SLAMWARE开发套件快速使用指南

The most advanced development kit for the PX4 autopilotIN THE BOXPixhawk 4 autopilotGPS modulewith safety switch and LED Power boardI2C splitter6 to 6 pin cable (power) x 3 4 to 4 pin cable (CAN) x 26 to 4 pin cable (Data)10 to 10 pin cable (PWM) x 28 to 8 pin cable (AUX)PPM/SBUS out cableXSR receiver cableDSMX receiver cableSBUS receiver cableUSB CableMOUNTUse the provided foam pads to mount Pixhawk 4 as close as possible to your vehicle’s center of gravity. Make sure to orient the board with the arrow pointing forward.CONNECTConnect the PMB to the POWER port using the 6-wire cable to direct power from your lithium polymer (LiPo) battery to the autopilot.(Optional) Connect a Telemetry Radio to the TELEM port to receive data in Ground Control Station and communicate with the autopilot in flight.Connect I/O PWM-IN port of the PMB to the I/O PWM OUT of Pixhawk 4 using the 10 wire cable to send PWM signals to the motors.Connect PPM, DSM or SBUS Radio Control receiver to provide the autopilot with RC inputin manual and assisted flights modes.Connect the GPS module to provide the autopilot with positioning data during flight.For more details on how to connect Power Management Board(PMB) with Pixhawk 4 and the motors, refer to PX4 User Guide:https://docs.px4.io/en/assembly/quick_start_pixhawk4.htmlSET UPThe PX4 firmware is the brains of your autopilot operation and Version 1.7 is already loaded on your Pixhawk 4.To configure your vehicle as well as do mission planning and flight monitoring, you can use the free QGroundControl application (Windows, Mac, Linux), which you can download from /Once you have installed and successfully run QGroundControl, plug in Pixhawk 4 with the supplied USB cable, it should be automatically recognized. Click on and follow theon-screen instructions to finish the setup steps.As part of a first time setup, you’ll need to configure some of the required hardware compo-nents, such as:● Frame type configuration● Compass calibration● Radio control calibration● Accelerometer calibration● RC transmitter mode setup● ESC calibrationIn addition to mandatory calibrations, you may also choose to configure optional hardware including battery monitor, sonar, airspeed sensor, optical flow, OSD, camera gimbal, antenna tracker etc.ADDITIONAL INFORMATIONRefer to for detailed pin-outs of Pixhawk 4 connectors.Visit PX4 user guide at px4.io for detailed instructions including tutorials on how to change firmware and do advanced configurations with QGroundControl.Join PX4 Slack (http://slack.px4.io/) to receive support from the community and the PX4 team.。

SLAM+语⾳机器⼈DIY系列：（⼆）ROS⼊门——9.熟练使⽤rviz 温馨提⽰本篇⽂章已经收录在我最新出版的书籍《机器⼈SLAM导航核⼼技术与实战》，感兴趣的读者可以购买纸质书籍来进⾏更加深⼊和系统性的学习，购买链接如下：摘要ROS机器⼈操作系统在机器⼈应⽤领域很流⾏，依托代码开源和模块间协作等特性，给机器⼈开发者带来了很⼤的⽅便。

我们的机器⼈“miiboo”中的⼤部分程序也采⽤ROS进⾏开发，所以本⽂就重点对ROS基础知识进⾏详细的讲解，给不熟悉ROS的朋友起到⼀个抛砖引⽟的作⽤。

本章节主要内容：9.熟练使⽤rviz（1）rviz整体界⾯（图29）rviz整体界⾯rviz是ROS⾃带的图形化⼯具，可以很⽅便的让⽤户通过图形界⾯开发调试ROS。

操作界⾯也⼗分简洁，如图29，界⾯主要分为上侧菜单区、左侧显⽰内容设置区、中间显⽰区、右侧显⽰视⾓设置区、下侧ROS状态区。

（2）添加显⽰内容（图30）设置Global Options如图30，启动rviz界⾯后，⾸先要对Global Options进⾏设置，Global Options⾥⾯的参数是⼀些全局显⽰相关的参数。

