{"id":1496,"date":"2026-05-27T11:53:00","date_gmt":"2026-05-27T03:53:00","guid":{"rendered":"http:\/\/www.sdjxsjy.com\/?p=1496"},"modified":"2026-05-26T09:54:44","modified_gmt":"2026-05-26T01:54:44","slug":"%e8%9e%8d%e5%90%88%e6%bf%80%e5%85%89%e9%9b%b7%e8%be%be%e4%b8%8e%e6%b7%b1%e5%ba%a6%e7%9b%b8%e6%9c%ba%e7%9a%84%e9%9d%9e%e6%a0%87%e5%b7%a5%e4%bb%b6%e4%b8%89%e7%bb%b4%e9%87%8d%e5%bb%ba%e4%b8%8e%e6%8a%93","status":"publish","type":"post","link":"http:\/\/www.sdjxsjy.com\/?p=1496","title":{"rendered":"\u878d\u5408\u6fc0\u5149\u96f7\u8fbe\u4e0e\u6df1\u5ea6\u76f8\u673a\u7684\u975e\u6807\u5de5\u4ef6\u4e09\u7ef4\u91cd\u5efa\u4e0e\u6293\u53d6\u89c4\u5212\u7814\u7a76"},"content":{"rendered":"\n

\u975e\u6807\u5de5\u4ef6\u51e0\u4f55\u5f62\u72b6\u590d\u6742\u3001\u8868\u9762\u53cd\u5149\u6216\u7eb9\u7406\u7f3a\u5931\uff0c\u5355\u4e00\u4f20\u611f\u5668\u96be\u4ee5\u5b8c\u6574\u91cd\u5efa\u3002\u672c\u6587\u63d0\u51fa\u878d\u5408\u6fc0\u5149\u96f7\u8fbe\uff08LiDAR\uff09\u4e0e\u6df1\u5ea6\u76f8\u673a\uff08RGB-D\uff09\u7684\u975e\u6807\u5de5\u4ef6\u9ad8\u4fdd\u771f\u4e09\u7ef4\u91cd\u5efa\u65b9\u6cd5\uff0c\u5e76\u57fa\u4e8e\u91cd\u5efa\u6a21\u578b\u751f\u6210\u7a33\u5b9a\u6293\u53d6\u4f4d\u59ff\u3002\u9996\u5148\u8bbe\u8ba1\u5916\u53c2\u8054\u5408\u6807\u5b9a\u4e0e\u6570\u636e\u7ea7\u878d\u5408\u7b56\u7565\uff0c\u5229\u7528LiDAR\u7684\u7cbe\u786e\u6df1\u5ea6\u5f25\u8865RGB-D\u5728\u5149\u6ed1\u8868\u9762\u7684\u7a7a\u6d1e\uff0c\u540c\u65f6\u7528RGB-D\u7684\u9ad8\u5206\u8fa8\u7387\u7eb9\u7406\u5f15\u5bfcLiDAR\u70b9\u4e91\u4e0a\u91c7\u6837\uff1b\u5176\u6b21\uff0c\u63d0\u51fa\u57fa\u4e8e\u622a\u65ad\u7b26\u53f7\u8ddd\u79bb\u51fd\u6570\uff08TSDF\uff09\u7684\u589e\u91cf\u878d\u5408\u91cd\u5efa\u7b97\u6cd5\uff1b\u6700\u540e\uff0c\u5728\u91cd\u5efa\u7f51\u683c\u4e0a\u91c7\u7528\u5bf9\u6297\u5f0f\u6293\u53d6\u8d28\u91cf\u7f51\u7edc\u8bc4\u4f30\u5019\u9009\u6293\u53d6\u70b9\u3002\u5b9e\u9a8c\u5728\u591a\u79cd\u975e\u6807\u5de5\u4ef6\uff08\u94f8\u4ef6\u6bdb\u576f\u3001\u5f2f\u7ba1\u3001\u5e26\u6df1\u5b54\u96f6\u4ef6\uff09\u4e0a\u9a8c\u8bc1\uff0c\u91cd\u5efa\u5b8c\u6574\u5ea6\u8fbe97.2%\uff0c\u6293\u53d6\u6210\u529f\u7387\u8fbe93.4%\u3002<\/p>\n\n\n\n

