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Congruent Set, 4PCS\uff09\u3001Super4PCS\u7b97\u6cd5\u7b49\u2026\u2026<\/p>\n\n\n\n<p>\u57fa\u4e8e\u7279\u5f81\u5339\u914d\u7684\u914d\u51c6\u7b97\u6cd5\uff1a<\/p>\n\n\n\n<p>\u901a\u8fc7\u88ab\u6d4b\u7269\u4f53\u672c\u8eab\u6240\u5177\u5907\u7684\u5f62\u6001\u7279\u6027\u6784\u5efa\u70b9\u4e91\u95f4\u7684\u5339\u914d\u5bf9\u5e94\uff0c\u7136\u540e\u91c7\u7528\u76f8\u5173\u7b97\u6cd5\u5bf9\u53d8\u6362\u5173\u7cfb\u8fdb\u884c\u4f30\u8ba1\u3002\u5982\u57fa\u4e8e\u70b9FPFH\u7279\u5f81\u7684SAC-IA\u3001FGR\u7b49\u7b97\u6cd5\u3001\u57fa\u4e8e\u70b9SHOT\u7279\u5f81\u7684AO\u7b97\u6cd5\u4ee5\u53ca\u57fa\u4e8e\u7ebf\u7279\u5f81\u7684ICL\u7b49\u2026<\/p>\n\n\n\n<h3>\u2461SLAM\u56fe\u4f18\u5316<\/h3>\n\n\n\n<p>Ceres\uff08Google\u7684\u6700\u5c0f\u4e8c\u4e58\u4f18\u5316\u5e93\uff0c\u5f88\u5f3a\u5927\uff09\uff0c g2o\u3001LUM\u3001ELCH\u3001Toro\u3001SPA<\/p>\n\n\n\n<p>SLAM\u65b9\u6cd5\uff1aICP\u3001MBICP\u3001IDC\u3001likehood Field\u3001NDT<\/p>\n\n\n\n<h3>\u2462\u4e09\u7ef4\u91cd\u5efa<\/h3>\n\n\n\n<p>\u6cca\u677e\u91cd\u5efa\u3001 Delaunay triangulations\u3001\u8868\u9762\u91cd\u5efa\uff0c\u4eba\u4f53\u91cd\u5efa\uff0c\u5efa\u7b51\u7269\u91cd\u5efa\uff0c\u6811\u6728\u91cd\u5efa\u3002\u7ed3\u6784\u5316\u91cd\u5efa\uff1a\u4e0d\u662f\u7b80\u5355\u7684\u6784\u5efa\u4e00\u4e2aMesh\u7f51\u683c\uff0c\u800c\u662f\u4e3a\u573a\u666f\u8fdb\u884c\u5206\u5272\uff0c\u4e3a\u573a\u666f\u7ed3\u6784\u8d4b\u4e88\u8bed\u4e49\u4fe1\u606f\u3002\u573a\u666f\u7ed3\u6784\u6709\u5c42\u6b21\u4e4b\u5206\uff0c\u5728\u51e0\u4f55\u5c42\u6b21\u5c31\u662f\u70b9\u7ebf\u9762\u3002\u5b9e\u65f6\u91cd\u5efa\uff1a\u91cd\u5efa\u690d\u88ab\u6216\u8005\u519c\u4f5c\u7269\u76844D\uff083D+\u65f6\u95f4\uff09\u751f\u957f\u6001\u52bf\uff1b\u4eba\u4f53\u59ff\u52bf\u8bc6\u522b\uff1b\u8868\u60c5\u8bc6\u522b\uff1b<\/p>\n\n\n\n<h3>\u2463\u70b9\u4e91\u6570\u636e\u7ba1\u7406<\/h3>\n\n\n\n<p>\u70b9\u4e91\u538b\u7f29\uff0c\u70b9\u4e91\u7d22\u5f15\uff08KD\u3001Octree\uff09\uff0c\u70b9\u4e91LOD\uff08\u91d1\u5b57\u5854\uff09\uff0c\u6d77\u91cf\u70b9\u4e91\u7684\u6e32\u67d3\u3002<\/p>\n\n\n\n<h2><strong>\u4e09\u7ef4\u8ba1\u7b97\u89c6