其中的Fixed Frame参数是全局显⽰区域依托的坐标系，我们知道机器⼈中有很多坐标系，坐标系之间有各⾃的转换关系，有些是静态关系，有些是动态关系，不同的Fixed Frame参数有不同的显⽰效果，在导航机器⼈应⽤中，⼀般将Fixed Frame参数设置为map，也就是以map坐标系作为全局坐标系。

值得注意的是，在机器⼈的tf tree⾥⾯必须要有map坐标系，否则该选项栏会包error。

⾄于Global Options⾥⾯的其他参数可以不⽤管，默认就⾏了。

（图31）添加地图显⽰如图31，在机器⼈导航应⽤中，我们常常需要⽤rviz观察机器⼈建⽴的地图，在机器⼈发布了地图到主题的情况下，我们就可以通过rviz订阅地图相应主题（⼀般是/map主题）来显⽰地图。

Dobot视觉套件安装指南文档版本：V1.0发布日期：2018-09-12深圳市越疆科技有限公司版权所有©越疆科技有限公司2019。

保留一切权利。

非经本公司书面许可，任何单位和个人不得擅自摘抄、复制本文档内容的部分或全部，并不得以任何形式传播。

免责申明在法律允许的最大范围内，本手册所描述的产品（含其硬件、软件、固件等）均“按照现状”提供，可能存在瑕疵、错误或故障，越疆不提供任何形式的明示或默示保证，包括但不限于适销性、质量满意度、适合特定目的、不侵犯第三方权利等保证；亦不对使用本手册或使用本公司产品导致的任何特殊、附带、偶然或间接的损害进行赔偿。

在使用本产品前详细阅读本使用手册及网上发布的相关技术文档并了解相关信息，确保在充分了解机器人及其相关知识的前提下使用机械臂。

越疆建议您在专业人员的指导下使用本手册。

该手册所包含的所有安全方面的信息都不得视为Dobot的保证，即便遵循本手册及相关说明，使用过程中造成的危害或损失依然有可能发生。

本产品的使用者有责任确保遵循相关国家的切实可行的法律法规，确保在越疆机械臂的使用中不存在任何重大危险。

越疆科技有限公司地址：深圳市南山区留仙大道3370号南山智园崇文区2号楼9-10楼网址：/目的本手册介绍了Dobot视觉套件说明和安装指南，方便用户了解和使用。

读者对象本手册适用于：•客户工程师•销售工程师•安装调测工程师•技术支持工程师修订记录符号约定在本手册中可能出现下列标志，它们所代表的含义如下。

危险警告注意说明1. 视觉套件说明 (1)概述 (1)1.2视觉套件清单 (1)1.3相机参数说明 (1)1.4光源参数说明 (2)1.5相机镜头参数 (3)2. 安装指南 (4)安装相机 (4)安装Dobot Magician (13)安装Dobot M1 (13)1. 视觉套件说明概述图像处理系统通过设置图像（视觉套件获取）的色度（Hue）、饱和度（Saturation）、亮度（V alue）、特征大小来提取图像的特征，并把图像坐标转换成机械臂坐标传送给机械臂，利用机械臂完成智能分拣。

