{"id":3577,"date":"2020-03-31T11:37:55","date_gmt":"2020-03-31T03:37:55","guid":{"rendered":"https:\/\/yanjingang.com\/blog\/?p=3577"},"modified":"2020-06-28T10:42:49","modified_gmt":"2020-06-28T02:42:49","slug":"%e5%9f%ba%e4%ba%8evl-slam%e7%9a%84%e6%97%a0gps%e8%87%aa%e5%8a%a8%e9%a9%be%e9%a9%b6%e7%b3%bb%e7%bb%9f%e7%a0%94%e7%a9%b6","status":"publish","type":"post","link":"https:\/\/yanjingang.com\/blog\/?p=3577","title":{"rendered":"\u57fa\u4e8eVL-SLAM\u7684\u65e0GPS\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u7814\u7a76"},"content":{"rendered":"

\u968f\u7740\u81ea\u52a8\u9a7e\u9a76\u6280\u672f\u7684\u53d1\u5c55\uff0c\u5728\u672a\u77e5\u73af\u5883\u4e2d\u667a\u80fd\u6c7d\u8f66\u7684\u5b9a\u4f4d\u6280\u672f\u6210\u4e3a\u8be5\u9886\u57df\u7814\u7a76\u7684\u6838\u5fc3\u3002<\/strong>\u76ee\u524d\u5b9a\u4f4d\u6280\u672f\u4e3b\u8981\u7684\u89e3\u51b3\u65b9\u6848\u662f\u57fa\u4e8e\u5168\u7403\u5b9a\u4f4d\u7cfb\u7edf\uff08GPS\uff09\uff0c\u4f46\u662f\u5728\u67d0\u4e9b\u7279\u6b8a\u7684\u73af\u5883\u4e2d\u5982\u4e0b\u8f66\u5e93\uff0c\u6ca1\u6709 GPS \u4fe1\u53f7\u5982\u4f55\u89e3\u51b3\u5b9a\u4f4d\u95ee\u9898\u5c31\u662f\u672c\u6587\u7814\u7a76\u7684\u5173\u952e\u6240\u5728\u3002<\/p>\n

\u8fd1\u5e74\u6765\uff0c\u540c\u6b65\u5b9a\u4f4d\u4e0e\u5730\u56fe\u6784\u5efa\uff08Simultaneous Localization and Mapping\uff0cSLAM\uff09\u6280\u672f\u7684\u65e5\u76ca\u6210\u719f<\/strong>\uff0c\u914d\u5408\u591a\u4f20\u611f\u5668\u878d\u5408\u89e3\u51b3\u65b9\u6848\uff0c\u81ea\u52a8\u9a7e\u9a76\u8f66\u8f86\u5728\u672a\u77e5\u73af\u5883\u65e0 GPS \u4fe1\u53f7\u7684\u60c5\u51b5\u4e0b\uff0c\u5b8c\u6210\u8def\u5f84\u89c4\u5212\u7684\u81ea\u52a8\u9a7e\u9a76\u4efb\u52a1\u5f97\u4ee5\u5b9e\u73b0\u3002\u672c\u6587\u5148\u4ecb\u7ecd\u4e86\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u6982\u8ff0\u3001\u89c6\u89c9\u6fc0\u5149\u878d\u5408\u7684 SLAM \u7406\u8bba\u4e0e\u7b97\u6cd5\uff0c\u53c8\u57fa\u4e8e ROS \u6846\u67b6\u642d\u5efa\u4e86\u81ea\u52a8\u9a7e\u9a76\u6c7d\u8f66\u7684\u5efa\u56fe\u4e0e\u8def\u5f84\u89c4\u5212\u4eff\u771f\u5b9e\u9a8c\uff0c\u6700\u540e\u5b8c\u6210\u4e86\u5728\u5730\u5e93\u4e2d\u7684\u5b9e\u8f66\u7b97\u6cd5\u9a8c\u8bc1\u5b9e\u9a8c\uff0c\u5e76\u505a\u4e86\u8bba\u6587\u7ed3\u8bba\u603b\u7ed3\u4e0e\u81ea\u52a8\u9a7e\u9a76\u6280\u672f\u7684\u672a\u6765\u5c55\u671b\u3002<\/section>\n
\n
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1.\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u6982\u8ff0<\/strong><\/h1>\n