\u89c9\u7814\u7a76\u5185\u5bb9<\/strong>\uff1a<\/h2>\n\n\n\n<p>\u3000<strong>1\uff09\u4e09\u7ef4\u5339\u914d<\/strong>\uff1a\u4e24\u5e27\u6216\u8005\u591a\u5e27\u70b9\u4e91\u6570\u636e\u4e4b\u95f4\u7684\u5339\u914d\uff0c\u56e0\u4e3a\u6fc0\u5149\u626b\u63cf\u5149\u675f\u53d7\u7269\u4f53\u906e\u6321\u7684\u539f\u56e0\uff0c\u4e0d\u53ef\u80fd\u901a\u8fc7\u4e00\u6b21\u626b\u63cf\u5b8c\u6210\u5bf9\u6574\u4e2a\u7269\u4f53\u7684\u4e09\u7ef4\u70b9\u4e91\u7684\u83b7\u53d6\u3002\u56e0\u6b64\u9700\u8981\u4ece\u4e0d\u540c\u7684\u4f4d\u7f6e\u548c\u89d2\u5ea6\u5bf9\u7269\u4f53\u8fdb\u884c\u626b\u63cf\u3002\u4e09\u7ef4\u5339\u914d\u7684\u76ee\u7684\u5c31\u662f<strong>\u628a\u76f8\u90bb\u626b\u63cf\u7684\u70b9\u4e91\u6570\u636e\u62fc\u63a5\u5728\u4e00\u8d77<\/strong>\u3002\u4e09\u7ef4\u5339\u914d\u91cd\u70b9\u5173\u6ce8\u5339\u914d\u7b97\u6cd5\uff0c\u5e38\u7528\u7684\u7b97\u6cd5\u6709<a href=\"http:\/\/www.cnblogs.com\/yhlx125\/p\/4955337.html\">\u6700\u8fd1\u70b9\u8fed\u4ee3\u7b97\u6cd5 ICP<\/a>\u548c\u5404\u79cd\u5168\u5c40\u5339\u914d\u7b97\u6cd5\u3002<\/p>\n\n\n\n<p>\u3000<strong>2\uff09\u591a\u89c6\u56fe\u4e09\u7ef4\u91cd\u5efa<\/strong>\uff1a\u8ba1\u7b97\u673a\u89c6\u89c9\u4e2d\u591a\u89c6\u56fe\u4e00\u822c\u5229\u7528\u56fe\u50cf\u4fe1\u606f\uff0c\u8003\u8651\u591a\u89c6\u51e0\u4f55\u7684\u4e00\u4e9b\u7ea6\u675f\uff0c\u5c04\u5f71\u51e0\u4f55\u548c\u591a\u89c6\u56fe\u51e0\u4f55\u662f\u89c6\u89c9\u65b9\u6cd5\u7684\u57fa\u7840\uff0c\u5728\u6444\u5f71\u6d4b\u91cf\u4e2d\u7c7b\u4f3c\u7684\u5b58\u5728\u5171\u7ebf\u65b9\u7a0b\u3002\u5149\u675f\u5e73\u5dee\u6cd5\u662f\u8be5\u7c7b\u7814\u7a76\u7684\u6838\u5fc3\u6280\u672f\u3002\u8fd9\u91cc\u4e5f\u5c06\u70b9\u4e91\u7684\u591a\u89c6\u5339\u914d\u653e\u5728\u8fd9\u91cc\uff0c\u6bd4\u5982\u4eba\u4f53\u7684\u4e09\u7ef4\u91cd\u5efa\uff0c\u70b9\u4e91\u7684\u591a\u89c6\u91cd\u5efa\u4e0d\u518d\u662f\u7b80\u5355\u7684\u9010\u5e27\u7684\u5339\u914d\uff0c\u8fd8\u9700\u8981\u8003\u8651\u4e0d\u540c\u89d2\u5ea6\u89c2\u6d4b\u4ea7\u751f\u8bef\u5dee\u7d2f\u79ef\uff0c\u56e0\u6b64\u5b58\u5728\u4e00\u4e2a\u9488\u5bf9\u4e09\u7ef4\u6a21\u578b\u8fdb\u884c\u4f18\u5316\u6216\u8005\u5e73\u5dee\u7684\u8fc7\u7a0