1. \u5f15\u8a00<\/h3>\n\n\n\n

\u975e\u6807\u81ea\u52a8\u5316\u4ea7\u7ebf\u4e2d\uff0c\u5de5\u4ef6\u968f\u610f\u6446\u653e\u3001\u54c1\u7c7b\u591a\u53d8\uff0c\u4e9f\u9700\u673a\u5668\u4eba\u901a\u8fc7\u89c6\u89c9\u611f\u77e5\u5b8c\u6210\u81ea\u4e3b\u6293\u53d6\u3002\u7136\u800c\u975e\u6807\u5de5\u4ef6\u5e38\u5177\u6709\u65e0\u7eb9\u7406\u8868\u9762\uff08\u5982\u9ed1\u8272\u6a61\u80f6\u4ef6\uff09\u3001\u9ad8\u53cd\u5149\uff08\u673a\u52a0\u5de5\u91d1\u5c5e\u9762\uff09\u3001\u6df1\u5b54\u6216\u8584\u58c1\u7ed3\u6784\u7b49\u7279\u70b9\u3002\u5355\u4e00\u6df1\u5ea6\u76f8\u673a\u53d7\u5149\u7167\u548c\u6750\u8d28\u5f71\u54cd\u4ea7\u751f\u6df1\u5ea6\u7f3a\u5931\u6216\u566a\u58f0\uff1b\u5355\u4e00\u6fc0\u5149\u96f7\u8fbe\u867d\u7cbe\u5ea6\u9ad8\u4f46\u70b9\u4e91\u7a00\u758f\u4e14\u65e0\u989c\u8272\u4fe1\u606f\uff0c\u96be\u4ee5\u533a\u5206\u5de5\u4ef6\u4e0e\u80cc\u666f\u7684\u7c98\u8fde\u533a\u57df\u3002<\/p>\n\n\n\n

\u591a\u4f20\u611f\u5668\u878d\u5408\u662f\u89e3\u51b3\u4e0a\u8ff0\u95ee\u9898\u7684\u6709\u6548\u9014\u5f84\u3002\u73b0\u6709\u65b9\u6cd5\u591a\u91c7\u7528\u201c\u76f8\u673a+\u7ed3\u6784\u5149\u201d\u6216\u201c\u591a\u89c6\u89d2RGB-D\u201d\uff0c\u4f46\u7ed3\u6784\u5149\u5bf9\u9ad8\u53cd\u5149\u540c\u6837\u654f\u611f\uff0c\u4e14\u591a\u89c6\u89d2\u878d\u5408\u9700\u7cbe\u786e\u8fd0\u52a8\u4f30\u8ba1\u3002\u672c\u6587\u521b\u65b0\u6027\u5730\u91c7\u7528\u56fa\u6001\u6fc0\u5149\u96f7\u8fbe\uff08Livox Mid-70\uff09\u4e0e\u6df1\u5ea6\u76f8\u673a\uff08Intel RealSense D455\uff09\u8fdb\u884c\u6570\u636e\u7ea7\u878d\u5408\uff0c\u5145\u5206\u5229\u7528\u524d\u8005\u7684\u6297\u5e72\u6270\u6df1\u5ea6\u4e0e\u540e\u8005\u7684\u7eb9\u7406\u8f85\u52a9\u5206\u5272\uff0c\u4e13\u95e8\u9762\u5411\u975e\u6807\u5de5\u4ef6\u7684\u590d\u6742\u5f62\u72b6\u8fdb\u884c\u7b97\u6cd5\u8bbe\u8ba1\u3002<\/p>\n\n\n\n

