{"id":93080,"date":"2024-04-19T18:20:11","date_gmt":"2024-04-19T10:20:11","guid":{"rendered":"http:\/\/lrxjmw.cn\/?p=93080"},"modified":"2024-04-19T18:20:11","modified_gmt":"2024-04-19T10:20:11","slug":"orb-slam2","status":"publish","type":"post","link":"https:\/\/lrxjmw.cn\/orb-slam2.html","title":{"rendered":"ORB-SLAM2\u521d\u5b66\u7b14\u8bb0"},"content":{"rendered":"<div>\u00a0\u8be5\u7cfb\u7edf\u5305\u542b\u4e86\u6240\u6709SLAM\u7cfb\u7edf\u5171\u6709\u7684\u6a21\u5757\uff1a1<strong>\u8ddf\u8e2a\uff08<\/strong><strong>Tracking<\/strong><strong>\uff09\u3001<\/strong><strong>2<\/strong><strong>\u5efa\u56fe\uff08<\/strong><strong>Mapping<\/strong><strong>\uff09\u3001<\/strong><strong>3<\/strong><strong>\u91cd\u5b9a\u4f4d\uff08<\/strong><strong>Relocalization<\/strong><strong>\uff09\u3001<\/strong><strong>4<\/strong><strong>\u95ed\u73af\u68c0\u6d4b\uff08<\/strong><strong>Loop closing<\/strong><strong>\uff09<\/strong><\/div>\n<div><\/div>\n<div>\n<div>\n<div><strong>\u5173\u952e\u70b9\u5982\u4e0b\uff1a<\/strong><\/div>\n<div><img loading=\"lazy\" decoding=\"async\" class=\"aligncenter size-full wp-image-93081\" src=\"http:\/\/lrxjmw.cn\/wp-content\/uploads\/2018\/01\/1-9.jpg\" alt=\"\" width=\"775\" height=\"487\" srcset=\"https:\/\/lrxjmw.cn\/wp-content\/uploads\/2018\/01\/1-9.jpg 775w, https:\/\/lrxjmw.cn\/wp-content\/uploads\/2018\/01\/1-9-300x189.jpg 300w, https:\/\/lrxjmw.cn\/wp-content\/uploads\/2018\/01\/1-9-768x483.jpg 768w\" sizes=\"auto, (max-width: 775px) 100vw, 775px\" \/><\/div>\n<\/div>\n<\/div>\n<div>\n<p>ORB-SLAM\u4e3b\u8981\u5206\u4e3a\u4e09\u4e2a\u7ebf\u7a0b\u8fdb\u884c\uff1aTracking\u3001LocalMapping\u548cLoopClosing<\/p>\n<p>\u4e09\u4e2a\u7ebf\u7a0b\u5206\u522b\u5b58\u653e\u5728\u5bf9\u5e94\u7684\u4e09\u4e2a\u6587\u4ef6\u4e2d\uff0c\u5206\u522b\u662fTracking.cpp\u3001LocalMapping.cpp\u548cLoopClosing.cpp\u6587\u4ef6\u4e2d\u3002<\/p>\n<p><strong>\uff08<\/strong><strong>1<\/strong><strong>\uff09\u8ddf\u8e2a\uff08<\/strong><strong>Tracking<\/strong><strong>\uff09<\/strong><strong>\u00a0<\/strong><br \/>\n\u8fd9\u4e00\u90e8\u5206\u4e3b\u8981\u5de5\u4f5c\u662f\u4ece\u56fe\u50cf\u4e2d\u63d0\u53d6ORB\u7279\u5f81\uff0c\u6839\u636e\u4e0a\u4e00\u5e27\u8fdb\u884c\u59ff\u6001\u4f30\u8ba1\uff0c\u6216\u8005\u8fdb\u884c\u901a\u8fc7\u5168\u5c40\u91cd\u5b9a\u4f4d\u521d\u59cb\u5316\u4f4d\u59ff\uff0c\u7136\u540e\u8ddf\u8e2a\u5df2\u7ecf\u91cd\u5efa\u7684\u5c40\u90e8\u5730\u56fe\uff0c\u4f18\u5316\u4f4d\u59ff\uff0c\u518d\u6839\u636e\u4e00\u4e9b\u89c4\u5219\u786e\u5b9a\u65b0\u7684\u5173\u952e\u5e27\u3002<\/p>\n<p><strong>\uff08<\/strong><strong>2<\/strong><strong>\uff09\u5efa\u56fe\uff08<\/strong><strong>LocalMapping<\/strong><strong>\uff09<\/strong><strong>\u00a0<\/strong><br \/>\n\u8fd9\u4e00\u90e8\u5206\u4e3b\u8981\u5b8c\u6210\u5c40\u90e8\u5730\u56fe\u6784\u5efa\u3002\u5305\u62ec\u5bf9\u5173\u952e\u5e27\u7684\u63d2\u5165\uff0c\u9a8c\u8bc1\u6700\u8fd1\u751f\u6210\u7684\u5730\u56fe\u70b9\u5e76\u8fdb\u884c\u7b5b\u9009\uff0c\u7136\u540e\u751f\u6210\u65b0\u7684\u5730\u56fe\u70b9\uff0c\u4f7f\u7528\u5c40\u90e8\u6346\u96c6\u8c03\u6574\uff08Local