{"id":4273,"date":"2025-10-16T14:20:48","date_gmt":"2025-10-16T06:20:48","guid":{"rendered":"https:\/\/www.15zhi.net\/blog\/?p=4273"},"modified":"2025-10-16T14:20:48","modified_gmt":"2025-10-16T06:20:48","slug":"202510-%e8%ae%ba%e6%96%87%e7%a0%94%e8%af%bb-wild-visual-navigationfast-traversability-learning-via-pre-trained-models-and-online-self-supervision","status":"publish","type":"post","link":"https:\/\/www.15zhi.net\/blog\/202510-%e8%ae%ba%e6%96%87%e7%a0%94%e8%af%bb-wild-visual-navigationfast-traversability-learning-via-pre-trained-models-and-online-self-supervision\/","title":{"rendered":"202510 \u8bba\u6587\u7814\u8bfb-Wild Visual Navigation:Fast Traversability Learning via Pre-Trained Models and Online Self-Supervision"},"content":{"rendered":"\n<p>\u4f5c\u8005\uff1aMatias Mattamala, Jonas Frey \u7b49<br>\u5355\u4f4d\uff1a\u725b\u6d25\u5927\u5b66\u3001\u82cf\u9ece\u4e16\u8054\u90a6\u7406\u5de5\u5b66\u9662\u3001\u9a6c\u666e\u667a\u80fd\u7cfb\u7edf\u7814\u7a76\u6240<br>\u6765\u6e90\uff1aarXiv Artificial Intelligence<br>\u65f6\u95f4\uff1a2024.04<\/p>\n\n\n\n<h2 class=\"wp-block-heading\"><strong>\u4e00\u3001\u7814\u7a76\u80cc\u666f<\/strong><\/h2>\n\n\n\n<p>\u8be5\u7814\u7a76\u805a\u7126\u4e8e<strong>\u91ce\u5916\u89c6\u89c9\u5bfc\u822a\uff08Wild Visual Navigation, WVN\uff09<\/strong>\uff0c\u5373\u5728\u81ea\u7136\u73af\u5883\uff08\u68ee\u6797\u3001\u8349\u5730\u3001\u704c\u4e1b\u7b49\uff09\u4e2d\uff0c\u673a\u5668\u4eba\u4ec5\u4f9d\u8d56\u89c6\u89c9\u611f\u77e5\u5b9e\u73b0\u81ea\u4e3b\u884c\u8d70\u3002\u4f20\u7edf\u65b9\u6cd5\u4e3b\u8981\u4f9d\u9760\u51e0\u4f55\u7279\u5f81\uff08\u5982\u5730\u5f62\u9ad8\u5dee\u3001\u5761\u5ea6\uff09**\u8bc4\u4f30\u53ef\u901a\u884c\u6027\uff08traversability\uff09\uff0c\u4f46\u5728\u91ce\u5916\u573a\u666f\u4e2d\uff0c\u8bf8\u5982\u9ad8\u8349\u3001\u679d\u53f6\u3001\u704c\u6728\u7b49\u67d4\u6027\u969c\u788d\u5e38\u88ab\u8bef\u5224\u4e3a\u521a\u6027\u7269\u4f53\uff0c\u4ece\u800c\u963b\u788d\u673a\u5668\u4eba\u524d\u8fdb\u3002<\/p>\n\n\n\n<p>\u4ee5\u5f80\u57fa\u4e8e\u6df1\u5ea6\u5b66\u4e60\u7684\u5bfc\u822a\u6a21\u578b\u901a\u5e38\u9700\u8981\u5927\u91cf\u6807\u6ce8\u6570\u636e\uff0c\u5e76\u5728\u8bad\u7ec3\u540e\u9759\u6001\u90e8\u7f72\uff0c<strong>\u7f3a\u4e4f\u5728\u7ebf\u81ea\u9002\u5e94\u80fd\u529b<\/strong>\uff0c\u96be\u4ee5\u5e94\u5bf9\u4e0d\u540c\u5730\u8c8c\u548c\u7167\u660e\u6761\u4ef6\u7684\u53d8\u5316\u3002<\/p>\n\n\n\n<p>\u4e3a\u89e3\u51b3\u8fd9\u4e00\u95ee\u9898\uff0c\u4f5c\u8005\u63d0\u51fa <strong>Wild Visual Navigation (WVN)<\/strong> \u7cfb\u7edf\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u5229\u7528<strong>\u9884\u8bad\u7ec3\u7684\u81ea\u76d1\u7763\u89c6\u89c9\u6a21\u578b\uff08\u5982 DINO-ViT\u3001STEGO\uff09<\/strong>\uff0c\u63d0\u53d6\u9ad8\u7ef4\u89c6\u89c9\u8bed\u4e49\u7279\u5f81\uff1b<\/li>\n\n\n\n<li>\u5728\u673a\u5668\u4eba\u8fd0\u884c\u8fc7\u7a0b\u4e2d\uff0c\u57fa\u4e8e\u81ea\u8eab\u8fd0\u52a8\u53cd\u9988\u751f\u6210\u76d1\u7763\u4fe1\u53f7\uff0c\u5b9e\u73b0<strong>\u5728\u7ebf\u81ea\u76d1\u7763\u5b66\u4e60\u4e0e\u5373\u65f6\u63a8\u7406<\/strong>\uff1b<\/li>\n\n\n\n<li>\u4f7f\u673a\u5668\u4eba\u5728\u6570\u5206\u949f\u7684\u793a\u8303\u5b66\u4e60\u540e\uff0c\u5373\u80fd\u5728\u5168\u65b0\u81ea\u7136\u73af\u5883\u4e2d\u5b9e\u73b0\u7a33\u5b9a\u81ea\u4e3b\u5bfc\u822a\u3002<\/li>\n<\/ul>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<h2 class=\"wp-block-heading\"><strong>\u4e8c\u3001\u6838\u5fc3\u5185\u5bb9<\/strong><\/h2>\n\n\n\n<p>\u8bba\u6587\u63d0\u51fa\u4e86\u4e00\u4e2a<strong>\u5728\u7ebf\u81ea\u76d1\u7763\u53ef\u901a\u884c\u6027\u4f30\u8ba1\u6846\u67b6 WVN<\/strong>\uff0c\u5176\u6838\u5fc3\u601d\u60f3\u5305\u62ec\uff1a<\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li><strong>\u9ad8\u7ef4\u7279\u5f81\u8bed\u4e49\u8fc1\u79fb<\/strong>\uff1a\u5229\u7528\u5927\u89c4\u6a21\u81ea\u76d1\u7763\u6a21\u578b\uff08DINO-ViT\u3001STEGO\uff09\u63d0\u53d6\u89c6\u89c9\u7279\u5f81\uff0c\u65e0\u9700\u4eba\u5de5\u6807\u6ce8\u5373\u53ef\u7f16\u7801\u8bed\u4e49\u76f8\u4f3c\u6027\uff1b<\/li>\n\n\n\n<li><strong>\u5728\u7ebf\u81ea\u76d1\u7763\u673a\u5236<\/strong>\uff1a\u673a\u5668\u4eba\u6839\u636e\u81ea\u8eab\u901f\u5ea6\u53cd\u9988\u8ba1\u7b97\u53ef\u901a\u884c\u6027\u5f97\u5206\uff08traversability score\uff09\uff0c\u4f5c\u4e3a\u8bad\u7ec3\u6807\u7b7e\uff1b<\/li>\n\n\n\n<li><strong>\u53cc\u7ebf\u7a0b\u67b6\u6784<\/strong>\uff1a\n<ul class=\"wp-block-list\">\n<li>\u4e00\u6761\u7ebf\u7a0b\u6267\u884c<strong>\u7279\u5f81\u63d0\u53d6\u4e0e\u63a8\u7406<\/strong>\uff1b<\/li>\n\n\n\n<li>\u53e6\u4e00\u6761\u7ebf\u7a0b\u6267\u884c<strong>\u76d1\u7763\u751f\u6210\u4e0e\u5728\u7ebf\u5b66\u4e60<\/strong>\uff1b<br>\u4e8c\u8005\u5e76\u884c\u5de5\u4f5c\uff0c\u5b9e\u73b0\u5b9e\u65f6\u66f4\u65b0\u4e0e\u9884\u6d4b\uff1b<\/li>\n<\/ul>\n<\/li>\n\n\n\n<li><strong>\u591a\u76f8\u673a\u611f\u77e5\u4e0e\u4efb\u52a1\u56fe\u673a\u5236<\/strong>\uff1a\u901a\u8fc7\u76d1\u7763\u56fe\uff08Supervision