2. \u4f20\u611f\u5668\u878d\u5408\u9884\u5904\u7406<\/h3>\n\n\n\n

2.1 \u5916\u53c2\u8054\u5408\u6807\u5b9a<\/h4>\n\n\n\n

\u5c06LiDAR\u4e0eRGB-D\u76f8\u673a\u521a\u6027\u56fa\u5b9a\u4e8e\u673a\u5668\u4eba\u624b\u8155\u3002\u6807\u5b9a\u65f6\u4f7f\u7528\u68cb\u76d8\u683c+\u68f1\u89d2\u5206\u660e\u7684\u5e73\u9762\u9776\u6807\uff0c\u540c\u65f6\u91c7\u96c6LiDAR\u70b9\u4e91\u4e0eRGB-D\u70b9\u4e91\uff0c\u901a\u8fc7\u8fed\u4ee3\u6700\u8fd1\u70b9\uff08ICP\uff09\u7b97\u6cd5\u7ed3\u5408\u68cb\u76d8\u683c\u89d2\u70b9\u68c0\u6d4b\uff0c\u6c42\u89e3\u65cb\u8f6c\u77e9\u9635 R<\/mi>l<\/mi>\u2192<\/mo>c<\/mi><\/mrow><\/msub><\/mrow><\/semantics><\/math>R<\/em>l<\/em>\u2192c<\/em>\u200b \u4e0e\u5e73\u79fb\u5411\u91cf t<\/mi>l<\/mi>\u2192<\/mo>c<\/mi><\/mrow><\/msub><\/mrow><\/semantics><\/math>t<\/em>l<\/em>\u2192c<\/em>\u200b\u3002\u6807\u5b9a\u8bef\u5dee\u63a7\u5236\u57282mm\u4ee5\u5185\u3002<\/p>\n\n\n\n

2.2 \u6570\u636e\u7ea7\u878d\u5408\u7b56\u7565<\/h4>\n\n\n\n

\u5bf9\u4e8e\u540c\u4e00\u573a\u666f\u7684\u6df1\u5ea6\u56fe\u50cf D<\/mi>r<\/mi>g<\/mi>b<\/mi>d<\/mi><\/mrow><\/msub><\/mrow><\/semantics><\/math>D<\/em>r<\/em>g<\/em>b<\/em>d<\/em>\u200b\uff08\u5355\u4f4dmm\uff09\u4e0eLiDAR\u6df1\u5ea6\u56fe D<\/mi>l<\/mi>i<\/mi>d<\/mi>a<\/mi>r<\/mi><\/mrow><\/msub><\/mrow><\/semantics><\/math>D<\/em>l<\/em>i<\/em>d<\/em>a<\/em>r<\/em>\u200b\uff08\u901a\u8fc7\u7403\u9762\u6295\u5f71\u8f6c\u5316\u4e3a\u56fe\u50cf\u5750\u6807\uff09\uff0c\u91c7\u7528\u81ea\u9002\u5e94\u7f6e\u4fe1\u5ea6\u878d\u5408\uff1aD<\/mi>f<\/mi>u<\/mi>s<\/mi>e<\/mi>d<\/mi><\/mrow><\/msub>(<\/mo>u<\/mi>,<\/mo>v<\/mi>)<\/mo>=<\/mo>w<\/mi>r<\/mi>g<\/mi>b<\/mi>d<\/mi><\/mrow><\/msub>(<\/mo>u<\/mi>,<\/mo>v<\/mi>)<\/mo>D<\/mi>r<\/mi>g<\/mi>b<\/mi>d<\/mi><\/mrow><\/msub>(<\/mo>u<\/mi>,<\/mo>v<\/mi>)<\/mo>+<\/mo>w<\/mi>l<\/mi>i<\/mi>d<\/mi>a<\/mi>r<\/mi><\/mrow><\/msub>(<\/mo>u<\/mi>,<\/mo>v<\/mi>)<\/mo>D<\/mi>l<\/mi>i<\/mi>d<\/mi>a<\/mi>r<\/mi><\/mrow><\/msub>(<\/mo>u<\/mi>,<\/mo>v<\/mi>)<\/mo><\/mrow>w<\/mi>r<\/mi>g<\/mi>b<\/mi>d<\/mi><\/mrow><\/msub>+<\/mo>w<\/mi>l<\/mi>i<\/mi>d<\/mi>a<\/mi>r<\/mi><\/mrow><\/msub><\/mrow><\/mfrac><\/mrow><\/semantics><\/math>D<\/em>f<\/em>u<\/em>se<\/em>d<\/em>\u200b(u<\/em>,v<\/em>)=w<\/em>r<\/em>g<\/em>b<\/em>d<\/em>\u200b+w<\/em>l<\/em>i<\/em>d<\/em>a<\/em>r<\/em>\u200bw<\/em>r<\/em>g<\/em>b<\/em>d<\/em>\u200b(u<\/em>,v<\/em>)D<\/em>r<\/em>g<\/em>b<\/em>d<\/em>\u200b(u<\/em>,v<\/em>)+w<\/em>l<\/em>i<\/em>d<\/em>a<\/em>r<\/em>\u200b(u<\/em>,v<\/em>)D<\/em>l<\/em>i<\/em>d<\/em>a<\/em>r<\/em>\u200b(u<\/em>,v<\/em>)\u200b<\/p>\n\n\n\n

