{"id":54469,"date":"2025-08-13T07:20:09","date_gmt":"2025-08-12T23:20:09","guid":{"rendered":"https:\/\/www.wsisp.com\/helps\/54469.html"},"modified":"2025-08-13T07:20:09","modified_gmt":"2025-08-12T23:20:09","slug":"%e6%b7%b1%e5%ba%a6%e7%9b%b8%e6%9c%ba-%e5%8f%8c%e7%9b%ae%e6%b7%b1%e5%ba%a6%e7%9b%b8%e6%9c%ba","status":"publish","type":"post","link":"https:\/\/www.wsisp.com\/helps\/54469.html","title":{"rendered":"\u6df1\u5ea6\u76f8\u673a---\u53cc\u76ee\u6df1\u5ea6\u76f8\u673a"},"content":{"rendered":"<p>\u53cc\u76ee\u6df1\u5ea6\u76f8\u673a\u662f\u4e00\u79cd\u901a\u8fc7\u6a21\u62df\u4eba\u7c7b\u53cc\u773c\u89c6\u89c9\u673a\u5236&#xff0c;\u5229\u7528\u7acb\u4f53\u89c6\u89c9\u539f\u7406\u8ba1\u7b97\u573a\u666f\u4e09\u7ef4\u6df1\u5ea6\u4fe1\u606f\u7684\u8bbe\u5907\u3002\u5176\u6838\u5fc3\u4ef7\u503c\u5728\u4e8e\u4ee5\u8f83\u4f4e\u6210\u672c\u5b9e\u73b0\u975e\u63a5\u89e6\u5f0f\u6df1\u5ea6\u611f\u77e5&#xff0c;\u5e7f\u6cdb\u5e94\u7528\u4e8e\u673a\u5668\u4eba\u5bfc\u822a\u3001AR\/VR\u4ea4\u4e92\u3001\u5de5\u4e1a\u68c0\u6d4b\u3001\u81ea\u52a8\u9a7e\u9a76\u7b49\u9886\u57df\u3002\u76f8\u6bd4\u7ed3\u6784\u5149\u3001TOF\u7b49\u5176\u4ed6\u6df1\u5ea6\u611f\u77e5\u6280\u672f&#xff0c;\u53cc\u76ee\u76f8\u673a\u5728\u5f3a\u5149\u73af\u5883\u9002\u5e94\u6027\u3001\u4e2d\u7b49\u8ddd\u79bb\u7cbe\u5ea6\u7b49\u65b9\u9762\u5177\u6709\u72ec\u7279\u4f18\u52bf&#xff0c;\u4f46\u4e5f\u9762\u4e34\u4f9d\u8d56\u573a\u666f\u7eb9\u7406\u3001\u8ba1\u7b97\u590d\u6742\u5ea6\u9ad8\u7b49\u95ee\u9898\u3002<\/p>\n<p><img decoding=\"async\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2025\/08\/20250812232007-689bcc27a85f3.png\" alt=\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" width=\"360\" \/><\/p>\n<h5>\u4e00\u3001\u6838\u5fc3\u539f\u7406&#xff1a;\u7acb\u4f53\u89c6\u89c9\u4e0e\u4e09\u89d2\u6d4b\u91cf\u7684\u6570\u5b66\u672c\u8d28<\/h5>\n<p>\u53cc\u76ee\u6df1\u5ea6\u76f8\u673a\u7684\u5e95\u5c42\u903b\u8f91\u6e90\u4e8e\u201c\u4e09\u89d2\u6d4b\u91cf\u201d&#xff08;Triangulation&#xff09;&#xff0c;\u5373\u901a\u8fc7\u4e24\u4e2a\u5df2\u77e5\u4f4d\u7f6e\u7684\u89c2\u6d4b\u70b9&#xff08;\u5de6\u53f3\u6444\u50cf\u5934&#xff09;\u4e0e\u7a7a\u95f4\u76ee\u6807\u70b9\u6784\u6210\u4e09\u89d2\u5f62&#xff0c;\u5229\u7528\u51e0\u4f55\u5173\u7cfb\u53cd\u63a8\u76ee\u6807\u70b9\u7684\u4e09\u7ef4\u5750\u6807\u3002\u8fd9\u4e00\u8fc7\u7a0b\u7684\u6838\u5fc3\u662f\u201c\u89c6\u5dee\u201d&#xff08;Disparity&#xff09;\u7684\u8ba1\u7b97&#xff0c;\u800c\u89c6\u5dee\u4e0e\u6df1\u5ea6\u7684\u6620\u5c04\u5173\u7cfb\u5219\u4f9d\u8d56\u4e8e\u76f8\u673a\u7684\u5185\u5916\u53c2\u6570\u6821\u51c6\u3002<\/p>\n<h6>1. \u89c6\u5dee&#xff1a;\u53cc\u76ee\u76f8\u673a\u611f\u77e5\u7684\u6838\u5fc3<\/h6>\n<p>\u4eba\u7c7b\u53cc\u773c\u89c2\u5bdf\u540c\u4e00\u7269\u4f53\u65f6&#xff0c;\u5de6\u773c\u4e0e\u53f3\u773c\u770b\u5230\u7684\u56fe\u50cf\u5b58\u5728\u6c34\u5e73\u65b9\u5411\u7684\u504f\u79fb&#xff0c;\u8fd9\u79cd\u504f\u79fb\u5373\u4e3a\u201c\u89c6\u5dee\u201d\u3002\u89c6\u5dee\u7684\u5927\u5c0f\u4e0e\u7269\u4f53\u8ddd\u79bb\u76f4\u63a5\u76f8\u5173&#xff1a;\u8fd1\u5904\u7269\u4f53\u89c6\u5dee\u5927&#xff0c;\u8fdc\u5904\u7269\u4f53\u89c6\u5dee\u5c0f&#xff08;\u6781\u7aef\u60c5\u51b5\u4e0b&#xff0c;\u65e0\u7a77\u8fdc\u5904\u7269\u4f53\u7684\u89c6\u5dee\u8d8b\u8fd1\u4e8e0&#xff09;\u3002<\/p>\n<p>\u5728\u53cc\u76ee\u76f8\u673a\u4e2d&#xff0c;\u89c6\u5dee\u88ab\u5b9a\u4e49\u4e3a\u201c\u7a7a\u95f4\u4e2d\u540c\u4e00\u70b9\u5728\u5de6\u3001\u53f3\u56fe\u50cf\u4e2d\u6295\u5f71\u7684\u6c34\u5e73\u50cf\u7d20\u5750\u6807\u5dee\u503c\u201d\u3002\u5047\u8bbe\u5de6\u76f8\u673a\u4e2d\u67d0\u70b9\u50cf\u7d20\u5750\u6807\u4e3a<span class=\"katex--inline\"><span class=\"katex\"><span class=\"katex-mathml\"><\/p>\n<p>        (<\/p>\n<p>         x<\/p>\n<p>         l<\/p>\n<p>        ,<\/p>\n<p>         y<\/p>\n<p>         l<\/p>\n<p>        )<\/p>\n<p>       (x_l, y_l)<\/p>\n<p>    <\/span><span class=\"katex-html\"><span class=\"base\"><span class=\"strut\" style=\"height: 1em;vertical-align: -0.25em\"><\/span><span class=\"mopen\">(<\/span><span class=\"mord\"><span class=\"mord mathnormal\">x<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.3361em\"><span class=\"\" style=\"top: -2.55em;margin-left: 0em;margin-right: 0.05em\"><span class=\"pstrut\" style=\"height: 2.7em\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mathnormal mtight\" style=\"margin-right: 0.0197em\">l<\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.15em\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><\/span><span class=\"mpunct\">,<\/span><span class=\"mspace\" style=\"margin-right: 0.1667em\"><\/span><span class=\"mord\"><span class=\"mord mathnormal\" style=\"margin-right: 0.0359em\">y<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.3361em\"><span class=\"\" style=\"top: -2.55em;margin-left: -0.0359em;margin-right: 0.05em\"><span class=\"pstrut\" style=\"height: 2.7em\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mathnormal mtight\" style=\"margin-right: 