b\u5728\u91cc\u9762\u3002\u591a\u89c6\u56fe\u4e09\u7ef4\u91cd\u5efa\u8fd9\u91cc\u6307\u7684\u53ea\u662f<strong>\u9759\u6001\u5efa\u6a21<\/strong>\uff0c\u8f93\u5165\u662f\u4e00\u7cfb\u5217\u7684\u56fe\u50cf\u6216\u8005\u70b9\u4e91\u96c6\u5408\u3002\u53ef\u4ee5\u53ea\u4f7f\u7528\u56fe\u50cf\uff0c\u6216\u8005\u53ea\u4f7f\u7528\u70b9\u4e91\uff0c\u4e5f\u53ef\u4ee5\u4e24\u8005\u7ed3\u5408\uff08\u6df1\u5ea6\u56fe\u50cf\uff09\u5b9e\u73b0\uff0c\u91cd\u5efa\u7684\u7ed3\u679c\u901a\u5e38\u662fMesh\u7f51\u683c\u3002<\/p>\n\n\n\n<ul><li>SFM\uff08\u8fd0\u52a8\u6062\u590d\u7ed3\u6784\uff09 vs Visual SLAM\u00a0\u00a0<a href=\"http:\/\/www.cnblogs.com\/yhlx125\/p\/8719194.html\">[\u6458\u6284] SFM \u548c Visual SLAM<\/a><\/li><li>Multi-View Stereo \uff08MVS\uff09\u591a\u89c6\u56fe\u7acb\u4f53\u89c6\u89c9\uff0c\u7814\u7a76\u56fe\u50cf\u4e00\u81f4\u6027\uff0c\u5b9e\u73b0\u7a20\u5bc6\u91cd\u5efa\u3002<\/li><\/ul>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" width=\"928\" height=\"645\" src=\"http:\/\/139.9.1.231\/wp-content\/uploads\/2022\/10\/image-38.png\" alt=\"\" class=\"wp-image-9010\" srcset=\"http:\/\/139.9.1.231\/wp-content\/uploads\/2022\/10\/image-38.png 928w, http:\/\/139.9.1.231\/wp-content\/uploads\/2022\/10\/image-38-300x209.png 300w, http:\/\/139.9.1.231\/wp-content\/uploads\/2022\/10\/image-38-768x534.png 768w\" sizes=\"(max-width: 928px) 100vw, 928px\" \/><\/figure>\n\n\n\n<p>\u3000\u3000<strong>3\uff093D SLAM<\/strong><\/p>\n\n\n\n<p>\u3000\u3000\u6309\u7167\u4f20\u611f\u5668\u7c7b\u578b\u5206\u7c7b\uff1a\u53ef\u4ee5\u5206\u4e3a\u57fa\u4e8e\u6fc0\u5149\u7684SLAM\u548c\u57fa\u4e8e\u89c6\u89c9\u7684SLAM\u3002<\/p>\n\n\n\n<p>\u3000\u3000\u57fa\u4e8e\u6fc0\u5149\u7684SLAM\u53ef\u4ee5\u901a\u8fc7\u70b9\u4e91\u5339\u914d\uff08\u6700\u8fd1\u70b9\u8fed\u4ee3\u7b97\u6cd5 ICP\u3001\u6b63\u6001\u5206\u5e03\u53d8\u6362\u65b9\u6cd5 NDT\uff09+\u4f4d\u59ff\u56fe\u4f18\u5316\uff08<a rel=\"noreferrer noopener\" href=\"http:\/\/www.cnblogs.com\/yhlx125\/p\/5417246.html\" target=\"_blank\">g2o<\/a>\u3001LUM\u3001ELCH\u3001Toro\u3001SPA\uff09\u6765\u5b9e\u73b0\uff1b\u5b9e\u65f6\u6fc0\u51493D SLAM\u7b97\u6cd5 \uff08LOAM\uff0cBlam\uff0cCartoGrapher\u7b49\uff09\uff1bKalman\u6ee4\u6ce2\u65b9\u6cd5\u3002\u901a\u5e38\u6fc0\u51493D SLAM\u4fa7\u91cd\u4e8e\u5b9a\u4f4d\uff0c\u5728\u9ad8\u7cbe\u5ea6\u5b9a\u4f4d\u7684\u57fa\u7840\u4e0a\u53ef\u4ee5\u4ea7\u751f3D\u70b9\u4e91\uff0c\u6216\u8005Octree Map\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" width=\"794\" height=\"380\" src=\"http:\/\/139.9.1.231\/wp-content\/uploads\/2022\/10\/image-39.png\" alt=\"\" class=\"wp-image-9012\" srcset=\"http:\/\/139.9.1.231\/wp-content\/uploads\/2022\/10\/image-39.png 794w, http:\/\/139.9.1.231\/wp-content\/uploads\/2022\/10\/image-39-300x144.png 300w, http:\/\/139.9.1.231\/wp-content\/uploads\/2022\/10\/image-39-768x368.png 768w\" sizes=\"(max-width: 794px) 100vw, 794px\" \/><\/figure>\n\n\n\n<p>\u3000\u3000\u57fa\u4e8e\u89c6\u89c9\uff08\u5355\u76ee\u3001\u53cc\u76ee\u3001\u9c7c\u773c\u76f8\u673a\u3001\u6df1\u5ea6\u76f8\u673a\uff09\u7684SLAM\uff0c\u6839\u636e\u4fa7\u91cd\u70b9\u7684\u4e0d\u540c\uff0c\u6709\u7684\u4fa7\u91cd\u4e8e\u5b9a\u4f4d\uff0c\u6709\u7684\u4fa7\u91cd\u4e8e\u8868\u9762\u4e09\u7ef4\u91cd\u5efa\u3002\u4e0d\u8fc7\u90fd\u5f3a\u8c03<strong>\u7cfb\u7edf\u7684\u5b9e\u65f6\u6027<\/strong>\u3002<\/p>\n\n\n\n<p>\u3000\u3000\uff081\uff09\u4fa7\u91cd\u4e8e\u5b9a\u4f4d\u7684VSLAM\u7cfb\u7edf\u6bd4\u5982orbSLAM\uff0clsdSLAM\uff1bVINS\u662fIMU\u4e0e\u89c6\u89c9\u878d\u5408\u7684\u4e0d\u9519\u7684\u5f00\u6e90\u9879\u76ee\u3002<\/p>\n\n\n\n<p>\u3000\u3000<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" width=\"767\" height=\"238\" src=\"http:\/\/139.9.1.231\/wp-content\/uploads\/2022\/10\/image-40.png\" alt=\"\" class=\"wp-image-9014\" srcset=\"http:\/\/139.9.1.231\/wp-content\/uploads\/2022\/10\/image-40.png 767w, http:\/\/139.9.1.231\/wp-content\/uploads\/2022\/10\/image-40-300x93.png 300w\" sizes=\"(max-width: 767px) 100vw, 