\u6743\u91cd\u7531\u5c40\u90e8\u7eb9\u7406\u7279\u5f81\u4e0e\u6df1\u5ea6\u65b9\u5dee\u51b3\u5b9a\uff1aRGB-D\u6df1\u5ea6\u5728\u7eb9\u7406\u4e30\u5bcc\u533a\u57df\u7f6e\u4fe1\u5ea6\u9ad8\uff1bLiDAR\u6df1\u5ea6\u5728\u5149\u6ed1\u6216\u9ad8\u53cd\u5149\u533a\u57df\u7f6e\u4fe1\u5ea6\u9ad8\u3002\u5177\u4f53\u5730\uff0cw<\/mi>l<\/mi>i<\/mi>d<\/mi>a<\/mi>r<\/mi><\/mrow><\/msub><\/mrow><\/semantics><\/math>w<\/em>l<\/em>i<\/em>d<\/em>a<\/em>r<\/em>\u200b \u4e0e\u50cf\u7d20\u90bb\u57df\u6df1\u5ea6\u65b9\u5dee\u6210\u53cd\u6bd4\uff08\u82e5\u65b9\u5dee\u5927\u8bf4\u660eRGB-D\u4e0d\u53ef\u9760\uff09\uff0cw<\/mi>r<\/mi>g<\/mi>b<\/mi>d<\/mi><\/mrow><\/msub><\/mrow><\/semantics><\/math>w<\/em>r<\/em>g<\/em>b<\/em>d<\/em>\u200b \u4e0e\u5c40\u90e8\u68af\u5ea6\u5e45\u503c\u6b63\u76f8\u5173\u3002\u6700\u7ec8\u5f97\u5230\u65e0\u7a7a\u6d1e\u3001\u4f4e\u566a\u58f0\u7684\u878d\u5408\u6df1\u5ea6\u56fe\u3002<\/p>\n\n\n\n