0.0197em\">l<\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.15em\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><\/span><span class=\"mclose\">)<\/span><\/span><\/span><\/span><\/span>&#xff0c;\u53f3\u76f8\u673a\u4e2d\u5bf9\u5e94\u70b9\u5750\u6807\u4e3a<span class=\"katex--inline\"><span class=\"katex\"><span class=\"katex-mathml\"><\/p>\n<p>        (<\/p>\n<p>         x<\/p>\n<p>         r<\/p>\n<p>        ,<\/p>\n<p>         y<\/p>\n<p>         r<\/p>\n<p>        )<\/p>\n<p>       (x_r, y_r)<\/p>\n<p>    <\/span><span class=\"katex-html\"><span class=\"base\"><span class=\"strut\" style=\"height: 1em;vertical-align: -0.25em\"><\/span><span class=\"mopen\">(<\/span><span class=\"mord\"><span class=\"mord mathnormal\">x<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.1514em\"><span class=\"\" style=\"top: -2.55em;margin-left: 0em;margin-right: 0.05em\"><span class=\"pstrut\" style=\"height: 2.7em\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mathnormal mtight\" style=\"margin-right: 0.0278em\">r<\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.15em\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><\/span><span class=\"mpunct\">,<\/span><span class=\"mspace\" style=\"margin-right: 0.1667em\"><\/span><span class=\"mord\"><span class=\"mord mathnormal\" style=\"margin-right: 0.0359em\">y<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.1514em\"><span class=\"\" style=\"top: -2.55em;margin-left: -0.0359em;margin-right: 0.05em\"><span class=\"pstrut\" style=\"height: 2.7em\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mathnormal mtight\" style=\"margin-right: 0.0278em\">r<\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.15em\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><\/span><span class=\"mclose\">)<\/span><\/span><\/span><\/span><\/span>&#xff0c;\u7531\u4e8e\u7ecf\u8fc7\u6781\u7ebf\u6821\u6b63&#xff08;\u540e\u6587\u8be6\u8ff0&#xff09;&#xff0c;\u5de6\u53f3\u56fe\u50cf\u7684\u5bf9\u5e94\u70b9\u5728\u540c\u4e00\u6c34\u5e73\u7ebf\u4e0a&#xff08;\u5373<span class=\"katex--inline\"><span class=\"katex\"><span class=\"katex-mathml\"><\/p>\n<p>         y<\/p>\n<p>         l<\/p>\n<p>        &#061;<\/p>\n<p>         y<\/p>\n<p>         r<\/p>\n<p>       y_l &#061; y_r<\/p>\n<p>    <\/span><span class=\"katex-html\"><span class=\"base\"><span class=\"strut\" style=\"height: 0.625em;vertical-align: -0.1944em\"><\/span><span class=\"mord\"><span class=\"mord mathnormal\" style=\"margin-right: 0.0359em\">y<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.3361em\"><span class=\"\" style=\"top: -2.55em;margin-left: -0.0359em;margin-right: 0.05em\"><span class=\"pstrut\" style=\"height: 2.7em\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mathnormal mtight\" style=\"margin-right: 0.0197em\">l<\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.15em\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><\/span><span class=\"mspace\" style=\"margin-right: 0.2778em\"><\/span><span class=\"mrel\">&#061;<\/span><span class=\"mspace\" style=\"margin-right: 0.2778em\"><\/span><\/span><span class=\"base\"><span class=\"strut\" style=\"height: 0.625em;vertical-align: -0.1944em\"><\/span><span class=\"mord\"><span class=\"mord mathnormal\" style=\"margin-right: 0.0359em\">y<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.1514em\"><span class=\"\" style=\"top: -2.55em;margin-left: -0.0359em;margin-right: 0.05em\"><span class=\"pstrut\" style=\"height: 2.7em\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mathnormal mtight\" style=\"margin-right: 0.0278em\">r<\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.15em\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>&#xff09;&#xff0c;\u56e0\u6b64\u89c6\u5dee\u53ef\u7b80\u5316\u4e3a&#xff1a; <span class=\"katex--display\"><span class=\"katex-display\"><span class=\"katex\"><span class=\"katex-mathml\"><\/p>\n<p>         d<\/p>\n<p>         &#061;<\/p>\n<p>          x<\/p>\n<p>          L<\/p>\n<p>         \u2212<\/p>\n<p>          x<\/p>\n<p>          R<\/p>\n<p>         d &#061; x_L &#8211; x_R <\/p>\n<p>     <\/span><span class=\"katex-html\"><span class=\"base\"><span class=\"strut\" style=\"height: 0.6944em\"><\/span><span class=\"mord mathnormal\">d<\/span><span class=\"mspace\" style=\"margin-right: 0.2778em\"><\/span><span class=\"mrel\">&#061;<\/span><span class=\"mspace\" style=\"margin-right: 0.2778em\"><\/span><\/span><span class=\"base\"><span class=\"strut\" style=\"height: 0.7333em;vertical-align: -0.15em\"><\/span><span class=\"mord\"><span class=\"mord mathnormal\">x<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.3283em\"><span class=\"\" style=\"top: -2.55em;margin-left: 0em;margin-right: 0.05em\"><span class=\"pstrut\" style=\"height: 2.7em\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mathnormal mtight\">L<\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.15em\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><\/span><span