❶ 濡备綍璇勪环ORB-SLAM3锛
鎴戣夊缑 ORB-SLAM3 绯荤粺鏄锘轰簬涔嫔墠镄 ORB-SLAM2銆丱RB-SLAM-VI 杩涜屾墿灞曘备綔钥呯粍镄勫伐浣滀竴鑴夌浉镓匡纴锲寸粫镌 ORB feature-based SLAM 锅氢简闱炲父澶氭湁閲嶅ぇ镒忎箟镄勫伐浣溿傛湰鏂囧叾涓鍦ㄤ竴浜涢吨瑕佹敼杩涙ā鍧楋纴濡 IMU 鍒濆嫔寲銆乵ulti-map system 绛夛纴鏄浣滆呯粍閲屽墠鍑犲勾镄勫伐浣溿傛垜璁や负杩欐槸涓绡囨洿锷犲亸钖戜簬绯荤粺镐ц川镄勬枃绔狅纴鎶婅繖涔埚氩伐浣滀覆浜呜捣𨱒ワ纴骞朵笖浣滆呴潪甯告叿鎱ㄧ殑鎶婂畠寮婧愪简鍑烘潵锛岄潪甯歌禐锛