ETRX3DVK Development KitQuick-Start GuideYour ETRX3DVK contains:∙ 3 x ETRX35xDV Development Boards∙ 3 x USB cables∙ 2 x ETRX35x on carrier boards∙ 2 x ETRX35xHR on carrier boards∙ 2 x ETRX35x-LRS on carrier boards∙ 2 x ETRX35xHR-LRS on carrier boards∙ 1 x ETRX3USB USB stick∙ 2 x ½-wave antennae∙ 2 x ¼-wave antennaeThe ETRX3DVK Development Kit has been designed to allow quick evaluation and prototyping using the ETRX3 wireless mesh networking modules. The Long Range modules will allow you to test their greater outdoor range and within-building penetration.Telegesis™ is a trademark of Silicon Laboratories Inc.Before you start, go to our Support Software Download page at /telegesissoftware and download the ETRX3USB drivers and the Telegesis Terminal software (the ETRX357 Development Board uses the ETRX3USB drivers). Install them on your computer. Also, we recommend you to go to /telegesisdocuments and get the AT Command Manual, the ETRX357 Development Kit Manual and the ETRX3USB Product Manual.1 Connecting your Development Kit BoardAfter you have installed the USB drivers, connect a Development Kit Board to the computer and load the drivers as prompted, then repeat for the USB stick. Then right-click on “My Computer”, select “Manage” and “Device Manager”.Under “Ports” you will see your Telegesis USB device(s); note the COM port number that it is attached to (here, COM5). Now you can close the Device Manager. Each board that you plug in will appear as a different COM port.2 Application SoftwareIf you do not wish to use the Telegesis Terminal Application program, the command line of the ETRX357 can be accessed using any terminal software program such as HyperTerminal®or PuTTY. Simply set up HyperTerminal to connect to the appropriate com port at 19200bps, Data bits - 8, Parity - none, Stop bits - 1, Flow Control – none (ETRX357 factory default).However the Telegesis Terminal Application Software program allows enhanced functionality especially suited to the ETRX357 modules. The AT-Style commandscan be issued by clicking on c ustomisable ‘Command’ buttons and all of the 64-bit serial numbers which are reporting in are listed in a separate window. This means you will not need to input any of the 64-bit serial numbers.For instructions on how to use the AT Commands read the AT Command Manual- check y our firmware version with the “ATI” command and ensure you have the correct manual. There is also introductory material in the development kit manual. After installing the Telegesis Terminal Application program a single command button will appear. Use File -> Open Layout to select the correct set of buttons for firmware R2xx based on EmberZnet2.x or R3xx based on EmberZnet3.x. In order to use the Telegesis Terminal software, select the correct COM port and the connection parameters (ETRX357 default 19200, 8 bits, no parity, no flow control) and press the “C onnect” button. These settings are automatically retained each time the software is re-started.To get started quickly, power up one node connected to the PC and type AT followed by <enter>. If the communication to the module is working the module will prompt OK, if not check power and serial connections and make sure you have connected to the correct COM port.3 Network Set-up with Telegesis AT commandsTo start a PAN network issue the AT+EN command, or alternatively press the ‘Establish PAN’ button. The local unit will now scan all available 16 channels and establish a PAN with a random PAN ID on the quietest one. This may take up to 16 seconds and leads to the node becoming the network’s coordinator. When successful the module will prompt ‘JPAN:cc,PPPP’1, where cc is the channel number and PPPP is the PAN ID of the newly created PAN.If you get an error message instead it is likely that the module was already part of a PAN, so you need to issue the AT+DASSL command or press the ‘Disas Local’ button to leave the PAN before going back to starting a new one. In order to find the network status simply issue the AT+N command or press the ‘NWK Info’ button.Once the network is established remote nodes can be powered up ready to join in. If you have serial access to remote nodes simply issue the AT+JN command or press the ‘Join any PAN’ button to join the newly established PAN. If you don’t have serial access to the remote nodes (such as when Development Boards are battery-powered with no USB cable) you just need to wait for them to join the network automatically.By default all nodes (except coordinators) are set up to check once every minute whether any neighbours on the same PAN are present, or whether they areorphaned. If no neighbours have been found after a couple of minutes, the unit will leave the (deserted) PAN and try to join into a new one once every minute.This initial network setup can take a few minutes, especially with no serial access to remote nodes, but once the network is set up it will remain set even after power cycles.New nodes joining will cause a prompt ‘NEWNODE: <EUI64>’1 on the remote side, where <EUI64> is the unique 64-bit identifier of the device joining in, and display the JPAN message locally as described above.To learn more about setting up and maintaining a PAN please refer to the AT Command Dictionary.4 Configuring Buttons for your set-upAfter setting up the network, press the button labelled ‘Configure’ which will issue a command to scan the network causing all the nodes in the network to report in. You will see that on discovery of a remote device its serial number is added to the device list window. In addition to this, the configure functionality will build additional buttons to play a tune on a remote board (‘Ident Node x’).By looking at the actual commands behind these new buttons it is quite easy to understand how the AT-Command interface operates. Also you can easily discover the principle of mesh networking: simply move a Development Board out of range and then add a Development Board between the local node and the one which is out of range and you will find that the network has healed the broken link and all three nodes are accessible again.With a Development Board and a USB stick you can send messages between two PCs using the Broadcast or Unicast buttons and by experimenting with those buttons you will quickly get an understanding on how to integrate the ETRX357 into your application.The Telegesis Terminal Application also allows you to create custom command buttons for your individual application, just click on Commands / Add command b utton…1R3xx firmware will also report Extended Pan ID and module’s short address Silicon Laboratories Inc.400 West Cesar Chavez Austin, TX 78701USASmart.Connected.Energy-FriendlyProducts /products Quality /quality Support and Community Disclaimer Silicon Laboratories intends to provide customers with the latest, accurate, and in-depth documentation of all peripherals and modules available for system and software implementers using or intending to use the Silicon Laboratories products. Characterization data, available modules and peripherals, memory sizes and memory addresses refer to each specific device, and "Typical" parameters provided can and do vary in different applications. Application examples described herein are for illustrative purposes only. Silicon Laboratories reserves the right to make changes without further notice and limitation to product information, specifications, and descriptions herein, and does not give warranties as to the accuracy or completeness of the included information. Silicon Laboratories shall have no liability for the consequences of use of the information supplied herein. This document does not imply or express copyright licenses granted hereunder to design or fabricate any integrated circuits. The products are not designed or authorized to be used within any Life Support System without the specific written consent of Silicon Laboratories. A "Life Support System" is any product or system intended to support or sustain life and/or health, which, if it fails, can be reasonably expected to result in significant personal injury or death. Silicon Laboratories products are not designed or authorized for military applications. Silicon Laboratories products shall under no circumstances be used in weapons of mass destruction including (but not limited to) nuclear, biological or chemical weapons, or missiles capable of delivering such weapons.Trademark Information Silicon Laboratories Inc.® , Silicon Laboratories®, Silicon Labs®, SiLabs® and the Silicon Labs logo®, Bluegiga®, Bluegiga Logo®, Clockbuilder®, CMEMS®, DSPLL®, EFM®, EFM32®, EFR, Ember®, Energy Micro, Energy Micro logo and combinations thereof, "the world’s most energy friendly microcontrollers", Ember®, EZLink®, EZRadio®, EZRadioPRO®, Gecko®, ISOmodem®, Precision32®, ProSLIC®, Simplicity Studio®, SiPHY®, Telegesis, the Telegesis Logo®, USBXpress® and others are trademarks or registered trademarks of Silicon Laborato-ries Inc. ARM, CORTEX, Cortex-M3 and THUMB are trademarks or registered trademarks of ARM Holdings. Keil is a registered trademark of ARM Limited. All other products or brand names mentioned herein are trademarks of their respective holders.。

