u672c\u6587\u7684\u91cc\u7a0b\u8ba1\u7cfb\u7edf\u901a\u8fc7\u5e8f\u5217\u66f4\u65b0\u7684\u8fed\u4ee3\u8bef\u5dee\u72b6\u6001\u5361\u5c14\u66fc\u6ee4\u6ce2\u5668\uff08IESKF\uff09\uff0c\u7d27\u5bc6\u5730\u96c6\u6210\u4e86\u6fc0\u5149\u96f7\u8fbe\u548c\u56fe\u50cf\u6d4b\u91cf\u3002\u4e0e\u4f20\u7edf\u7684\u7a00\u758f\u89c6\u89c9\u5730\u56fe\u4e0d\u540c\uff0c\u672c\u6587\u4f7f\u7528\u7a20\u5bc6\u9ad8\u65af\u5730\u56fe\u4f5c\u4e3a\u89c6\u89c9\u6a21\u5757\u7684\u57fa\u7840\u3002<\/p>\n

              \u7cfb\u7edf\u5de5\u4f5c\u6d41\u7a0b<\/h4>\n

              \u9996\u5148\uff0c\u672c\u6587\u5229\u7528\u5f53\u524d\u89c6\u573a\u5185\u4f18\u5316\u540e\u7684\u9ad8\u65af\u5730\u56fe\uff0c\u901a\u8fc7\u6fc0\u5149\u96f7\u8fbe-\u60ef\u6027\u66f4\u65b0\u540e\u7684\u4f4d\u59ff\u8fdb\u884c\u65b0\u89c6\u70b9\u7684\u6e32\u67d3\u3002\u4e0eFAST-LIVO2\u65b9\u6cd5\u4e0d\u540c\uff0c\u672c\u6587\u7684\u9ad8\u65af\u5730\u56fe\u4e0d\u4ec5\u80fd\u591f\u65e0\u7f1d\u6e32\u67d3\uff0c\u8fd8\u80fd\u4ee5\u771f\u5b9e\u611f\u8d28\u91cf\u6e32\u67d3\u975e\u6717\u4f2f\u8868\u9762\uff0c\u4f53\u73b0\u4e86\u57fa\u4e8e\u9ad8\u65af\u65b9\u6cd5\u7684\u4f18\u52bf\u3002<\/p>\n

              <\/p>\n

              \u96c5\u53ef\u6bd4\u77e9\u9635\u63a8\u5bfc<\/h4>\n

              \u9ad8\u65af\u6e32\u67d3\u7684\u5149\u5ea6\u635f\u5931\u5bf9IESKF\u4f30\u8ba1\u5668\u4e2dIMU\u4f4d\u59ff\u66f4\u65b0\u7684\u96c5\u53ef\u6bd4\u77e9\u9635\u63a8\u5bfc\u5982\u4e0b\uff1a<\/p>\n

              <\/p>\n

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              <\/p>\n

              \u7d27\u8026\u5408\u7cfb\u7edf\u7684\u4f18\u52bf<\/h4>\n

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              \u5b9e\u9a8c\u6548\u679c<\/h2>\n

              \"\u56fe\u7247\"\"\u56fe\u7247\"\"\u56fe\u7247\"\"\u56fe\u7247\"\"\u56fe\u7247\"\"\u56fe\u7247\"\"\u56fe\u7247\"<\/p>\n

              \u603b\u7ed3\u4e00\u4e0b<\/h2>\n

              GS-LIVO\u662f\u4e00\u79cd\u7ed3\u5408\u4f20\u7edf\u6fc0\u5149\u96f7\u8fbe-\u60ef\u6027-\u89c6\u89c9\u91cc\u7a0b\u8ba1\u4e0e3D\u9ad8\u65af\u70b9\u65b0\u578b\u5730\u56fe\u8868\u793a\u7684\u5b9e\u65f6SLAM\u7cfb\u7edf\u3002\u901a\u8fc7\u7528\u57fa\u4e8e\u9ad8\u65af\u7684\u573a\u666f\u8868\u793a\u66ff\u4ee3\u4f20\u7edf\u7684\u5f69\u8272\u70b9\u4e91\u548c\u7a00\u758f\u5757\u5730\u56fe\uff0c\u672c\u7cfb\u7edf\u5b9e\u73b0\u4e86\u9ad8\u7cbe\u5ea6\u5b9a\u4f4d\u4e0e\u9ad8\u4fdd\u771f\u5730\u56fe\u5efa\u6a21\u3002<\/p>\n