\u81ea\u52a8\u9a7e\u9a76\u6c7d\u8f66\u5373\u65e0\u4eba\u9a7e\u9a76\u667a\u80fd\u6c7d\u8f66\uff0c\u5728\u6ca1\u6709\u4eba\u4e3a\u53c2\u4e0e\u7684\u60c5\u51b5\u4e0b\uff0c\u4f9d\u9760\u8f66\u5185\u7684\u63a7\u5236\u7cfb\u7edf\u4e0e\u667a\u80fd\u7b97\u6cd5\uff0c\u901a\u8fc7\u591a\u91cd\u4f20\u611f\u5668\u6570\u636e\u878d\u5408\u63a7\u5236\u6c7d\u8f66\u5e95\u5c42\u534f\u8bae\u5b8c\u6210\u6b63\u5e38\u7684\u8f66\u8f86\u884c\u9a76\u529f\u80fd\u3002\u667a\u80fd\u9a7e\u9a76\u6c7d\u8f66\u662f\u4e00\u4e2a\u7efc\u5408\u7684\u96c6\u6210\u7cfb\u7edf\uff0c\u5305\u62ec\u4e86\u81ea\u52a8\u6cca\u8f66\u7cfb\u7edf\u3001\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u3001\u969c\u788d\u7269\u505c\u969c\u7cfb\u7edf\u7b49\uff0c\u53c8\u5206\u4e3a\u4e86\u611f\u77e5\u5c42\u3001\u51b3\u7b56\u5c42\u548c\u63a7\u5236\u5c42\u4e09\u4e2a\u90e8\u5206<\/strong>\u5982\u56fe 1 \u6240\u793a\u3002<\/p>\n

<\/section>\n<\/section>\n<\/section>\n<\/section>\n

\"\"<\/a><\/p>\n

<\/section>\n

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\u81ea\u52a8\u9a7e\u9a76\u6c7d\u8f66\u53d1\u5c55\u4e0e\u7814\u53d1\u4e2d\u7684\u6838\u5fc3\u6280\u672f\u662f\u8f66\u8f86\u7ebf\u63a7\u6280\u672f\u548c\u8f66\u8f86\u7cbe\u786e\u5b9a\u4f4d\u6280\u672f<\/strong>\u3002\u672c\u8bba\u6587\u4e3b\u8981\u5206\u6790\u8f66\u8f86\u7684\u7cbe\u786e\u5b9a\u4f4d\uff0c\u76ee\u524d\u6700\u5e38\u7528\u7684\u89e3\u51b3\u65b9\u6cd5\u5c31\u662f\u4f7f\u7528 GPS\uff0c\u53ef\u4ee5\u8ba9\u6c7d\u8f66\u5b9e\u65f6\u5730\u5f97\u5230\u81ea\u8eab\u7684\u4f4d\u7f6e\u5750\u6807\u3002\u672c\u6587\u5219\u57fa\u4e8e SLAM \u6280\u672f\u7814\u7a76\u4e86\u4e00\u79cd\u65b0\u7684\u5b9a\u4f4d\u65b9\u6cd5\u3002<\/strong><\/p>\n

\u7ed3\u5408 SLAM \u6280\u672f\uff0c\u81ea\u52a8\u9a7e\u9a76\u6c7d\u8f66\u7684\u4f20\u611f\u5668\u5206\u522b\u7531\u6444\u50cf\u5934\u3001\u6fc0\u5149\u96f7\u8fbe\u3001\u8f66\u8f7d\u6beb\u7c73\u6ce2\u96f7\u8fbe\u3001\u8f66\u8f7d\u8d85\u58f0\u6ce2\u96f7\u8fbe\u3001\u60ef\u5bfc\u7ec4\u5408\u3001\u5de5\u4e1a\u63a7\u5236\u5668\u7b49\u7ec4\u6210<\/strong>\uff0c\u5177\u4f53\u7684\u5b89\u88c5\u4f4d\u7f6e\u5982\u56fe 2 \u6240\u793a\u3002<\/p>\n

<\/section>\n

\"\"<\/a><\/p>\n

<\/section>\n

<\/p>\n

\u4f7f\u7528\u7684\u81ea\u52a8\u9a7e\u9a76\u63a7\u5236\u6d41\u7a0b\u56fe\u5982\u56fe 3 \u6240\u793a\u3002<\/p>\n<\/section>\n<\/section>\n