class=\"mspace\" style=\"margin-right: 0.2222em\"><\/span><span class=\"mbin\">\u2212<\/span><span class=\"mspace\" style=\"margin-right: 0.2222em\"><\/span><\/span><span class=\"base\"><span class=\"strut\" style=\"height: 0.5806em;vertical-align: -0.15em\"><\/span><span class=\"mord\"><span class=\"mord mathnormal\">x<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.3283em\"><span class=\"\" style=\"top: -2.55em;margin-left: 0em;margin-right: 0.05em\"><span class=\"pstrut\" style=\"height: 2.7em\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mathnormal mtight\" style=\"margin-right: 0.0077em\">R<\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.15em\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span> &#xff08;<span class=\"katex--inline\"><span class=\"katex\"><span class=\"katex-mathml\"><\/p>\n<p>        d<\/p>\n<p>       d<\/p>\n<p>    <\/span><span class=\"katex-html\"><span class=\"base\"><span class=\"strut\" style=\"height: 0.6944em\"><\/span><span class=\"mord mathnormal\">d<\/span><\/span><\/span><\/span><\/span>\u4e3a\u89c6\u5dee&#xff0c;\u5355\u4f4d\u4e3a\u50cf\u7d20&#xff1b;<span class=\"katex--inline\"><span class=\"katex\"><span class=\"katex-mathml\"><\/p>\n<p>        d<\/p>\n<p>        &gt;<\/p>\n<p>        0<\/p>\n<p>       d&gt;0<\/p>\n<p>    <\/span><span class=\"katex-html\"><span class=\"base\"><span class=\"strut\" style=\"height: 0.7335em;vertical-align: -0.0391em\"><\/span><span class=\"mord mathnormal\">d<\/span><span class=\"mspace\" style=\"margin-right: 0.2778em\"><\/span><span class=\"mrel\">&gt;<\/span><span class=\"mspace\" style=\"margin-right: 0.2778em\"><\/span><\/span><span class=\"base\"><span class=\"strut\" style=\"height: 0.6444em\"><\/span><span class=\"mord\">0<\/span><\/span><\/span><\/span><\/span>\u8868\u793a\u5de6\u56fe\u4e2d\u8be5\u70b9\u5728\u53f3\u56fe\u5bf9\u5e94\u70b9\u53f3\u4fa7&#xff09;<\/p>\n<h6>2. \u4e09\u89d2\u6d4b\u91cf\u516c\u5f0f&#xff1a;\u4ece\u89c6\u5dee\u5230\u6df1\u5ea6\u7684\u6620\u5c04<\/h6>\n<p>\u6df1\u5ea6\u8ba1\u7b97\u7684\u51e0\u4f55\u57fa\u7840\u662f\u201c\u57fa\u7ebf-\u7126\u8ddd-\u89c6\u5dee\u201d\u4e09\u89d2\u5173\u7cfb\u3002\u5982\u56fe\u6240\u793a&#xff08;\u793a\u610f\u56fe&#xff09;&#xff0c;\u5de6\u53f3\u76f8\u673a\u5149\u5fc3\u5206\u522b\u4e3a<span class=\"katex--inline\"><span class=\"katex\"><span class=\"katex-mathml\"><\/p>\n<p>         O<\/p>\n<p>         L<\/p>\n<p>       O_L<\/p>\n<p>    <\/span><span class=\"katex-html\"><span class=\"base\"><span class=\"strut\" style=\"height: 0.8333em;vertical-align: -0.15em\"><\/span><span class=\"mord\"><span class=\"mord mathnormal\" style=\"margin-right: 0.0278em\">O<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.3283em\"><span class=\"\" style=\"top: -2.55em;margin-left: -0.0278em;margin-right: 0.05em\"><span class=\"pstrut\" style=\"height: 2.7em\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mathnormal mtight\">L<\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.15em\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>\u548c<span class=\"katex--inline\"><span class=\"katex\"><span class=\"katex-mathml\"><\/p>\n<p>         O<\/p>\n<p>         R<\/p>\n<p>       O_R<\/p>\n<p>    <\/span><span class=\"katex-html\"><span class=\"base\"><span class=\"strut\" style=\"height: 0.8333em;vertical-align: -0.15em\"><\/span><span class=\"mord\"><span class=\"mord mathnormal\" style=\"margin-right: 0.0278em\">O<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.3283em\"><span class=\"\" style=\"top: -2.55em;margin-left: -0.0278em;margin-right: 0.05em\"><span class=\"pstrut\" style=\"height: 2.7em\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mathnormal mtight\" style=\"margin-right: 0.0077em\">R<\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.15em\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>&#xff0c;\u4e24\u8005\u4e4b\u95f4\u7684\u8ddd\u79bb\u4e3a\u57fa\u7ebf<span class=\"katex--inline\"><span class=\"katex\"><span class=\"katex-mathml\"><\/p>\n<p>        B<\/p>\n<p>       B<\/p>\n<p>    <\/span><span class=\"katex-html\"><span class=\"base\"><span class=\"strut\" style=\"height: 0.6833em\"><\/span><span class=\"mord mathnormal\" style=\"margin-right: 0.0502em\">B<\/span><\/span><\/span><\/span><\/span>&#xff08;\u5355\u4f4d&#xff1a;mm&#xff09;&#xff1b;\u4e24\u76f8\u673a\u7126\u8ddd\u5747\u4e3a<span class=\"katex--inline\"><span class=\"katex\"><span class=\"katex-mathml\"><\/p>\n<p>        f<\/p>\n<p>       f<\/p>\n<p>    <\/span><span class=\"katex-html\"><span class=\"base\"><span class=\"strut\" style=\"height: 0.8889em;vertical-align: -0.1944em\"><\/span><span class=\"mord mathnormal\" style=\"margin-right: 0.1076em\">f<\/span><\/span><\/span><\/span><\/span>&#xff08;\u5355\u4f4d&#xff1a;mm&#xff0c;\u955c\u5934\u5230\u6210\u50cf\u5e73\u9762\u7684\u8ddd\u79bb&#xff09;&#xff1b;\u7a7a\u95f4\u70b9<span class=\"katex--inline\"><span class=\"katex\"><span class=\"katex-mathml\"><\/p>\n<p>        P<\/p>\n<p>       