SLAMTEC MAPPER DEVELOPMENT KIT QUICK STARTSTEP 1: Quick ConnectionSLAMTEC MAPPER Development Kit Components: SLAMTEC MAPPER and power cable.Please put the SLAMTEC MAPPER on a flat surface, and connect to 5V power source with the enclosed power cable.STEP 2: Start and Connect to the ComputerTurn the switch（SW1）to ON to start the device, the indicator light(D1) will light up. SLAMTEC MAPPER will start to spin in about 20 seconds, which indicates the device starts properly.After startup, you will find the SLAMWARE- XXXXXX WiFi Hot spot.Please connect to the above SLAMWARE- XXXXXX network (you can also connect SLAMTEC MAPPER to PC via Ethernet cable. Please set the network mode as DHCP client).STEP 3: download the RoboStudioPlease download the Robostudio from our official website:/en/RoboStudioAnd then start the RoboStudio application. Right click at the robots panel and select manual connect. Use 192.168.11.1 for IP address and 1445 for the port (default settings). With a successful connection, the discovered map and real-time laser scan will be shown in the main workspace of the Robostudio.STEP 4: More Reference1.For more details of RoboStudio, please refer to the documents in the RoboStudio documents2.For more usage of SLAMTEC MAPPER Kit, please refer to the SLAMTEC MAPPER User Manual3.For the electrical characteristics and specification of SLAMTEC MAPPER, please refer to theSLAMTEC MAPPER DatasheetYou can download all the above documents from /, more help please contact ******************* .。