\"\"<\/a><\/section>\n
<\/section>\n
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2.SLAM\u6280\u672f<\/strong><\/h1>\n
<\/section>\n<\/section>\n<\/section>\n<\/section>\n<\/section>\n
\n
\n
SLAM\uff08Simultaneous Localization and Mapping\uff09\uff0c\u540c\u65f6\u5b9a\u4f4d\u4e0e\u5730\u56fe\u6784\u5efa\uff0c<\/strong>\u4e3b\u8981\u89e3\u51b3\u7684\u662f\u81ea\u52a8\u9a7e\u9a76\u6c7d\u8f66\u5728\u672a\u77e5\u73af\u5883\u4e2d\u4ece\u672a\u77e5\u4f4d\u7f6e\u5f00\u59cb\u79fb\u52a8\uff0c\u901a\u8fc7\u4f20\u611f\u5668\u7684\u8f93\u5165\u4fe1\u53f7\u4f30\u8ba1\u81ea\u8eab\u4f4d\u59ff\u5e76\u6784\u5efa\u7a7a\u95f4\u73af\u5883\u5730\u56fe\u8fdb\u884c\u81ea\u8eab\u5b9a\u4f4d\uff0c\u5b9e\u73b0\u81ea\u4e3b\u5bfc\u822a\u3002\u8fd9\u91cc\u8bb0\u81ea\u52a8\u9a7e\u9a76\u6c7d\u8f66\u5728\u5404\u4e2a\u65f6\u523b\u7684\u72b6\u6001\u4e3a x1\uff0cx2\uff0c\u2026\uff0cxk\uff0c\u5176\u4e2d k \u8868\u793a\u79bb\u6563\u65f6\u95f4\u4e0b\u6807\u3002\u4e0b\u9762\u5206\u522b\u7528\u89c2\u6d4b\u6a21\u578b\u548c\u8fd0\u52a8\u6a21\u578b\u63cf\u8ff0\u81ea\u52a8\u9a7e\u9a76\u6c7d\u8f66\u7684 SLAM \u95ee\u9898\uff1a<\/strong><\/p>\n
<\/section>\n
\"\"<\/a><\/section>\n
<\/section>\n

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SLAM \u6280\u672f\u662f\u4e00\u4e2a\u6bd4\u8f83\u5e9e\u5927\u7684\u7cfb\u7edf\uff0c\u5176\u4e2d\u5305\u62ec\u524d\u7aef\u91cc\u7a0b\u8ba1\u3001\u540e\u7aef\u4f18\u5316\u3001\u56de\u73af\u68c0\u6d4b\u3001\u5efa\u56fe\u56db\u5927\u90e8\u5206\u3002\u672c\u6587\u4e3b\u8981\u4ecb\u7ecd\u57fa\u4e8e\u89c6\u89c9\u6fc0\u5149\u878d\u5408\u7684 SLAM \u524d\u7aef\u91cc\u7a0b\u8ba1\u7684\u4f4d\u59ff\u4f30\u8ba1\u4e0e\u5b9a\u4f4d\u6280\u672f\u3002<\/p>\n<\/section>\n<\/section>\n<\/section>\n

\n
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3.\u4f4d\u59ff\u4f30\u8ba1\u7b97<\/strong><\/h1>\n
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<\/section>\n
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4.\u7ebf\u6027\u4ee3\u6570\u6cd5\uff08SVD\uff09<\/strong><\/h1>\n<\/section>\n<\/section>\n<\/section>\n

\"\"<\/a><\/p>\n

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\"\"<\/a><\/section>\n
<\/section>\n

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\"\"<\/a><\/p>\n

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\"\"<\/a><\/p>\n<\/section>\n

\u5148\u5b9a\u4e49\u77e9\u9635\uff1a<\/span><\/p>\n

\"\"<\/a><\/p>\n

W \u662f\u4e00\u4e2a\u4e09\u7ef4\u77e9\u9635\uff0c\u5bf9\u5176\u8fdb\u884c SVD \u5206\u89e3\uff1a<\/p>\n

\"\"<\/a><\/p>\n

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\"\"<\/a><\/p>\n

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\n
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5.\u975e\u7ebf\u6027\u4f18\u5316\u6cd5<\/strong><\/h1>\n<\/section>\n<\/section>\n<\/section>\n