Graph\uff09\u4e0e\u4efb\u52a1\u56fe\uff08Mission Graph\uff09\u7ba1\u7406\u77ed\u671f\u4e0e\u5168\u5c40\u7ecf\u9a8c\uff0c\u4fdd\u8bc1\u65f6\u7a7a\u4e00\u81f4\u6027\uff1b<\/li>\n\n\n\n<li><strong>\u5f02\u5e38\u68c0\u6d4b\u4e0e\u7f6e\u4fe1\u5ea6\u8c03\u63a7<\/strong>\uff1a\u91c7\u7528\u91cd\u5efa\u8bef\u5dee\uff08autoencoder\uff09\u5ea6\u91cf\u7279\u5f81\u7f6e\u4fe1\u5ea6\uff0c\u4ece\u800c\u63d0\u5347\u672a\u77e5\u533a\u57df\u7684\u5b89\u5168\u6027\u4e0e\u5b66\u4e60\u6548\u7387\u3002<\/li>\n<\/ol>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"529\" src=\"https:\/\/www.15zhi.net\/blog\/wp-content\/uploads\/2025\/10\/3eca3212-2802-47ba-92f3-fab8680e3802-1024x529.png\" alt=\"\" class=\"wp-image-4274\" srcset=\"https:\/\/www.15zhi.net\/blog\/wp-content\/uploads\/2025\/10\/3eca3212-2802-47ba-92f3-fab8680e3802-1024x529.png 1024w, https:\/\/www.15zhi.net\/blog\/wp-content\/uploads\/2025\/10\/3eca3212-2802-47ba-92f3-fab8680e3802-300x155.png 300w, https:\/\/www.15zhi.net\/blog\/wp-content\/uploads\/2025\/10\/3eca3212-2802-47ba-92f3-fab8680e3802-768x397.png 768w, https:\/\/www.15zhi.net\/blog\/wp-content\/uploads\/2025\/10\/3eca3212-2802-47ba-92f3-fab8680e3802.png 1164w\" sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<h2 class=\"wp-block-heading\"><strong>\u4e09\u3001\u6838\u5fc3\u6846\u67b6\u4e0e\u7cfb\u7edf\u6a21\u5757<\/strong><\/h2>\n\n\n\n<h4 class=\"wp-block-heading\">1. \u7cfb\u7edf\u6982\u89c8<\/h4>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"349\" src=\"https:\/\/www.15zhi.net\/blog\/wp-content\/uploads\/2025\/10\/0bc12fc6-4565-4cde-9f62-f85bf0006b5a-1024x349.png\" alt=\"\" class=\"wp-image-4279\" srcset=\"https:\/\/www.15zhi.net\/blog\/wp-content\/uploads\/2025\/10\/0bc12fc6-4565-4cde-9f62-f85bf0006b5a-1024x349.png 1024w, https:\/\/www.15zhi.net\/blog\/wp-content\/uploads\/2025\/10\/0bc12fc6-4565-4cde-9f62-f85bf0006b5a-300x102.png 300w, https:\/\/www.15zhi.net\/blog\/wp-content\/uploads\/2025\/10\/0bc12fc6-4565-4cde-9f62-f85bf0006b5a-768x262.png 768w, https:\/\/www.15zhi.net\/blog\/wp-content\/uploads\/2025\/10\/0bc12fc6-4565-4cde-9f62-f85bf0006b5a.png 1132w\" sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>WVN \u7684\u8f93\u5165\u4e3a RGB \u56fe\u50cf\u3001\u91cc\u7a0b\u8ba1\u4e0e\u673a\u5668\u4eba\u81ea\u8eab\u72b6\u6001\uff08\u901f\u5ea6\u3001\u52a0\u901f\u5ea6\uff09\uff0c\u8f93\u51fa\u4e3a\u6bcf\u4e2a\u50cf\u7d20\u7684\u53ef\u901a\u884c\u6027\u6982\u7387\u56fe\u3002\u7cfb\u7edf\u7531\u4e24\u5927\u5e76\u884c\u6d41\u7a0b\u7ec4\u6210\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u7279\u5f81\u63d0\u53d6\u4e0e\u63a8\u7406\u6a21\u5757<\/strong>\uff1a\u8d1f\u8d23\u4ece\u56fe\u50cf\u4e2d\u63d0\u53d6\u7279\u5f81\u5e76\u751f\u6210\u901a\u884c\u6027\u9884\u6d4b\uff1b<\/li>\n\n\n\n<li><strong>\u5728\u7ebf\u5b66\u4e60\u6a21\u5757<\/strong>\uff1a\u4ece\u673a\u5668\u4eba\u8fd0\u52a8\u53cd\u9988\u4e2d\u751f\u6210\u76d1\u7763\u4fe1\u53f7\u5e76\u66f4\u65b0\u6a21\u578b\u53c2\u6570\u3002<\/li>\n<\/ul>\n\n\n\n<h4 class=\"wp-block-heading\">2. \u7279\u5f81\u63d0\u53d6\u4e0e\u63a8\u7406\uff08Feature Extraction &amp; Inference\uff09<\/h4>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u591a\u76f8\u673a\u8c03\u5ea6<\/strong>\uff1a\u901a\u8fc7\u52a0\u6743\u8f6e\u8be2\u7b97\u6cd5\u52a8\u6001\u9009\u62e9\u8f93\u5165\u56fe\u50cf\uff1b<\/li>\n\n\n\n<li><strong>\u7279\u5f81\u63d0\u53d6<\/strong>\uff1a\u4f7f\u7528\u81ea\u76d1\u7763\u9884\u8bad\u7ec3\u7f51\u7edc\uff08DINO-ViT \u63d0\u4f9b 384 \u7ef4\u7279\u5f81\uff0cSTEGO \u63d0\u4f9b 90 \u7ef4\u7279\u5f81\u4e0e\u5f31\u5206\u5272\u63a9\u819c\uff09\uff1b<\/li>\n\n\n\n<li><strong>\u7279\u5f81\u5b50\u91c7\u6837<\/strong>\uff1a\u901a\u8fc7 SLIC\u3001STEGO\u3001\u968f\u673a\u91c7\u6837\u4e09\u79cd\u7b56\u7565\u5c06 224\u00d7224 \u50cf\u7d20\u964d\u7ef4\u4e3a\u7ea6 100 \u4e2a\u7279\u5f81\u5d4c\u5165\uff1b<\/li>\n\n\n\n<li><strong>\u63a8\u7406\u65b9\u5f0f<\/strong>\uff1a\u65e2\u652f\u6301<strong>\u5206\u6bb5\u9884\u6d4b<\/strong>\uff08segment-wise\uff09\u4e5f\u652f\u6301<strong>\u50cf\u7d20\u7ea7\u9884\u6d4b<\/strong>\uff08pixel-wise\uff09\uff0c\u540e\u8005\u63d0\u4f9b\u66f4\u7cbe\u7ec6\u7684\u5bfc\u822a\u7cbe\u5ea6\u3002<\/li>\n<\/ul>\n\n\n\n<h4 class=\"wp-block-heading\">3. \u5728\u7ebf\u5b66\u4e60\uff08Online Learning\uff09<\/h4>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u53ef\u901a\u884c\u6027\u5f97\u5206\u751f\u6210<\/strong>\uff1a\u901a\u8fc7\u673a\u5668\u4eba\u6307\u4ee4\u901f\u5ea6\u4e0e\u5b9e\u9645\u901f\u5ea6\u5dee\u8ba1\u7b97\u201c\u7275\u5f15\u8bef\u5dee\u201d\uff0c\u7ecf