767px\" \/><\/figure>\n\n\n\n<p>\u3000\u3000\uff082\uff09\u4fa7\u91cd\u4e8e\u8868\u9762\u4e09\u7ef4\u91cd\u5efaSLAM\u5f3a\u8c03\u6784\u5efa\u7684\u8868\u9762\u6700\u4f18\uff0c\u6216\u8005\u8bf4\u8868\u9762\u6a21\u578b\u6700\u4f18\uff0c\u901a\u5e38\u5305\u542bFusion\u878d\u5408\u8fc7\u7a0b\u5728\u91cc\u9762\u3002\u901a\u5e38SLAM\u662f\u901a\u8fc7\u89c2\u6d4b\u5f62\u6210\u95ed\u73af\u8fdb\u884c\u6574\u4f53\u5e73\u5dee\u5b9e\u73b0\uff0c\u4f18\u5148\u4fdd\u8bc1\u4f4d\u59ff\u7684\u7cbe\u786e\uff1b\u800cVSLAM\u901a\u8fc7Fusion\u8fc7\u7a0b\u540c\u65f6\u5b9e\u73b0\u4e86\u5bf9\u6784\u5efa\u7684\u8868\u9762\u6a21\u578b\u7684\u6574\u4f53\u4f18\u5316\uff0c\u4fdd\u8bc1\u8868\u9762\u6a21\u578b\u6700\u4f18\u3002\u6700\u5178\u578b\u7684\u4f8b\u5b50\u662fKinectFusion\uff0cKinfu\uff0cBundleFusion\uff0cRatMap\u7b49\u7b49\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" width=\"1024\" height=\"284\" src=\"http:\/\/139.9.1.231\/wp-content\/uploads\/2022\/10\/image-41-1024x284.png\" alt=\"\" class=\"wp-image-9015\" srcset=\"http:\/\/139.9.1.231\/wp-content\/uploads\/2022\/10\/image-41-1024x284.png 1024w, http:\/\/139.9.1.231\/wp-content\/uploads\/2022\/10\/image-41-300x83.png 300w, http:\/\/139.9.1.231\/wp-content\/uploads\/2022\/10\/image-41-768x213.png 768w, http:\/\/139.9.1.231\/wp-content\/uploads\/2022\/10\/image-41.png 1208w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u3000\u3000<strong>\uff084\uff09\u76ee\u6807\u68c0\u6d4b\u4e0e\u8bc6\u522b<\/strong>\uff1a\u65e0\u4eba\u9a7e\u9a76\u6c7d\u8f66\u4e2d\u57fa\u4e8e\u6fc0\u5149\u6570\u636e\u68c0\u6d4b\u573a\u666f\u4e2d\u7684\u884c\u4eba\u3001\u6c7d\u8f66\u3001\u81ea\u884c\u8f66\u3001\u9053\u8def\uff08\u8f66\u9053\u7ebf\uff0c\u9053\u8def\u6807\u7ebf\uff0c\u8def\u8fb9\u7ebf\uff09\u4ee5\u53ca\u9053\u8def\u8bbe\u65bd\uff08\u8def\u706f\uff09\u548c\u9053\u8def\u9644\u5c5e\u8bbe\u65bd\uff08\u884c\u9053\u6811\u7b49\uff09\u3002\u8fd9\u90e8\u5206\u5de5\u4f5c\u4e5f\u662f\u9ad8\u7cbe\u5ea6\u7535\u5b50\u5730\u56fe\u7684\u4e3b\u8981\u5185\u5bb9\u3002\u5f53\u7136\u9ad8\u7cbe\u5ea6\u7535\u5b50\u5730\u56fe\u9700\u8981\u8003\u8651\u7684\u5185\u5bb9\u66f4\u591a\u3002\u540c\u65f6\u5ba4\u5185\u573a\u666f\u7684\u76ee\u6807\u8bc6\u522b\u7684\u7814\u7a76\u5185\u5bb9\u4e5f\u5f88\u4e30\u5bcc\uff0c\u6bd4\u5982\u7ba1\u7ebf\u8bbe\u65bd\uff0c\u6d88\u9632\u8bbe\u65bd\u7b49\u3002<\/p>\n\n\n\n<div class=\"wp-block-image\"><figure class=\"aligncenter size-full\"><img