\u6c42\u89e3 ICP\u00a0\u7528\u975e\u7ebf\u6027\u4f18\u5316\u7684\u65b9\u6cd5\uff0c\u662f\u6839\u636e\u8fed\u4ee3\u601d\u60f3\u5bfb\u627e\u6700\u4f18\u89e3\uff0c\u4e0e PnP \u7b97\u6cd5\u7c7b\u4f3c\u3002\u4f18\u5316\u8fc7\u7a0b\u4e2d\u4e3a\u4e86\u6d88\u9664\u65cb\u8f6c\u77e9\u9635\u7684\u81ea\u8eab\u7ea6\u675f\uff0c\u4f7f\u7528\u4e86\u674e\u4ee3\u6570\u8868\u793a\u4f4d\u59ff\uff0c<\/strong>\u6784\u5efa\u7684\u76ee\u6807\u51fd\u6570\u4e3a\uff1a\"\"<\/a><\/p>\n

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\"\"<\/a><\/p>\n

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\n
\n
\n

6.\u57fa\u4e8e\u6ee4\u6ce2\u7684\u5b9a\u4f4d\u7b97\u6cd5<\/strong><\/h1>\n<\/section>\n<\/section>\n<\/section>\n
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\"\"<\/a><\/p>\n

\u5316\u7b80\u53ef\u5f97\uff1a<\/p>\n

\"\"<\/a><\/p>\n

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\u7c92\u5b50\u6ee4\u6ce2\u53ef\u8868\u793a\u4e3a\uff1a<\/p>\n

\"\"<\/a><\/p>\n

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\"\"<\/a><\/section>\n

(3) \u5b9e\u73b0\u6d41\u7a0b<\/strong><\/p>\n

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1. \u7528\u7c92\u5b50\u8fdb\u884c\u72b6\u6001\u4f20\u64ad\uff1a<\/strong><\/p>\n

\"\"<\/a><\/p>\n

2. \u8bc4\u4ef7\u6bcf\u4e00\u4e2a\u7c92\u5b50\u7684\u6743\u91cd\uff1a<\/strong><\/p>\n

\"\"<\/a><\/strong><\/p>\n

3.\u00a0\u6839\u636e\u6743\u91cd\u8fdb\u884c\u91cd\u91c7\u6837:<\/strong><\/p>\n

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\"\"<\/a><\/p>\n

\u56e0\u4e3a\u5728\u6ca1\u6709 GPS \u4fe1\u53f7\u7684\u60c5\u51b5\u4e0b\uff0c\u65e0\u6cd5\u77e5\u9053\u81ea\u52a8\u9a7e\u9a76\u6c7d\u8f66\u4f4d\u59ff\u7684\u5b9e\u9645\u53d1\u5e03\uff0c\u4ece\u5b83\u7684\u9884\u6d4b\u5206\u5e03\u8fdb\u884c\u5b9a\u4f4d\u91c7\u6837\u5982\u56fe 5 \u6240\u793a\uff0c\u5e76\u7528\u89c2\u6d4b\u6a21\u578b\u8fdb\u884c\u8ba1\u7b97\u6743\u91cd\uff0c\u8054\u5408\u6743\u91cd\u518d\u91cd\u65b0\u91c7\u6837\u6765\u8fd1\u4f3c\u81ea\u52a8\u9a7e\u9a76\u6c7d\u8f66\u7684\u540e\u9a8c\u6982\u7387\u5206\u5e03\u3002<\/p>\n