目录1.概述 (2)2.可执行节点nodes (2)2.1节点参数 (2)2.2bwMono节点 (6)2.2.1订阅的话题数据 (6)2.2.2发布的话题数据 (6)2.2.3 dynamic_reconfigure参数 (7)2.2.4 发布的tf变换关系 (7)2.3bwMulti节点 (8)2.3.1订阅的话题数据 (8)2.3.2发布的话题数据 (8)2.3.3 dynamic_reconfigure参数 (9)2.3.4 发布的tf变换关系 (9)3.配置教程 (10)3.1单目建图 (10)3.2单目摄像头安装矩阵的标定 (10)3.3单目加2d激光雷达建图 (12)3.4单目地图更新 (12)3.5单目导航定位 (12)3.6前后两摄像头即双目导航定位 (13)蓝鲸智能机器人ORB_SLAM2包配置手册1.概述ORB_SLAM2属于基于稀疏特征点的视觉slam算法，蓝鲸智能机器人在原始版本的基础上进行了改进和优化。

通过融合惯导里程计和激光雷达，提高了定位精度和定位鲁棒性，解决了单目尺度恢复和漂移问题，同时可以输出2d栅格地图。

增加了地图保存、加载功能，发布相关ROS话题数据，使ORB_SLAM2兼容ROS的navigation框架。

蓝鲸智能机器人ORB_SLAM2包会输出完全兼容gmapping和amcl的ros接口数据，因此可以直接替换gmapping用于建图，替换amcl用于定位。

2.可执行节点nodes共有bwMono、bwMulti两个ROS node，使用方法是一样的。

bwMono可用于建图、定位、更新地图。

bwMulti目前只支持定位。

两个节点都需要传入两个参数，分别是字典文件和配置参数文件。

字典文件相同，配置参数文件里面的参数选项是一样的，参数设置略有区别。

下文将先介绍配置参数文件里面各个参数的意义，然后介绍两个节点特有的参数设置和ros 话题信息。

对于节点的使用，蓝鲸机器人ORB_SLAM2包默认已经配置好了三个launch 文件，unch用于建图，unch用于定位，unch用于地图更新。

驱动开发网之 DriverStudio教程(由北京朗维赞助) 由北京朗维计算机应用技术公司赞助编写的DriverStudio教程，此教程全面详细地讲述了以DriverStudio为开发工具编写设备驱动程序和核心层程序的技术与技巧。

包括完全的库参考手册与开发技巧的中文版本。

DriverStudio培训教程△前言△DriverStudio开发工具包介绍△DriverStudio套件包的安装与运行环境设置△使用Vtoolsd写我们的VXD驱动△VXD的调试技术△Vtoolsd运行库函数介绍△一个Vtoolsd开发的文件保护程序例子△一个Vtoolsd开发的硬件板卡驱动例子△VXD驱动程序的安装及应用层对它的调用△DriverWork介绍△DriverWork核心运行类库介绍△生成我们的第一个WDM驱动程序△ＷＤＭ驱动程序的调试技术△开发一个硬件板卡的WDM驱动△开发一个过滤器驱动程序△10分种开发一个USB驱动(USB版版主倾情奉献)△inf文件的编制及WDM驱动程序的安装△应用层对WDM的调用△DriverNetWork介绍△与网络有关的运行库△开发一个可以实用的防火墙例子△其它实用工具介绍△DriverStudio附带例子程序介绍前言鉴于国内开发人员迫切需要学习驱动开发技术,而国内有关驱动开发工具DriverStudio的资料很少,大家在开发过程中遇到很多问题却没处问,没法问.而这些问题却是常见的,甚至是很基础的问题。