P<\/p>\n<p>    <\/span><span class=\"katex-html\"><span class=\"base\"><span class=\"strut\" style=\"height: 0.6833em\"><\/span><span class=\"mord mathnormal\" style=\"margin-right: 0.1389em\">P<\/span><\/span><\/span><\/span><\/span>\u5728\u5de6\u3001\u53f3\u6210\u50cf\u5e73\u9762\u4e0a\u7684\u6295\u5f71\u5206\u522b\u4e3a<span class=\"katex--inline\"><span class=\"katex\"><span class=\"katex-mathml\"><\/p>\n<p>         X<\/p>\n<p>         l<\/p>\n<p>       X_l<\/p>\n<p>    <\/span><span class=\"katex-html\"><span class=\"base\"><span class=\"strut\" style=\"height: 0.8333em;vertical-align: -0.15em\"><\/span><span class=\"mord\"><span class=\"mord mathnormal\" style=\"margin-right: 0.0785em\">X<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.3361em\"><span class=\"\" style=\"top: -2.55em;margin-left: -0.0785em;margin-right: 0.05em\"><span class=\"pstrut\" style=\"height: 2.7em\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mathnormal mtight\" style=\"margin-right: 0.0197em\">l<\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.15em\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>\u548c<span class=\"katex--inline\"><span class=\"katex\"><span class=\"katex-mathml\"><\/p>\n<p>         X<\/p>\n<p>         r<\/p>\n<p>       X_r<\/p>\n<p>    <\/span><span class=\"katex-html\"><span class=\"base\"><span class=\"strut\" style=\"height: 0.8333em;vertical-align: -0.15em\"><\/span><span class=\"mord\"><span class=\"mord mathnormal\" style=\"margin-right: 0.0785em\">X<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.1514em\"><span class=\"\" style=\"top: -2.55em;margin-left: -0.0785em;margin-right: 0.05em\"><span class=\"pstrut\" style=\"height: 2.7em\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mathnormal mtight\" style=\"margin-right: 0.0278em\">r<\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.15em\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>&#xff0c;\u5bf9\u5e94\u50cf\u7d20\u5750\u6807\u7684\u6c34\u5e73\u5dee\u503c\u4e3a\u89c6\u5dee<span class=\"katex--inline\"><span class=\"katex\"><span class=\"katex-mathml\"><\/p>\n<p>        d<\/p>\n<p>       d<\/p>\n<p>    <\/span><span class=\"katex-html\"><span class=\"base\"><span class=\"strut\" style=\"height: 0.6944em\"><\/span><span class=\"mord mathnormal\">d<\/span><\/span><\/span><\/span><\/span>&#xff08;\u5355\u4f4d&#xff1a;\u50cf\u7d20&#xff09;\u3002<\/p>\n<p>\u6839\u636e\u76f8\u4f3c\u4e09\u89d2\u5f62\u539f\u7406&#xff08;<span class=\"katex--inline\"><span class=\"katex\"><span class=\"katex-mathml\"><\/p>\n<p>        \u25b3<\/p>\n<p>         O<\/p>\n<p>         L<\/p>\n<p>         O<\/p>\n<p>         R<\/p>\n<p>        P<\/p>\n<p>        \u223c<\/p>\n<p>        \u25b3<\/p>\n<p>         P<\/p>\n<p>         l<\/p>\n<p>         P<\/p>\n<p>         r<\/p>\n<p>        P<\/p>\n<p>       \\\\triangle O_L O_R P \\\\sim \\\\triangle P_l P_r P<\/p>\n<p>    <\/span><span class=\"katex-html\"><span class=\"base\"><span class=\"strut\" style=\"height: 0.8889em;vertical-align: -0.1944em\"><\/span><span class=\"mord\">\u25b3<\/span><span class=\"mord\"><span class=\"mord mathnormal\" style=\"margin-right: 0.0278em\">O<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.3283em\"><span class=\"\" style=\"top: -2.55em;margin-left: -0.0278em;margin-right: 0.05em\"><span class=\"pstrut\" style=\"height: 2.7em\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mathnormal mtight\">L<\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.15em\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><\/span><span class=\"mord\"><span class=\"mord mathnormal\" style=\"margin-right: 0.0278em\">O<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.3283em\"><span class=\"\" style=\"top: -2.55em;margin-left: -0.0278em;margin-right: 0.05em\"><span class=\"pstrut\" style=\"height: 2.7em\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mathnormal mtight\" style=\"margin-right: 0.0077em\">R<\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.15em\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><\/span><span class=\"mord mathnormal\" style=\"margin-right: 0.1389em\">P<\/span><span class=\"mspace\" style=\"margin-right: 0.2778em\"><\/span><span class=\"mrel\">\u223c<\/span><span class=\"mspace\" style=\"margin-right: 0.2778em\"><\/span><\/span><span class=\"base\"><span class=\"strut\" style=\"height: 0.8889em;vertical-align: -0.1944em\"><\/span><span class=\"mord\">\u25b3<\/span><span class=\"mord\"><span class=\"mord mathnormal\" style=\"margin-right: 0.1389em\">P<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.3361em\"><span class=\"\" style=\"top: -2.55em;margin-left: -0.1389em;margin-right: 0.05em\"><span class=\"pstrut\" style=\"height: 2.7em\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mathnormal mtight\" style=\"margin-right: 0.0197em\">l<\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.15em\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><\/span><span