loading=\"lazy\" width=\"547\" height=\"364\" src=\"http:\/\/139.9.1.231\/wp-content\/uploads\/2022\/10\/image-42.png\" alt=\"\" class=\"wp-image-9016\" srcset=\"http:\/\/139.9.1.231\/wp-content\/uploads\/2022\/10\/image-42.png 547w, http:\/\/139.9.1.231\/wp-content\/uploads\/2022\/10\/image-42-300x200.png 300w\" sizes=\"(max-width: 547px) 100vw, 547px\" 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matching\uff09\u3002\u7a00\u758f\u7acb\u4f53\u5339\u914d\u7531\u4e8e\u5339\u914d\u70b9\u6570\u91cf\u7a00\u5c11\uff0c\u4e00\u822c\u5f88\u96be\u8fbe\u5230\u9ad8\u7cbe\u5ea6\u79fb\u52a8\u6d4b\u91cf\u548c\u73af\u5883\u611f\u77e5\u7684\u8981\u6c42\u3002\u56e0\u6b64\uff0c\u5bc6\u96c6\u7acb\u4f53\u5339\u914d\u662f\u5b66\u672f\u754c\u548c\u5de5\u4e1a\u754c\u7684\u4e3b\u8981\u7814\u7a76\u548c\u5e94\u7528\u65b9\u5411\u3002<\/p>\n\n\n\n<p>\u53c2\u8003\uff1a<a href=\"https:\/\/mp.weixin.qq.com\/s\/cOHAQX12k19eogxfpk95tA\" target=\"_blank\" rel=\"noreferrer noopener\">https:\/\/mp.weixin.qq.com\/s\/cOHAQX12k19eogxfpk95tA<\/a><\/p>\n\n\n\n<p><strong>\uff088\uff09\u81ea\u52a8\u9020\u578b\uff08\u6784\u578b\uff09\uff0c\u5feb\u901f\u9020\u578b\uff08\u6784\u578b\uff09\u6280\u672f<\/strong>\u3002\u5bf9\u6a21\u578b\u8fdb\u884c\u51f8\u5206\u5272\uff0c\u6a21\u578b\u5256\u5206\uff0c\u4ee5\u5b9e\u73b0\u6a21\u578b\u8fdb\u4e00\u6b65\u7684\u7f16\u8f91\u4fee\u6539\uff0c\u6d3e\u751f\u51fa\u5176\u4ed6\u7684\u6a21\u578b\u3002<\/p>\n\n\n\n<p><strong>\uff089\uff09\u6444\u50cf\u6d4b\u91cf\u6280\u672f\uff0c\u89c6\u9891\u6d4b\u91cf<\/strong><\/p>\n\n\n\n<hr class=\"wp-block-separator\"\/>\n","protected":false},"excerpt":{"rendered":"<p>1\uff09\u70b9\u4e91\u6982\u5ff5 \u70b9\u4e91\u662f\u5728\u540c\u4e00\u7a7a\u95f4\u53c2\u8003\u7cfb\u4e0b\u8868\u8fbe\u76ee\u6807\u7a7a\u95f4\u5206\u5e03\u548c\u76ee\u6807\u8868\u9762\u7279\u6027\u7684\u6d77\u91cf\u70b9\u96c6\u5408\uff0c\u5728\u83b7\u53d6\u7269\u4f53\u8868\u9762\u6bcf\u4e2a\u91c7\u6837\u70b9\u7684\u7a7a &hellip; <a href=\"http:\/\/139.9.1.231\/index.php\/2022\/10\/22\/pointyunbasic\/\" class=\"more-link\">\u7ee7\u7eed\u9605\u8bfb<span class=\"screen-reader-text\">\u70b9\u4e91\u57fa\u7840\u77e5\u8bc6+ 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