Sigmoid \u51fd\u6570\u6620\u5c04\u4e3a\u8fde\u7eed\u53ef\u901a\u884c\u6027\u503c \u03c4\u2208[0,1]\uff1b<\/li>\n\n\n\n<li><strong>\u76d1\u7763\u56fe\u4e0e\u4efb\u52a1\u56fe<\/strong>\uff1a\n<ul class=\"wp-block-list\">\n<li><em>\u76d1\u7763\u56fe\uff08Supervision Graph\uff09<\/em>\uff1a\u77ed\u65f6\u7f13\u5b58\u673a\u5668\u4eba\u8f68\u8ff9\u4e0e\u901a\u884c\u6027\u5f97\u5206\uff1b<\/li>\n\n\n\n<li><em>\u4efb\u52a1\u56fe\uff08Mission Graph\uff09<\/em>\uff1a\u8bb0\u5f55\u957f\u671f\u7279\u5f81\u3001\u56fe\u50cf\u4e0e\u76d1\u7763\u6570\u636e\uff0c\u7528\u4e8e\u5728\u7ebf\u8bad\u7ec3\uff1b<\/li>\n<\/ul>\n<\/li>\n\n\n\n<li><strong>\u76d1\u7763\u751f\u6210<\/strong>\uff1a\u901a\u8fc7\u89c6\u89d2\u91cd\u6295\u5f71\uff0c\u5c06\u673a\u5668\u4eba\u884c\u8d70\u8f68\u8ff9\u91cd\u65b0\u6620\u5c04\u5230\u5386\u53f2\u56fe\u50cf\u4ee5\u751f\u6210\u8bad\u7ec3\u6807\u7b7e\u3002<\/li>\n<\/ul>\n\n\n\n<h4 class=\"wp-block-heading\">4. \u5f02\u5e38\u68c0\u6d4b\u4e0e\u7f6e\u4fe1\u5b66\u4e60<\/h4>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u91cd\u5efa\u7f51\u7edc\uff08f\u1d63\u2091c\u2092\uff09<\/strong>\uff1a\u4ec5\u91cd\u5efa\u5df2\u901a\u8fc7\u533a\u57df\u7279\u5f81\uff0c\u672a\u901a\u8fc7\u533a\u57df\u5c06\u5448\u73b0\u9ad8\u91cd\u5efa\u8bef\u5dee\uff0c\u5f62\u6210\u5f02\u5e38\u68c0\u6d4b\u673a\u5236\uff1b<\/li>\n\n\n\n<li><strong>\u7f6e\u4fe1\u5ea6\u4f30\u8ba1\uff08Confidence Estimation\uff09<\/strong>\uff1a\u6839\u636e\u91cd\u5efa\u8bef\u5dee\u5206\u5e03\u8ba1\u7b97\u7f6e\u4fe1\u503c c\u2208[0,1]\uff1b<\/li>\n\n\n\n<li><strong>\u52a0\u6743\u635f\u5931\u51fd\u6570<\/strong>\uff1a\u91c7\u7528\u7f6e\u4fe1\u5ea6\u52a0\u6743\u7684 MSE \u635f\u5931\uff0c\u964d\u4f4e\u672a\u6807\u6ce8\u533a\u57df\u7684\u8d1f\u9762\u5f71\u54cd\uff0c\u5b9e\u73b0\u5b89\u5168\u5b66\u4e60\u3002<\/li>\n<\/ul>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\"\/>\n\n\n\n<h2 class=\"wp-block-heading\"><strong>\u56db\u3001\u5b9e\u9a8c\u4e0e\u7ed3\u679c<\/strong><\/h2>\n\n\n\n<h4 class=\"wp-block-heading\">1. \u5b9e\u9a8c\u8bbe\u7f6e<\/h4>\n\n\n\n<p>\u5e73\u53f0\uff1aANYmal C \/ D \u56db\u8db3\u673a\u5668\u4eba\uff08\u914d\u5907 NVIDIA Jetson Orin AGX\uff09\u3002<br>\u73af\u5883\uff1a\u82f1\u56fd\u725b\u6d25\u5927\u5b66\u516c\u56ed\u3001Wytham \u68ee\u6797\u3001\u5fb7\u56fd\u56fe\u5bbe\u6839\u7814\u7a76\u6240\u7b49\u81ea\u7136\u573a\u666f\u3002<br>\u5bf9\u6bd4\u57fa\u7ebf\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u4f20\u7edf\u51e0\u4f55\u65b9\u6cd5\uff08\u57fa\u4e8e\u5730\u5f62\u9ad8\u5ea6\u4e0e\u5761\u5ea6\uff09\uff1b<\/li>\n\n\n\n<li>\u5b66\u4e60\u578b\u51e0\u4f55\u65b9\u6cd5\uff08\u57fa\u4e8e\u5730\u5f62\u6620\u5c04\u7cfb\u7edf\uff09\uff1b<\/li>\n\n\n\n<li>WVN\uff08\u89c6\u89c9\u81ea\u76d1\u7763\uff09\u3002<\/li>\n<\/ul>\n\n\n\n<h4 class=\"wp-block-heading\">2. \u5b9e\u9a8c\u7ed3\u679c<\/h4>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u5feb\u901f\u9002\u5e94\u6027<\/strong>\uff1a\u4ec5\u9700 &lt;5 \u5206\u949f\u4eba\u5de5\u793a\u8303\uff0c\u5373\u53ef\u5728\u5168\u65b0\u73af\u5883\u4e2d\u5b9e\u73b0\u6b63\u786e\u7684\u901a\u884c\u6027\u5206\u5272\uff1b<\/li>\n\n\n\n<li><strong>\u53ef\u89c6 vs \u51e0\u4f55\u6bd4\u8f83<\/strong>\uff1a\u5728\u9ad8\u8349\u6216\u67d4\u6027\u969c\u788d\u573a\u666f\u4e2d\uff0cWVN \u80fd\u533a\u5206\u201c\u53ef\u7a7f\u8d8a\u7684\u67d4\u6027\u969c\u788d\u201d\u4e0e\u201c\u4e0d\u53ef\u7a7f\u8d8a\u7684\u521a\u4f53\u201d\uff0c\u660e\u663e\u4f18\u4e8e\u51e0\u4f55\u65b9\u6cd5\uff1b<\/li>\n\n\n\n<li><strong>\u81ea\u4e3b\u5bfc\u822a\u4efb\u52a1<\/strong>\uff1a\u5728\u6811\u6797\u573a\u666f\u4e2d\uff0cWVN \u7ecf\u8fc7 2 \u5206\u949f\u5b66\u4e60\u540e\u5373\u53ef\u5b9e\u73b0 8\/8 \u6210\u529f\u7684\u81ea\u4e3b\u70b9\u5230\u70b9\u5bfc\u822a\uff1b<\/li>\n\n\n\n<li><strong>\u516c\u91cc\u7ea7\u8fde\u7eed\u5bfc\u822a<\/strong>\uff1a\u5728\u516c\u56ed\u8def\u5f84\u4e2d\uff0c\u673a\u5668\u4eba\u6210\u529f\u5b8c\u6210\u6700\u957f 1.4 km \u7684\u81ea\u4e3b\u8def\u5f84\u8ddf\u968f\uff0c\u4ec5\u9700\u8f7b\u5fae\u4eba\u5de5\u5e72\u9884\uff1b<\/li>\n\n\n\n<li><strong>\u591a\u76f8\u673a\u90e8\u7f72<\/strong>\uff1a\u5b9e\u73b0\u4ece\u5ba4\u5185\u5230\u5ba4\u5916\u7684\u81ea\u9002\u5e94\u8fc7\u6e21\uff0c\u51c6\u786e\u8bc6\u522b\u73bb\u7483\u95e8\u3001\u8349\u5730\u3001\u9053\u8def\u7b49\u591a\u7c7b\u578b\u5730\u9762\u3002<\/li>\n<\/ul>\n\n\n\n<h4 class=\"wp-block-heading\">3. \u79bb\u7ebf\u5206\u6790<\/h4>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u50cf\u7d20\u7ea7\u9884\u6d4b\u4f18\u4e8e\u5206\u6bb5\u9884\u6d4b<\/strong>\uff0c\u53ef\u63d0\u4f9b\u66f4\u7ec6\u7c92\u5ea6\u7684\u53ef\u901a\u884c\u6027\u4f30\u8ba1\uff1b<\/li>\n\n\n\n<li><strong>STEGO 