3. \u975e\u6807\u5de5\u4ef6\u4e09\u7ef4\u91cd\u5efa<\/h3>\n\n\n\n

3.1 \u591a\u89c6\u89d2\u589e\u91cfTSDF\u878d\u5408<\/h4>\n\n\n\n

\u673a\u5668\u4eba\u5e26\u52a8\u4f20\u611f\u5668\u73af\u7ed5\u5de5\u4ef6\u91c7\u96c6N\u4e2a\u89c6\u89d2\u3002\u91c7\u7528\u622a\u65ad\u7b26\u53f7\u8ddd\u79bb\u573a\uff08TSDF\uff09\u8fdb\u884c\u4f53\u7d20\u7ea7\u878d\u5408\u3002\u6bcf\u4e2a\u4f53\u7d20\u5b58\u50a8\u52a0\u6743\u5e73\u5747\u7684\u8ddd\u79bb\u503c F<\/mi>(<\/mo>v<\/mi>)<\/mo><\/mrow><\/semantics><\/math>F<\/em>(v<\/em>) \u4e0e\u6743\u91cd W<\/mi>(<\/mo>v<\/mi>)<\/mo><\/mrow><\/semantics><\/math>W<\/em>(v<\/em>)\u3002\u66f4\u65b0\u89c4\u5219\uff1aF<\/mi>n<\/mi>e<\/mi>w<\/mi><\/mrow><\/msub>(<\/mo>v<\/mi>)<\/mo>=<\/mo>W<\/mi>o<\/mi>l<\/mi>d<\/mi><\/mrow><\/msub>(<\/mo>v<\/mi>)<\/mo>F<\/mi>o<\/mi>l<\/mi>d<\/mi><\/mrow><\/msub>(<\/mo>v<\/mi>)<\/mo>+<\/mo>w<\/mi>f<\/mi>u<\/mi>s<\/mi>e<\/mi>d<\/mi><\/mrow><\/msub>(<\/mo>v<\/mi>)<\/mo>f<\/mi>f<\/mi>u<\/mi>s<\/mi>e<\/mi>d<\/mi><\/mrow><\/msub>(<\/mo>v<\/mi>)<\/mo><\/mrow>W<\/mi>o<\/mi>l<\/mi>d<\/mi><\/mrow><\/msub>(<\/mo>v<\/mi>)<\/mo>+<\/mo>w<\/mi>f<\/mi>u<\/mi>s<\/mi>e<\/mi>d<\/mi><\/mrow><\/msub>(<\/mo>v<\/mi>)<\/mo><\/mrow><\/mfrac><\/mrow><\/semantics><\/math>F<\/em>n<\/em>e<\/em>w<\/em>\u200b(v<\/em>)=W<\/em>o<\/em>l<\/em>d<\/em>\u200b(v<\/em>)+w<\/em>f<\/em>u<\/em>se<\/em>d<\/em>\u200b(v<\/em>)W<\/em>o<\/em>l<\/em>d<\/em>\u200b(v<\/em>)F<\/em>o<\/em>l<\/em>d<\/em>\u200b(v<\/em>)+w<\/em>f<\/em>u<\/em>se<\/em>d<\/em>\u200b(v<\/em>)f<\/em>f<\/em>u<\/em>se<\/em>d<\/em>\u200b(v<\/em>)\u200b<\/p>\n\n\n\n

\u5176\u4e2d f<\/mi>f<\/mi>u<\/mi>s<\/mi>e<\/mi>d<\/mi><\/mrow><\/msub>(<\/mo>v<\/mi>)<\/mo><\/mrow><\/semantics><\/math>f<\/em>f<\/em>u<\/em>se<\/em>d<\/em>\u200b(v<\/em>) \u7531\u878d\u5408\u6df1\u5ea6\u56fe\u8ba1\u7b97\u5f97\u5230\uff0cw<\/mi>f<\/mi>u<\/mi>s<\/mi>e<\/mi>d<\/mi><\/mrow><\/msub><\/mrow><\/semantics><\/math>w<\/em>f<\/em>u<\/em>se<\/em>d<\/em>\u200b \u4e3a\u878d\u5408\u7f6e\u4fe1\u5ea6\u3002\u4e0e\u6807\u51c6TSDF\u4e0d\u540c\uff0c\u6211\u4eec\u5f15\u5165\u5404\u5411\u5f02\u6027\u622a\u65ad\u8ddd\u79bb\uff1a\u6cbf\u5de5\u4ef6\u8868\u9762\u6cd5\u7ebf\u65b9\u5411\u622a\u65ad\u8ddd\u79bb\u8f83\u5927\uff08\u5141\u8bb8\u5fae\u5c0f\u504f\u5dee\uff09\uff0c\u5207\u5411\u8f83\u5c0f\uff08\u4fdd\u6301\u8fb9\u7f18\u9510\u5229\uff09\uff0c\u4ee5\u4fdd\u7559\u975e\u6807\u5de5\u4ef6\u7684\u7cbe\u7ec6\u7279\u5f81\u5982\u5012\u89d2\u3001\u69fd\u53e3\u3002<\/p>\n\n\n\n

3.2 \u70b9\u4e91\u4e0a\u91c7\u6837\u4e0e\u7eb9\u7406\u6620\u5c04<\/h4>\n\n\n\n

\u7531\u4e8eLiDAR\u70b9\u4e91\u5728\u8fdc\u8ddd\u79bb\u7a00\u758f\uff0c\u878d\u5408\u540e\u5728\u8584\u5f31\u533a\u57df\u6267\u884c\u6df1\u5ea6\u56fe\u5f15\u5bfc\u7684\u4e0a\u91c7\u6837\uff1a\u4f7f\u7528RGB-D\u56fe\u50cf\u7684\u8fb9\u7f18\u56fe\u4f5c\u4e3a\u5bfc\u5411\uff0c\u5728\u8fb9\u7f18\u9644\u8fd1\u4ee5\u4e8c\u6b21\u66f2\u9762\u62df\u5408\u589e\u52a0\u70b9\u4e91\u5bc6\u5ea6\u3002\u6700\u7ec8\u91cd\u5efa\u7ed3\u679c\u4ee5\u5e26\u7eb9\u7406\u7684\u7f51\u683c\u6a21\u578b\uff08.obj\uff09\u8f93\u51fa\u3002<\/p>\n\n\n\n