class=\"mord\"><span class=\"mord mathnormal\" style=\"margin-right: 0.1389em\">P<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.1514em\"><span class=\"\" style=\"top: -2.55em;margin-left: -0.1389em;margin-right: 0.05em\"><span class=\"pstrut\" style=\"height: 2.7em\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mathnormal mtight\" style=\"margin-right: 0.0278em\">r<\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.15em\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><\/span><span class=\"mord mathnormal\" style=\"margin-right: 0.1389em\">P<\/span><\/span><\/span><\/span><\/span>&#xff09;&#xff0c;\u53ef\u63a8\u5bfc\u51fa\u7a7a\u95f4\u70b9<span class=\"katex--inline\"><span class=\"katex\"><span class=\"katex-mathml\"><\/p>\n<p>        P<\/p>\n<p>       P<\/p>\n<p>    <\/span><span class=\"katex-html\"><span class=\"base\"><span class=\"strut\" style=\"height: 0.6833em\"><\/span><span class=\"mord mathnormal\" style=\"margin-right: 0.1389em\">P<\/span><\/span><\/span><\/span><\/span>\u5230\u76f8\u673a\u5e73\u9762\u7684\u6df1\u5ea6<span class=\"katex--inline\"><span class=\"katex\"><span class=\"katex-mathml\"><\/p>\n<p>        z<\/p>\n<p>       z<\/p>\n<p>    <\/span><span class=\"katex-html\"><span class=\"base\"><span class=\"strut\" style=\"height: 0.4306em\"><\/span><span class=\"mord mathnormal\" style=\"margin-right: 0.044em\">z<\/span><\/span><\/span><\/span><\/span>&#xff08;\u5355\u4f4d&#xff1a;mm&#xff09;\u4e3a&#xff1a; <span class=\"katex--display\"><span class=\"katex-display\"><span class=\"katex\"><span class=\"katex-mathml\"><\/p>\n<p>         z<\/p>\n<p>         &#061;<\/p>\n<p>           B<\/p>\n<p>           \u22c5<\/p>\n<p>           f<\/p>\n<p>          d<\/p>\n<p>         z &#061; \\\\frac{B \\\\cdot f}{d} <\/p>\n<p>     <\/span><span class=\"katex-html\"><span class=\"base\"><span class=\"strut\" style=\"height: 0.4306em\"><\/span><span class=\"mord mathnormal\" style=\"margin-right: 0.044em\">z<\/span><span class=\"mspace\" style=\"margin-right: 0.2778em\"><\/span><span class=\"mrel\">&#061;<\/span><span class=\"mspace\" style=\"margin-right: 0.2778em\"><\/span><\/span><span class=\"base\"><span class=\"strut\" style=\"height: 2.0574em;vertical-align: -0.686em\"><\/span><span class=\"mord\"><span class=\"mopen nulldelimiter\"><\/span><span class=\"mfrac\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 1.3714em\"><span class=\"\" style=\"top: -2.314em\"><span class=\"pstrut\" style=\"height: 3em\"><\/span><span class=\"mord\"><span class=\"mord mathnormal\">d<\/span><\/span><\/span><span class=\"\" style=\"top: -3.23em\"><span class=\"pstrut\" style=\"height: 3em\"><\/span><span class=\"frac-line\" style=\"border-bottom-width: 0.04em\"><\/span><\/span><span class=\"\" style=\"top: -3.677em\"><span class=\"pstrut\" style=\"height: 3em\"><\/span><span class=\"mord\"><span class=\"mord mathnormal\" style=\"margin-right: 0.0502em\">B<\/span><span class=\"mspace\" style=\"margin-right: 0.2222em\"><\/span><span class=\"mbin\">\u22c5<\/span><span class=\"mspace\" style=\"margin-right: 0.2222em\"><\/span><span class=\"mord mathnormal\" style=\"margin-right: 0.1076em\">f<\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.686em\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><span class=\"mclose nulldelimiter\"><\/span><\/span><\/span><\/span><\/span><\/span><\/span> <img decoding=\"async\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2025\/08\/20250812232007-689bcc27c6ac7.jpg\" alt=\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" width=\"300\" \/> \u516c\u5f0f\u89e3\u8bfb&#xff1a;<\/p>\n<ul>\n<li>\u6df1\u5ea6<span class=\"katex--inline\"><span class=\"katex\"><span class=\"katex-mathml\">\n<p>         Z<\/p>\n<p>        Z<\/p>\n<p>     <\/span><span class=\"katex-html\"><span class=\"base\"><span class=\"strut\" style=\"height: 0.6833em\"><\/span><span class=\"mord mathnormal\" style=\"margin-right: 0.0715em\">Z<\/span><\/span><\/span><\/span><\/span>\u4e0e\u57fa\u7ebf<span class=\"katex--inline\"><span class=\"katex\"><span class=\"katex-mathml\"><\/p>\n<p>         B<\/p>\n<p>        B<\/p>\n<p>     <\/span><span class=\"katex-html\"><span class=\"base\"><span class=\"strut\" style=\"height: 0.6833em\"><\/span><span class=\"mord mathnormal\" style=\"margin-right: 0.0502em\">B<\/span><\/span><\/span><\/span><\/span>\u3001\u7126\u8ddd<span class=\"katex--inline\"><span class=\"katex\"><span class=\"katex-mathml\"><\/p>\n<p>         f<\/p>\n<p>        f<\/p>\n<p>     <\/span><span class=\"katex-html\"><span class=\"base\"><span class=\"strut\" style=\"height: 0.8889em;vertical-align: -0.1944em\"><\/span><span class=\"mord mathnormal\" style=\"margin-right: 0.1076em\">f<\/span><\/span><\/span><\/span><\/span>\u6210\u6b63\u6bd4&#xff1a;\u57fa\u7ebf\u8d8a\u957f\u3001\u7126\u8ddd\u8d8a\u5927&#xff0c;\u76f8\u540c\u89c6\u5dee\u4e0b\u7684\u6df1\u5ea6\u6d4b\u91cf\u8d8a\u7cbe\u786e&#xff08;\u5c24\u5176\u9002\u5408\u8fdc\u8ddd\u79bb\u573a\u666f&#xff09;\u3002<\/li>\n<li>\u6df1\u5ea6<span