有感于此，本站联合北京朗维计算机应用公司编写了本教程。

本教程的目的是让一个有一些核心态程序编写经验或对系统有所了解的人学习编写驱动程序。

当然，本教程不是DDK中有关驱动方面内容的替换，而只是一个开发环境的介绍和指导。

学习本教程，你应该能熟练地使用本套工具编写基本的驱动程序。

当然如果你想能顺利地编写各种各样的驱动的话，你应该有相关的硬件知道和系统核心知识并且要经过必要的训练才能胜任。

如果真心说一句话，DriverStudio并没有对驱动程序开发有什么实质的改变，它和DDK的关系不过是SDK和MFC的关系，但很多人选择了MFC,原因不言自明，方便二字何以说得完呀？你再也不用去关注繁琐的框架实现代码，也不用去考虑让人可怕的实现细节。

w w w .slam t 上海思岚科技有限公司雅典娜(Athena)通用机器人平台专业版用户手册型号：N4M112020-08-18.rev.1.1目录 (2)产品介绍 (3)简介 (3)基本功能 (3)内部模块框图 (3)传感器配置 (4)接口配置 (4)指示灯状态说明 (5)充电座 (6)产品清单 (6)扩展说明 (7)简介 (7)接口定义 (7)A THENA参考设计 (9)部署及使用方法 (12)部署A THENA (12)连接至电脑 (17)调试工具 (17)充电与电池 (18)注意事项 (20)机械尺寸 (21)快速启动指南——开箱 (22)深度摄像头支架安装指导 (24)电池安装指导 (26)附录 (29)图表索引 (29)简介Athena 是一款由SLAMTEC 研发的小型可扩展、低成本机器人平台，可满足小型机器人应用开发的需求。

如智能巡检机器人，货柜运送机器人等。

其内置的高性能SLAMCUBE 自主导航定位系统套件使其具备路径规划与定位导航功能，从而能搭载不同应用在各种商用环境中工作。

Athena 采用多传感器融合技术，包含激光雷达、超声波传感器、跌落传感器、磁传感器、深度摄像头、碰撞传感器，能在复杂多变的商业环境中应变自如，成功完成自主建图，定位与导航。

基本功能自主建图定位与导航该平台具备自主建图定位与导航功能，工作过程中无需人为协助，能根据需要自动寻找路径并移动到指定的地点。

此外，它还支持多路线巡逻模式。

自动回充提供开放接口供上层应用调用，调用成功后可实现该平台在电量不足的情况下自动返回充电座充电。

第三方应用拓展该平台拥有完全开放的软硬件平台并提供外扩硬件支持，可通过SLAMWARE SDK 进行业务逻辑应用开发。

内部模块框图下图描述了Athena 和外部系统之间的通信、电源连接框图。

图表1-1 Athena 与外部系统连接示意图产品介绍User 外部系统Athena 主系统有线网络用户供电电源接口应急充电口急停开关刹车释放开关kaikaiguan 网络复位开关 Wi-Fi系统开关传感器配置图表 2-1 Athena传感器配置说明示意图接口配置图表 2-2 Athena接口配置说明示意图防跌落传感器深度摄像头传感器激光雷达传感器（层）超声波传感器碰撞传感器磁传感器应急充电Wi-Fi天线自动充电空气开关指示灯状态说明图表 2-3 Athena左右灯状态显示由于低电量的时候，同时存在health information、左转、右转等其他状态。