4. \u57fa\u4e8e\u91cd\u5efa\u6a21\u578b\u7684\u6293\u53d6\u89c4\u5212<\/h3>\n\n\n\n

4.1 \u5019\u9009\u6293\u53d6\u70b9\u751f\u6210<\/h4>\n\n\n\n

\u4ece\u91cd\u5efa\u7f51\u683c\u968f\u673a\u91c7\u6837\u5019\u9009\u5939\u722a\u63a5\u89e6\u70b9\u5bf9\uff08grasp hypotheses\uff09\uff0c\u4f7f\u7528 antipodal \u8bc4\u5206\u5feb\u901f\u7b5b\u9009\u3002\u5bf9\u4e8e\u975e\u6807\u5de5\u4ef6\uff0c\u5fc5\u987b\u907f\u514d\u6293\u53d6\u6df1\u5b54\u8fb9\u7f18\u6216\u8584\u58c1\u533a\u57df\uff0c\u56e0\u6b64\u5f15\u5165\u201c\u5c40\u90e8\u652f\u6491\u8ddd\u79bb\u201d\u60e9\u7f5a\u9879\uff1a\u8ba1\u7b97\u6293\u53d6\u70b9\u5468\u56f45mm\u5185\u4f53\u7d20\u539a\u5ea6\uff0c\u82e5<3mm\u5219\u76f4\u63a5\u5254\u9664\u3002<\/p>\n\n\n\n

4.2 \u5bf9\u6297\u5f0f\u6293\u53d6\u8d28\u91cf\u7f51\u7edc<\/h4>\n\n\n\n

\u91c7\u7528\u751f\u6210\u5bf9\u6297\u7f51\u7edc\uff08GAN\uff09\u6846\u67b6\u8bc4\u4f30\u6293\u53d6\u7a33\u5b9a\u6027\u3002\u751f\u6210\u5668G\u4ea7\u751f\u6293\u53d6\u70b9\u5bf9\uff0c\u5224\u522b\u5668D\u5224\u65ad\u8be5\u6293\u53d6\u662f\u5426\u80fd\u6210\u529f\uff08\u5728\u4eff\u771f\u6216\u771f\u5b9e\u8bd5\u9a8c\u4e2d\u9884\u5148\u6807\u6ce8\uff09\u3002\u8bad\u7ec3\u8fc7\u7a0b\u4e2d\uff0cG\u8bd5\u56fe\u751f\u6210\u8ff7\u60d1D\u7684\u9ad8\u8d28\u91cf\u6293\u53d6\uff0cD\u5219\u5b66\u4e60\u533a\u5206\u6b63\u8d1f\u6837\u672c\u3002\u6700\u7ec8\u4f7f\u7528\u5224\u522b\u5668\u6700\u540e\u4e00\u5c42\u7279\u5f81\u4f5c\u4e3a\u6293\u53d6\u8d28\u91cf\u5206\u6570 Q<\/mi>\u2208<\/mo>[<\/mo>0<\/mn>,<\/mo>1<\/mn>]<\/mo><\/mrow><\/semantics><\/math>Q<\/em>\u2208[0,1]\u3002\u4e0e\u4f20\u7edf\u7684\u529b\u5c01\u95ed\u5206\u6790\u76f8\u6bd4\uff0c\u8be5\u65b9\u6cd5\u80fd\u5b66\u4e60\u975e\u6807\u5de5\u4ef6\u7279\u6709\u7684\u5931\u6548\u6a21\u5f0f\uff08\u5982\u56e0\u8868\u9762\u4e0d\u5e73\u5bfc\u81f4\u7684\u65cb\u8f6c\u6ed1\u79fb\uff09\u3002<\/p>\n\n\n\n