BA\uff09\uff0c\u6700\u540e\u518d\u5bf9\u63d2\u5165\u7684\u5173\u952e\u5e27\u8fdb\u884c\u7b5b\u9009\uff0c\u53bb\u9664\u591a\u4f59\u7684\u5173\u952e\u5e27\u3002<\/p>\n<p><strong>\uff08<\/strong><strong>3<\/strong><strong>\uff09\u95ed\u73af\u68c0\u6d4b\uff08<\/strong><strong>LoopClosing<\/strong><strong>\uff09<\/strong><strong>\u00a0<\/strong><br \/>\n\u8fd9\u4e00\u90e8\u5206\u4e3b\u8981\u5206\u4e3a\u4e24\u4e2a\u8fc7\u7a0b\uff0c\u5206\u522b\u662f\u95ed\u73af\u63a2\u6d4b\u548c\u95ed\u73af\u6821\u6b63\u3002\u95ed\u73af\u68c0\u6d4b\u5148\u4f7f\u7528WOB\u8fdb\u884c\u63a2\u6d4b\uff0c\u7136\u540e\u901a\u8fc7Sim3\u7b97\u6cd5\u8ba1\u7b97\u76f8\u4f3c\u53d8\u6362\u3002\u95ed\u73af\u6821\u6b63\uff0c\u4e3b\u8981\u662f\u95ed\u73af\u878d\u5408\u548cEssential Graph\u7684\u56fe\u4f18\u5316\u3002<\/p>\n<\/div>\n<blockquote>\n<p style=\"text-align: left; color: #88a6a4;\">\u539f\u6587\u6765\u81ea\uff1a<a href=\"http:\/\/www.cnblogs.com\/wongyi\/p\/8116734.html\" target=\"_blank\" rel=\"noopener\">http:\/\/www.cnblogs.com\/wongyi\/p\/8116734.html<\/a><\/p>\n<p style=\"text-align: left; color: #88a6a4;\">\u672c\u6587\u5730\u5740\uff1a<a href=\"http:\/\/lrxjmw.cn\/orb-slam2.html\" target=\"_blank\" rel=\"noopener\">http:\/\/lrxjmw.cn\/orb-slam2.html<\/a><span style=\"float: right;\">\u7f16\u8f91\uff1a\u738b\u6bc5\uff0c\u5ba1\u6838\u5458\uff1a\u9004\u589e\u5b9d<\/span><\/p>\n<\/blockquote>\n","protected":false},"excerpt":{"rendered":"<p>\u00a0\u8be5\u7cfb\u7edf\u5305\u542b\u4e86\u6240\u6709SLAM\u7cfb\u7edf\u5171\u6709\u7684\u6a21\u5757\uff1a1\u8ddf\u8e2a\uff08Tracking\uff09\u30012\u5efa\u56fe\uff08Mapping\uff09\u30013\u91cd\u5b9a\u4f4d\uff08Re [&hellip;]<\/p>\n","protected":false},"author":564,"featured_media":93389,"comment_status":"closed","ping_status":"closed","sticky":false,"template":"","format":"standard","meta":{"_acf_changed":false,"footnotes":""},"categories":[55],"tags":[],"class_list":["post-93080","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-thread"],"acf":[],"_links":{"self":[{"href":"https:\/\/lrxjmw.cn\/wp-json\/wp\/v2\/posts\/93080","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/lrxjmw.cn\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/lrxjmw.cn\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/lrxjmw.cn\/wp-json\/wp\/v2\/users\/564"}],"replies":[{"embeddable":true,"href":"https:\/\/lrxjmw.cn\/wp-json\/wp\/v2\/comments?post=93080"}],"version-history":[{"count":6,"href":"https:\/\/lrxjmw.cn\/wp-json\/wp\/v2\/posts\/93080\/revisions"}],"predecessor-version":[{"id":93656,"href":"https:\/\/lrxjmw.cn\/wp-json\/wp\/v2\/posts\/93080\/revisions\/93656"}],"wp:featuredmedia":[{"embeddable":true,"href":"https:\/\/lrxjmw.cn\/wp-json\/wp\/v2\/media\/93389"}],"wp:attachment":[{"href":"https:\/\/lrxjmw.cn\/wp-json\/wp\/v2\/media?parent=93080"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/lrxjmw.cn\/wp-json\/wp\/v2\/categories?post=93080"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/lrxjmw.cn\/wp-json\/wp\/v2\/tags?post=93080"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}