\"\"<\/a><\/section>\n

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\"\"<\/a><\/section>\n

\"\"<\/a><\/p>\n<\/section>\n

\n
\n
\n

7.\u57fa\u4e8eROS\u7684\u5b9a\u4f4d\u4e0e\u5efa\u56fe\u4eff\u771f\u5b9e\u9a8c<\/strong><\/h1>\n<\/section>\n<\/section>\n<\/section>\n
\u672c\u8bba\u6587\u4e2d\u5e94\u7528\u4ee5\u4e0a\u7684 SLAM \u4f4d\u59ff\u4f30\u8ba1\u7b97\u6cd5\u548c\u7c92\u5b50\u6ee4\u6ce2\u5b9a\u4f4d\u7b97\u6cd5\uff0c\u7ed3\u5408\u673a\u5668\u4eba\u64cd\u4f5c\u7cfb\u7edf ROS\uff08Robot Operating System\uff09<\/strong>\u8fdb\u884c\u7b97\u6cd5\u9a8c\u8bc1\u4e0e\u4eff\u771f\u5b9e\u9a8c\u3002ROS \u662f\u4e00\u4e2a\u9002\u7528\u4e8e\u81ea\u52a8\u9a7e\u9a76\u6c7d\u8f66\u5f00\u6e90\u7684\u5143\u7ea7\u64cd\u4f5c\u7cfb\u7edf<\/strong>\u3002\u4e3b\u8981\u7684\u4f18\u70b9\u662f\u53ef\u4ee5\u4e3a\u4ee3\u7801\u590d\u7528\u63d0\u4f9b\u652f\u6301\u3001\u826f\u597d\u7684\u901a\u8baf\u67b6\u6784\u3001\u5177\u5907\u63d2\u4ef6\u4eff\u771f\u5de5\u5177\u3001\u6709\u5f3a\u5927\u7684\u5e93\u4e14\u517c\u5bb9\u591a\u79cd\u7f16\u7a0b\u8bed\u8a00\u3002\u5b83\u63d0\u4f9b\u4e86\u64cd\u4f5c\u7cfb\u7edf\u5e94\u6709\u7684\u529f\u80fd\uff0c\u5305\u62ec\u786c\u4ef6\u62bd\u8c61\u3001\u5e95\u5c42\u8bbe\u5907\u63a7\u5236\u3001\u5171\u7528\u529f\u80fd\u6267\u884c\u3001\u8fdb\u7a0b\u95f4\u6d88\u606f\u4f20\u9012\uff0c\u4ee5\u53ca\u529f\u80fd\u5305\u7ba1\u7406\u3002\u5728\u672c\u4eff\u771f\u5b9e\u9a8c\u4e2d\uff0c\u7528 URDF \u673a\u5668\u4eba\u7edf\u4e00\u63cf\u8ff0\u5e73\u53f0\u6784\u5efa\u4e86\u81ea\u52a8\u9a7e\u9a76\u6c7d\u8f66\u7684\u6a21\u578b\uff0c\u7136\u540e\u628a\u81ea\u52a8\u9a7e\u9a76\u6c7d\u8f66\u6a21\u578b\u52a0\u5165 Gazebo \u7269\u7406\u4eff\u771f\u5e73\u53f0\u8fdb\u884c\u4eff\u771f\u5730\u4e0b\u8f66\u5e93\u7684\u73af\u5883\u5982\u56fe 8 \u6240\u793a\"\"<\/a>\u901a\u8fc7\u7c92\u5b50\u6ee4\u6ce2\u7b97\u6cd5\u8fdb\u884c\u6a21\u578b\u5b9a\u4f4d\u4eff\u771f\uff0c\u7528 gmapping \u5bfc\u822a\u529f\u80fd\u5305\u5728 Rviz \u754c\u9762\u4e2d\u663e\u793a\u5730\u56fe\u7684\u6784\u5efa\u60c5\u51b5\uff0c\u5e76\u5728\u5730\u56fe\u4e2d\u8fdb\u884c\u81ea\u4e3b\u5b9a\u4f4d\u5bfc\u822a\u4e0e\u8def\u5f84\u89c4\u5212\u5982\u56fe 9\u6240\u793a\u3002\"\"<\/a><\/p>\n
\n
\n
8.\u5b9e\u8f66\u6d4b\u8bd5\u548c\u7ed3\u679c\u5206\u6790<\/strong><\/section>\n<\/section>\n<\/section>\n

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\"\"<\/a><\/p>\n

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\"\"<\/a><\/p>\n

\"\"<\/a><\/p>\n

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\"\"<\/a><\/p>\n

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\"\"<\/a><\/p>\n

\u968f\u540e<\/strong>\u81ea\u52a8\u9a7e\u9a76\u6c7d\u8f66\u5f00\u542f\u81ea\u52a8\u9a7e\u9a76\u529f\u80fd<\/strong>\uff0c\u5982\u56fe 15\u6240\u793a\u4e3a\u8fd0\u52a8\u8fc7\u7a0b\u4e2d\u81ea\u52a8\u9a7e\u9a76\u6c7d\u8f66\u7684\u7cbe\u786e\u5b9a\u4f4d\u3002<\/p>\n

\"\"<\/a><\/p>\n<\/section>\n

 <\/p>\n<\/section>\n

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