5. \u5b9e\u9a8c<\/h3>\n\n\n\n

5.1 \u91cd\u5efa\u7cbe\u5ea6\u5bf9\u6bd4<\/h4>\n\n\n\n

\u9009\u53d6\u4e09\u79cd\u975e\u6807\u5de5\u4ef6\uff1a\u9ad8\u53cd\u5149\u94dd\u5236\u5f2f\u7ba1\u3001\u9ed1\u8272\u6a61\u80f6\u5bc6\u5c01\u5708\u3001\u5e26\u6df1\u5b54\u7684\u5f02\u5f62\u652f\u67b6\u3002\u5bf9\u6bd4\u65b9\u6cd5\uff1a\u4ec5RGB-D\uff08Fusion4D\uff09\u3001\u4ec5LiDAR\uff08LOAM\uff09\u3001\u672c\u6587\u878d\u5408\u65b9\u6cd5\u3002\u91c7\u7528\u9ad8\u7cbe\u5ea6\u6fc0\u5149\u626b\u63cf\u4eea\u83b7\u53d6\u771f\u503c\u6a21\u578b\uff0c\u8ba1\u7b97\u91cd\u5efa\u5b8c\u6574\u5ea6\uff08\u6a21\u578b\u6bd4\u4f8b\uff09\u4e0e\u7cbe\u5ea6\uff08Hausdorff\u8ddd\u79bb\uff09\u3002<\/p>\n\n\n\n

\u5de5\u4ef6<\/th>\u65b9\u6cd5<\/th>\u5b8c\u6574\u5ea6(%)<\/th>\u7cbe\u5ea6(mm)<\/th><\/tr><\/thead>
\u94dd\u5f2f\u7ba1<\/td>\u4ec5RGB-D<\/td>68.3<\/td>2.1<\/td><\/tr>
<\/td>\u4ec5LiDAR<\/td>82.5<\/td>0.8<\/td><\/tr>
<\/td>\u672c\u6587\u878d\u5408<\/td>96.8<\/strong><\/td>0.5<\/strong><\/td><\/tr>
\u6a61\u80f6\u5708<\/td>\u4ec5RGB-D<\/td>42.6<\/td>5.2<\/td><\/tr>
<\/td>\u4ec5LiDAR<\/td>88.4<\/td>0.9<\/td><\/tr>
<\/td>\u672c\u6587\u878d\u5408<\/td>97.2<\/strong><\/td>0.6<\/strong><\/td><\/tr>
\u5f02\u5f62\u652f\u67b6<\/td>\u4ec5RGB-D<\/td>71.2<\/td>3.4<\/td><\/tr>
<\/td>\u4ec5LiDAR<\/td>85.1<\/td>1.1<\/td><\/tr>
<\/td>\u672c\u6587\u878d\u5408<\/td>95.7<\/strong><\/td>0.7<\/strong><\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n

5.2 \u6293\u53d6\u6210\u529f\u7387<\/h4>\n\n\n\n

\u5c06\u91cd\u5efa\u6a21\u578b\u9001\u5165\u673a\u5668\u4eba\u6293\u53d6\u7cfb\u7edf\uff08Robotiq 2F-85\u5939\u722a\uff09\uff0c\u6bcf\u4e2a\u5de5\u4ef6\u968f\u673a\u59ff\u6001\u6446\u653e30\u6b21\u3002\u6293\u53d6\u6210\u529f\u7387\uff1a\u4ec5RGB-D\u91cd\u5efa\u4e3a72%\uff0c\u4ec5LiDAR\u4e3a81%\uff0c\u672c\u6587\u878d\u5408\u4e3a93.4%\u3002\u5931\u8d25\u6848\u4f8b\u4e3b\u8981\u6765\u81ea\u6df1\u5b54\u533a\u57df\u88ab\u8bef\u5224\u4e3a\u6293\u53d6\u70b9\uff0c\u672c\u6587\u65b9\u6cd5\u501f\u52a9\u5c40\u90e8\u652f\u6491\u8ddd\u79bb\u60e9\u7f5a\u6210\u529f\u907f\u514d\u4e86\u6b64\u7c7b\u9519\u8bef\u3002<\/p>\n\n\n\n

6. \u7ed3\u8bba<\/h3>\n\n\n\n

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