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\u6846\u67b6<\/strong>\uff0c\u5b9e\u73b0\u4e86\u91ce\u5916\u73af\u5883\u4e0b\u57fa\u4e8e\u89c6\u89c9\u8f93\u5165\u7684<strong>\u5728\u7ebf\u81ea\u76d1\u7763\u53ef\u901a\u884c\u6027\u4f30\u8ba1<\/strong>\uff1b<\/li>\n\n\n\n<li>\u5f15\u5165<strong>\u9884\u8bad\u7ec3\u81ea\u76d1\u7763\u6a21\u578b<\/strong>\u7684\u8bed\u4e49\u7279\u5f81\u8fc1\u79fb\uff0c\u663e\u8457\u51cf\u5c11\u6807\u6ce8\u4f9d\u8d56\uff1b<\/li>\n\n\n\n<li>\u6784\u5efa<strong>\u53cc\u7ebf\u7a0b\u5b66\u4e60\u67b6\u6784<\/strong>\u4e0e<strong>\u4efb\u52a1\u56fe\u673a\u5236<\/strong>\uff0c\u5b9e\u73b0\u540c\u65f6\u8bad\u7ec3\u4e0e\u63a8\u7406\uff1b<\/li>\n\n\n\n<li>\u5b9e\u73b0<strong>\u5feb\u901f\u73b0\u573a\u5b66\u4e60\uff08&lt;5min\uff09\u4e0e\u771f\u5b9e\u73af\u5883\u81ea\u9002\u5e94\u5bfc\u822a<\/strong>\uff1b<\/li>\n\n\n\n<li>\u4ee3\u7801\u4e0e\u6a21\u578b\u5f00\u6e90\uff0c\u652f\u6301 ROS \u96c6\u6210\u4e0e\u591a\u76f8\u673a\u6269\u5c55\u3002<\/li>\n<\/ol>\n\n\n\n<h4 class=\"wp-block-heading\">\u5c40\u9650\u6027<\/h4>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u4f7f\u7528\u7275\u5f15\u8bef\u5dee\u4f5c\u4e3a\u901a\u884c\u6027\u5ea6\u91cf\u5b58\u5728\u566a\u58f0\u4e0e\u4e0d\u786e\u5b9a\u6027\uff1b<\/li>\n\n\n\n<li>\u957f\u671f\u8fd0\u884c\u7684\u6f02\u79fb\u4e0e\u52a8\u6001\u73af\u5883\u53d8\u5316\u4ecd\u5f71\u54cd\u6027\u80fd\uff1b<\/li>\n\n\n\n<li>\u5bf9\u4e8e\u6781\u7aef\u590d\u6742\u5730\u5f62\uff08\u5982\u6ce5\u6cde\u3001\u96ea\u5730\uff09\u7684\u6cdb\u5316\u80fd\u529b\u4ecd\u9700\u9a8c\u8bc1\u3002<\/li>\n<\/ul>\n\n\n\n<h4 class=\"wp-block-heading\">\u672a\u6765\u65b9\u5411<\/h4>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u5f15\u5165<strong>\u591a\u6a21\u6001\u611f\u77e5\u878d\u5408<\/strong>\uff08\u5982\u89e6\u89c9\u3001\u97f3\u9891\u3001\u7ea2\u5916\uff09\uff1b<\/li>\n\n\n\n<li>\u6539\u8fdb\u81ea\u76d1\u7763\u4fe1\u53f7\u7684\u9c81\u68d2\u6027\u4e0e\u8bed\u4e49\u4e00\u81f4\u6027\uff1b<\/li>\n\n\n\n<li>\u6784\u5efa\u957f\u671f\u5728\u7ebf\u5b66\u4e60\u673a\u5236\uff0c\u652f\u6301\u8de8\u73af\u5883\u8bb0\u5fc6\u8fc1\u79fb\u4e0e\u6301\u7eed\u9002\u5e94\u3002<\/li>\n<\/ul>\n\n\n\n<p><\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u4f5c\u8005\uff1aMatias Mattamala, Jonas Frey \u7b49\u5355\u4f4d\uff1a\u725b\u6d25\u5927\u5b66\u3001\u82cf\u9ece\u4e16\u8054\u90a6\u7406\u5de5\u5b66\u9662\u3001\u9a6c\u666e\u667a\u80fd 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