亚为机器视觉通用平台EVPS3.0使用说明武汉亚为电子科技有限公司2020.08特别声明：本平台为我司技术员友情提供的一个开源自学平台，仅供个人学习和研究使用，未经允许，不得作为商业用途或者另行转卖。

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目录一、概述 (1)二、使用条件 (1)（一）适用对象 (1)（二）类型说明 (1)（三）相关下载 (2)三、系统简介 (5)（一）功能说明 (5)（二）使用方法 (5)（三）注意事项 (5)四、软件界面 (6)五、功能介绍 (7)（一）测距 (7)（二）放大 (8)（三）旋转 (9)（四）图像标注 (9)（五）图像裁剪 (10)（六）FFT变换 (10)（七）描边 (11)（八）直方图 (11)（九）边缘跟踪 (12)（十）对象素描 (12)（十一）颜色识别 (13)（十二）图片对比 (13)（十三）颜色增强 (14)（十四）字符识别 (14)（十五）几何匹配 (15)（十六）二维码识别 (16)（十七）条形码识别 (16)（十八）控制与采集 (17)（十九）目标跟踪 (17)（二十）目标计数 (18)六、异常处理 (2)（一）软件无法打开 (2)（二）界面错乱 (2)（三）软件无法运行 (2)亚为机器视觉通用平台EVPS3.0使用说明武汉亚为电子科技有限公司一、概述该平台基于LabVIEW2017开发，支持绝大部分国内外的相机。

国外的相机，基本上可以直接使用NI的IMAQdx驱动进行驱动，而国内的，很多都是提供DLL供LV调用。

EVPS机器视觉平台是利用机器代替人眼实现了自动测量和智能控制，目前已集成30大类自适应算法，并获得专利。

机器人自主导航中的SLAM技术教程在机器人领域，SLAM技术（Simultaneous Localization and Mapping，即同时定位与建图）是实现机器人自主导航的关键技术之一。

SLAM技术通过机器人同时进行自身定位和环境建图，实现在未知环境中的自主导航。

本文将介绍SLAM技术的原理、方法和应用，并结合实际案例进行详细讲解。

一、SLAM技术原理SLAM技术的核心原理是通过机器人在未知环境中的感知和运动控制，实现对机器人自身位姿和环境地图的同步估计。

具体而言，SLAM技术包含以下三个主要步骤：1. 数据获取：机器人通过搭载各种传感器，如激光雷达、摄像头、惯性测量单元等，获取环境的感知数据。

激光雷达可以提供准确的环境几何信息，摄像头可以获取环境的视觉信息，而惯性测量单元则可以测量机器人的加速度和角速度等运动信息。

2. 自身定位：机器人利用感知数据进行自身定位，即确定自己在环境中的位置和姿态。

常用的自身定位方法包括扩展卡尔曼滤波（EKF）、粒子滤波（PF）等。

这些方法通过将感知数据与机器人的运动模型相结合，实现对机器人位置的估计和更新。

3. 环境建图：机器人通过感知数据和自身定位结果，对环境进行三维建模或二维地图构建。

常用的环境建图方法包括栅格地图法、占据网格法等。

这些方法可以将感知数据转化为对环境的表示，为机器人的导航和路径规划提供基础。

二、SLAM技术方法SLAM技术有多种方法和算法，包括基于特征的方法、图优化方法、滤波方法等。

下面介绍其中两种常用且典型的方法：1. 基于特征的方法：在基于特征的SLAM方法中，机器人通过提取环境中的特征点，如角点、直线等，进行定位和建图。

常用的特征提取算法有Harris角点检测、SIFT、SURF等。

通过匹配特征点，可以实现机器人的定位和环境地图的生成。

这种方法适用于较为结构化的环境。

2. 图优化方法：图优化是一种基于图论的SLAM方法，通过构建一个图模型，将机器人的位姿和环境特征作为节点，感知数据的约束关系作为边。