class=\"katex--inline\"><span class=\"katex\"><span class=\"katex-mathml\">\n<p>         Z<\/p>\n<p>        Z<\/p>\n<p>     <\/span><span class=\"katex-html\"><span class=\"base\"><span class=\"strut\" style=\"height: 0.6833em\"><\/span><span class=\"mord mathnormal\" style=\"margin-right: 0.0715em\">Z<\/span><\/span><\/span><\/span><\/span>\u4e0e\u89c6\u5dee<span class=\"katex--inline\"><span class=\"katex\"><span class=\"katex-mathml\"><\/p>\n<p>         d<\/p>\n<p>        d<\/p>\n<p>     <\/span><span class=\"katex-html\"><span class=\"base\"><span class=\"strut\" style=\"height: 0.6944em\"><\/span><span class=\"mord mathnormal\">d<\/span><\/span><\/span><\/span><\/span>\u6210\u53cd\u6bd4&#xff1a;\u89c6\u5dee\u8d8a\u5c0f&#xff08;\u7269\u4f53\u8d8a\u8fdc&#xff09;&#xff0c;\u6df1\u5ea6\u8ba1\u7b97\u5bf9<span class=\"katex--inline\"><span class=\"katex\"><span class=\"katex-mathml\"><\/p>\n<p>         d<\/p>\n<p>        d<\/p>\n<p>     <\/span><span class=\"katex-html\"><span class=\"base\"><span class=\"strut\" style=\"height: 0.6944em\"><\/span><span class=\"mord mathnormal\">d<\/span><\/span><\/span><\/span><\/span>\u7684\u8bef\u5dee\u8d8a\u654f\u611f&#xff08;\u4f8b\u5982&#xff0c;<span class=\"katex--inline\"><span class=\"katex\"><span class=\"katex-mathml\"><\/p>\n<p>         d<\/p>\n<p>         &#061;<\/p>\n<p>         1<\/p>\n<p>        d&#061;1<\/p>\n<p>     <\/span><span class=\"katex-html\"><span class=\"base\"><span class=\"strut\" style=\"height: 0.6944em\"><\/span><span class=\"mord mathnormal\">d<\/span><span class=\"mspace\" style=\"margin-right: 0.2778em\"><\/span><span class=\"mrel\">&#061;<\/span><span class=\"mspace\" style=\"margin-right: 0.2778em\"><\/span><\/span><span class=\"base\"><span class=\"strut\" style=\"height: 0.6444em\"><\/span><span class=\"mord\">1<\/span><\/span><\/span><\/span><\/span>\u50cf\u7d20\u65f6&#xff0c;<span class=\"katex--inline\"><span class=\"katex\"><span class=\"katex-mathml\"><\/p>\n<p>         d<\/p>\n<p>        d<\/p>\n<p>     <\/span><span class=\"katex-html\"><span class=\"base\"><span class=\"strut\" style=\"height: 0.6944em\"><\/span><span class=\"mord mathnormal\">d<\/span><\/span><\/span><\/span><\/span>\u7684\u00b11\u50cf\u7d20\u8bef\u5dee\u4f1a\u5bfc\u81f4<span class=\"katex--inline\"><span class=\"katex\"><span class=\"katex-mathml\"><\/p>\n<p>         Z<\/p>\n<p>        Z<\/p>\n<p>     <\/span><span class=\"katex-html\"><span class=\"base\"><span class=\"strut\" style=\"height: 0.6833em\"><\/span><span class=\"mord mathnormal\" style=\"margin-right: 0.0715em\">Z<\/span><\/span><\/span><\/span><\/span>\u7684\u00b1100%\u8bef\u5dee&#xff09;\u3002<\/li>\n<\/ul>\n<h6>3. \u6781\u7ebf\u51e0\u4f55&#xff1a;\u7b80\u5316\u5339\u914d\u7684\u6570\u5b66\u57fa\u7840<\/h6>\n<p>\u6781\u7ebf\u548c\u6781\u5e73\u9762\u53c2\u8003OpenCV\u7684\u8fd9\u7bc7\u6587\u6863<\/p>\n<p>\u672a\u7ecf\u6821\u6b63\u7684\u53cc\u76ee\u56fe\u50cf\u4e2d&#xff0c;\u7a7a\u95f4\u70b9\u5728\u5de6\u53f3\u56fe\u50cf\u4e2d\u7684\u6295\u5f71\u53ef\u80fd\u5206\u5e03\u5728\u4e0d\u540c\u6c34\u5e73\u7ebf\u4e0a&#xff0c;\u5bfc\u81f4\u5bf9\u5e94\u70b9\u641c\u7d22\u9700\u904d\u5386\u5168\u56fe\u50cf&#xff0c;\u8ba1\u7b97\u91cf\u6781\u5927\u3002\u201c\u6781\u7ebf\u51e0\u4f55\u201d&#xff08;Epipolar Geometry&#xff09;\u901a\u8fc7\u5b9a\u4e49\u201c\u6781\u7ebf\u201d&#xff08;Epipolar Line&#xff09;\u89e3\u51b3\u8fd9\u4e00\u95ee\u9898&#xff1a;\u7a7a\u95f4\u70b9\u5728\u5de6\u56fe\u4e2d\u7684\u6295\u5f71\u70b9&#xff0c;\u5176\u5728\u53f3\u56fe\u4e2d\u7684\u5bf9\u5e94\u70b9\u5fc5\u5b9a\u843d\u5728\u4e00\u6761\u7279\u5b9a\u7684\u76f4\u7ebf&#xff08;\u6781\u7ebf&#xff09;\u4e0a\u3002 &#xff08;\u6781\u7ebf\u7ea6\u675f\u5b9a\u7406&#xff09; <img decoding=\"async\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2025\/08\/20250812232008-689bcc2842616.png\" alt=\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" width=\"420\" \/><\/p>\n<p>\u6781\u7ebf\u51e0\u4f55\u7684\u6838\u5fc3\u53c2\u6570\u5305\u62ec&#xff1a;<\/p>\n<ul>\n<li>\u6781\u70b9&#xff08;Epipole&#xff09;&#xff1a;\u5de6\u76f8\u673a\u5149\u5fc3<span class=\"katex--inline\"><span class=\"katex\"><span class=\"katex-mathml\">\n<p>          O<\/p>\n<p>          l<\/p>\n<p>        O_l<\/p>\n<p>     <\/span><span class=\"katex-html\"><span class=\"base\"><span class=\"strut\" style=\"height: 0.8333em;vertical-align: -0.15em\"><\/span><span class=\"mord\"><span class=\"mord mathnormal\" style=\"margin-right: 0.0278em\">O<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.3361em\"><span class=\"\" style=\"top: -2.55em;margin-left: -0.0278em;margin-right: 0.05em\"><span class=\"pstrut\" style=\"height: 2.7em\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mathnormal mtight\" style=\"margin-right: 0.0197em\">l<\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.15em\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>\u5728\u53f3\u56fe\u4e0a\u7684\u6295\u5f71\u4e3a\u53f3\u6781\u70b9<span