              \u4e3b\u8981\u8d21\u732e<\/strong>\u5305\u62ec\uff1a<\/p>\n

                \n
              1. \u7528\u4e8e\u9ad8\u6548\u5168\u5c40\u9ad8\u65af\u5730\u56fe\u7ba1\u7406\u7684\u7a7a\u95f4\u54c8\u5e0c\u7d22\u5f15\u516b\u53c9\u6811\u7ed3\u6784<\/li>\n
              2. \u901a\u8fc7\u6fc0\u5149\u96f7\u8fbe-\u89c6\u89c9\u8054\u5408\u521d\u59cb\u5316\u5b9e\u73b0\u9ad8\u4fdd\u771f\u5efa\u56fe<\/li>\n
              3. \u7528\u4e8e\u5b9e\u65f6\u5730\u56fe\u4f18\u5316\u7684\u589e\u91cf\u6ed1\u52a8\u7a97\u53e3\u7b56\u7565<\/li>\n
              4. \u57fa\u4e8eIESKF\u7684\u7d27\u8026\u5408\u591a\u4f20\u611f\u5668\u878d\u5408\u6846\u67b6\u3002<\/li>\n<\/ol>\n

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                \u503c\u5f97\u6ce8\u610f\u7684\u662f\uff0cGS-LIVO\u662f\u9996\u4e2a\u6210\u529f\u90e8\u7f72\u5728NVIDIA Jetson Orin NX\u5d4c\u5165\u5f0f\u5e73\u53f0\u4e0a\u7684\u57fa\u4e8e\u9ad8\u65af\u7684SLAM\u7cfb\u7edf\uff0c\u5c55\u73b0\u4e86\u5176\u5728\u5b9e\u9645\u673a\u5668\u4eba\u5e94\u7528\u4e2d\u7684\u6f5c\u529b\u3002\u5927\u91cf\u5b9e\u9a8c\u8868\u660e\uff0cGS-LIVO\u5728\u5ba4\u5185\u548c\u5ba4\u5916\u73af\u5883\u4e2d\u5747\u8868\u73b0\u51fa\u4f18\u5f02\u6027\u80fd\uff0c\u76f8\u8f83\u73b0\u6709\u65b9\u6cd5\u51cf\u5c11\u4e86\u5185\u5b58\u6d88\u8017\u548c\u4f18\u5316\u65f6\u95f4\uff0c\u540c\u65f6\u4fdd\u6301\u4e86\u9ad8\u6e32\u67d3\u8d28\u91cf\u3002<\/p>\n

                \u672a\u6765\u7814\u7a76<\/strong>:<\/p>\n

                  \n
                • \u53ef\u8fdb\u4e00\u6b65\u63a2\u7d22\u81ea\u9002\u5e94\u7ec6\u8282\u5c42\u6b21\u6280\u672f\uff0c\u8fd9\u4e9b\u6280\u672f\u53ef\u8003\u8651\u89c6\u8ddd\u3001\u7ed3\u6784\u590d\u6742\u6027\u53ca\u7eb9\u7406\u4e30\u5bcc\u5ea6\u3002<\/li>\n
                • \u6b64\u5916\uff0c\u5bf9\u4e8e\u5747\u8d28\u533a\u57df\uff0c\u5408\u5e76\u989c\u8272\u76f8\u8fd1\u7684\u9ad8\u65af\u70b9\u53ef\u4ee5\u8fdb\u4e00\u6b65\u4f18\u5316\u5185\u5b58\u4f7f\u7528\u548c\u8ba1\u7b97\u6548\u7387\u3002\u7136\u800c\uff0c\u8fd9\u4e9b\u9ad8\u7ea7\u4f53\u7d20\u7ba1\u7406\u673a\u5236\u4f1a\u589e\u52a0\u989d\u5916\u590d\u6742\u6027\uff0c\u9700\u8981\u4ed4\u7ec6\u7814\u7a76\u3002<\/li>\n<\/ul>\n

                  \u6587\u7ae0\u6765\u81ea\uff1a51CTO<\/p>\n<\/div>\n<\/div>\n

                  <\/div>\n

                  <\/g><\/svg><\/i> \"Loading\"<\/p>\n

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