class=\"katex--inline\"><span class=\"katex\"><span class=\"katex-mathml\"><\/p>\n<p>          e<\/p>\n<p>          r<\/p>\n<p>        e_r<\/p>\n<p>     <\/span><span class=\"katex-html\"><span class=\"base\"><span class=\"strut\" style=\"height: 0.5806em;vertical-align: -0.15em\"><\/span><span class=\"mord\"><span class=\"mord mathnormal\">e<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.1514em\"><span class=\"\" style=\"top: -2.55em;margin-left: 0em;margin-right: 0.05em\"><span class=\"pstrut\" style=\"height: 2.7em\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mathnormal mtight\" style=\"margin-right: 0.0278em\">r<\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.15em\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>&#xff0c;\u53f3\u76f8\u673a\u5149\u5fc3<span class=\"katex--inline\"><span class=\"katex\"><span class=\"katex-mathml\"><\/p>\n<p>          O<\/p>\n<p>          r<\/p>\n<p>        O_r<\/p>\n<p>     <\/span><span class=\"katex-html\"><span class=\"base\"><span class=\"strut\" style=\"height: 0.8333em;vertical-align: -0.15em\"><\/span><span class=\"mord\"><span class=\"mord mathnormal\" style=\"margin-right: 0.0278em\">O<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.1514em\"><span class=\"\" style=\"top: -2.55em;margin-left: -0.0278em;margin-right: 0.05em\"><span class=\"pstrut\" style=\"height: 2.7em\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mathnormal mtight\" style=\"margin-right: 0.0278em\">r<\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.15em\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>\u5728\u5de6\u56fe\u4e0a\u7684\u6295\u5f71\u4e3a\u5de6\u6781\u70b9<span class=\"katex--inline\"><span class=\"katex\"><span class=\"katex-mathml\"><\/p>\n<p>          e<\/p>\n<p>          l<\/p>\n<p>        e_l<\/p>\n<p>     <\/span><span class=\"katex-html\"><span class=\"base\"><span class=\"strut\" style=\"height: 0.5806em;vertical-align: -0.15em\"><\/span><span class=\"mord\"><span class=\"mord mathnormal\">e<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.3361em\"><span class=\"\" style=\"top: -2.55em;margin-left: 0em;margin-right: 0.05em\"><span class=\"pstrut\" style=\"height: 2.7em\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mathnormal mtight\" style=\"margin-right: 0.0197em\">l<\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.15em\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>\u3002<\/li>\n<li>\u6781\u5e73\u9762&#xff08;Epipolar Plane&#xff09;&#xff1a;\u7531<span class=\"katex--inline\"><span class=\"katex\"><span class=\"katex-mathml\">\n<p>          O<\/p>\n<p>          l<\/p>\n<p>        O_l<\/p>\n<p>     <\/span><span class=\"katex-html\"><span class=\"base\"><span class=\"strut\" style=\"height: 0.8333em;vertical-align: -0.15em\"><\/span><span class=\"mord\"><span class=\"mord mathnormal\" style=\"margin-right: 0.0278em\">O<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.3361em\"><span class=\"\" style=\"top: -2.55em;margin-left: -0.0278em;margin-right: 0.05em\"><span class=\"pstrut\" style=\"height: 2.7em\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mathnormal mtight\" style=\"margin-right: 0.0197em\">l<\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.15em\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>\u3001<span class=\"katex--inline\"><span class=\"katex\"><span class=\"katex-mathml\"><\/p>\n<p>          O<\/p>\n<p>          r<\/p>\n<p>        O_r<\/p>\n<p>     <\/span><span class=\"katex-html\"><span class=\"base\"><span class=\"strut\" style=\"height: 0.8333em;vertical-align: -0.15em\"><\/span><span class=\"mord\"><span class=\"mord mathnormal\" style=\"margin-right: 0.0278em\">O<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.1514em\"><span class=\"\" style=\"top: -2.55em;margin-left: -0.0278em;margin-right: 0.05em\"><span class=\"pstrut\" style=\"height: 2.7em\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mathnormal mtight\" style=\"margin-right: 0.0278em\">r<\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.15em\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>\u548c\u7a7a\u95f4\u70b9<span class=\"katex--inline\"><span class=\"katex\"><span class=\"katex-mathml\"><\/p>\n<p>         P<\/p>\n<p>        P<\/p>\n<p>     <\/span><span class=\"katex-html\"><span class=\"base\"><span class=\"strut\" style=\"height: 0.6833em\"><\/span><span class=\"mord mathnormal\" style=\"margin-right: 0.1389em\">P<\/span><\/span><\/span><\/span><\/span>\u6784\u6210\u7684\u5e73\u9762&#xff0c;\u4e0e\u5de6\u53f3\u6210\u50cf\u5e73\u9762\u7684\u4ea4\u7ebf\u5373\u4e3a\u6781\u7ebf\u3002<\/li>\n<\/ul>\n<p>\u901a\u8fc7\u76f8\u673a\u6807\u5b9a\u83b7\u53d6\u5185\u53c2&#xff08;\u7126\u8ddd\u3001\u4e3b\u70b9\u3001\u7578\u53d8\u7cfb\u6570&#xff09;\u548c\u5916\u53c2&#xff08;\u65cb\u8f6c\u77e9\u9635<span class=\"katex--inline\"><span class=\"katex\"><span class=\"katex-mathml\"><\/p>\n<p>        R<\/p>\n<p>       R<\/p>\n<p>    <\/span><span class=\"katex-html\"><span class=\"base\"><span class=\"strut\" style=\"height: 0.6833em\"><\/span><span class=\"mord mathnormal\" style=\"margin-right: 0.0077em\">R<\/span><\/span><\/span><\/span><\/span>\u3001\u5e73\u79fb\u5411\u91cf<span class=\"katex--inline\"><span class=\"katex\"><span class=\"katex-mathml\"><\/p>\n<p>        T<\/p>\n<p>       T<\/p>\n<p>    <\/span><span class=\"katex-html\"><span class=\"base\"><span class=\"strut\" style=\"height: 0.6833em\"><\/span><span class=\"mord mathnormal\" style=\"margin-right: 0.1389em\">T<\/span><\/span><\/span><\/span><\/span>&#xff09;\u540e&#xff0c;\u53ef\u901a\u8fc7\u201c\u6781\u7ebf\u6821\u6b63\u201d\u5c06\u5de6\u53f3\u56fe\u50cf\u7684\u6781\u7ebf\u8c03\u6574\u4e3a\u6c34\u5e73\u4e14\u5171\u7ebf&#xff08;\u5373\u540c\u4e00\u884c&#xff09;&#xff0c;\u6b64\u65f6\u5bf9\u5e94\u70b9\u641c\u7d22\u4ec5\u9700\u5728\u540c\u4e00\u6c34\u5e73\u7ebf\u4e0a\u8fdb\u884c&#xff0c;\u8ba1\u7b97\u91cf\u964d\u4f4e90%\u4ee5\u4e0a\u3002<\/p>\n<h5>\u4e8c\u3001\u786c\u4ef6\u7ed3\u6784<\/h5>\n<p>\u53cc\u76ee\u76f8\u673a\u7684\u786c\u4ef6\u8bbe\u8ba1\u9700\u6ee1\u8db3\u201c\u7a7a\u95f4\u540c\u6b65\u201d&#xff08;\u57fa\u7ebf\u56fa\u5b9a&#xff09;\u548c\u201c\u65f6\u95f4\u540c\u6b65\u201d&#xff08;\u66dd\u5149\u540c\u6b65&#xff09;\u4e24\u5927\u6838\u5fc3\u8981\u6c42&#xff0c;\u5426\u5219\u4f1a\u76f4\u63a5\u7834\u574f\u89c6\u5dee\u8ba1\u7b97\u7684\u51e0\u4f55\u57fa\u7840\u3002\u5176\u786c\u4ef6\u7ed3\u6784\u53ef\u5206\u4e3a\u4e94\u5927\u6838\u5fc3\u6a21\u5757&#xff0c;\u5404\u6a21\u5757\u7684\u7cbe\u5ea6\u4e0e\u534f\u540c\u6027\u51b3\u5b9a\u4e86\u6700\u7ec8\u6df1\u5ea6\u56fe\u7684\u8d28\u91cf\u3002<\/p>\n<h6>1. \u53cc\u6444\u50cf\u5934\u6a21\u7ec4&#xff1a;\u89c6\u89c9\u611f\u77e5\u7684\u201c\u53cc\u773c\u201d<\/h6>\n<p>\u53cc\u6444\u50cf\u5934\u662f\u56fe\u50cf\u91c7\u96c6\u7684\u6838\u5fc3&#xff0c;\u5176\u53c2\u6570\u4e00\u81f4\u6027\u548c\u7a7a\u95f4\u6392\u5e03\u76f4\u63a5\u5f71\u54cd\u6df1\u5ea6\u7cbe\u5ea6&#xff1a;<\/p>\n<ul>\n<li>\u53c2\u6570\u4e00\u81f4\u6027&#xff1a;\u5de6\u53f3\u76f8\u673a\u9700\u4e25\u683c\u5339\u914d\u7126\u8ddd&#xff08;\u8bef\u5dee\u9700&lt;1%&#xff09;\u3001\u5206\u8fa8\u7387&#xff08;\u59821280\u00d7720\u30012560\u00d71440&#xff09;\u3001\u50cf\u5143\u5c3a\u5bf8&#xff08;\u59823.0\u03bcm\u00d73.0\u03bcm&#xff09;\u3001\u7578\u53d8\u7279\u6027&#xff08;\u5f84\u5411\u7578\u53d8&lt;1%&#xff0c;\u5207\u5411\u7578\u53d8&lt;0.5%&#xff09;\u3002\u53c2\u6570\u4e0d\u5339\u914d\u4f1a\u5bfc\u81f4\u6821\u6b63\u540e\u6781\u7ebf\u4ecd\u5b58\u5728\u504f\u5dee&#xff0c;\u589e\u52a0\u5339\u914d\u96be\u5ea6\u3002<\/li>\n<li>\u7a7a\u95f4\u6392\u5e03&#xff1a;\u901a\u5e38\u91c7\u7528\u6c34\u5e73\u5e73\u884c\u6392\u5e03&#xff08;\u57fa\u7ebf\u65b9\u5411\u4e3aX\u8f74&#xff09;&#xff0c;\u57fa\u7ebf\u957f\u5ea6<span class=\"katex--inline\"><span class=\"katex\"><span class=\"katex-mathml\">\n<p>         B<\/p>\n<p>        B<\/p>\n<p>     <\/span><span class=\"katex-html\"><span class=\"base\"><span class=\"strut\" style=\"height: 0.6833em\"><\/span><span class=\"mord mathnormal\" style=\"margin-right: 0.0502em\">B<\/span><\/span><\/span><\/span><\/span>\u6839\u636e\u5e94\u7528\u573a\u666f\u8bbe\u8ba1&#xff1a;\u8fd1\u8ddd\u79bb\u573a\u666f&#xff08;\u5982AR\u624b\u52bf\u4ea4\u4e92&#xff09;\u7528\u77ed\u57fa\u7ebf&#xff08;5-15cm&#xff09;&#xff0c;\u4e2d\u8fdc\u8ddd\u79bb\u573a\u666f&#xff08;\u5982\u673a\u5668\u4eba\u5bfc\u822a&#xff09;\u7528\u957f\u57fa\u7ebf&#xff08;20-50cm&#xff09;\u3002\u57fa\u7ebf\u504f\u5dee&#xff08;\u5982\u5782\u76f4\u65b9\u5411\u503e\u659c&gt;0.1\u00b0&#xff09;\u4f1a\u5f15\u5165\u989d\u5916\u89c6\u5dee\u8bef\u5dee&#xff0c;\u9700\u901a\u8fc7\u673a\u68b0\u7ed3\u6784&#xff08;\u5982\u7cbe\u5bc6\u5bfc\u8f68&#xff09;\u4fdd\u8bc1\u5e73\u884c\u5ea6\u3002<\/li>\n<li>\u4f20\u611f\u5668\u7c7b\u578b&#xff1a;\u4e3b\u6d41\u91c7\u7528CMOS\u4f20\u611f\u5668&#xff08;\u76f8\u6bd4CCD\u6210\u672c\u4f4e\u3001\u5e27\u7387\u9ad8&#xff09;&#xff0c;\u9700\u652f\u6301\u5168\u5c40\u5feb\u95e8&#xff08;Global Shutter&#xff09;\u2014\u2014\u907f\u514d\u6eda\u52a8\u5feb\u95e8&#xff08;Rolling Shutter&#xff09;\u5bfc\u81f4\u7684\u52a8\u6001\u573a\u666f\u56fe\u50cf\u626d\u66f2&#xff08;\u5982\u5feb\u901f\u79fb\u52a8\u7684\u7269\u4f53\u5728\u5de6\u53f3\u56fe\u4e2d\u5f62\u72b6\u9519\u4f4d&#xff09;\u3002<\/li>\n<\/ul>\n<h6>2. \u540c\u6b65\u63a7\u5236\u6a21\u5757&#xff1a;\u65f6\u95f4\u4e00\u81f4\u6027\u7684\u201c\u4fdd\u969c\u201d<\/h6>\n<p>\u5de6\u53f3\u76f8\u673a\u5fc5\u987b\u5728\u540c\u4e00\u65f6\u523b\u66dd\u5149&#xff0c;\u5426\u5219\u52a8\u6001\u573a\u666f\u4e2d\u7269\u4f53\u7684\u8fd0\u52a8\u4f1a\u5bfc\u81f4\u89c6\u5dee\u8ba1\u7b97\u9519\u8bef&#xff08;\u4f8b\u5982&#xff0c;\u6c7d\u8f66\u884c\u9a76\u4e2d&#xff0c;\u4e0d\u540c\u6b65\u7684\u5de6\u53f3\u56fe\u50cf\u4f1a\u4f7f\u540c\u4e00\u8f66\u8f86\u5728\u4e24\u56fe\u4e2d\u4f4d\u7f6e\u504f\u79fb&#xff0c;\u4ea7\u751f\u865a\u5047\u89c6\u5dee&#xff09;\u3002\u540c\u6b65\u65b9\u5f0f\u5206\u4e3a&#xff1a;<\/p>\n<ul>\n<li>\u786c\u4ef6\u540c\u6b65&#xff1a;\u901a\u8fc7\u89e6\u53d1\u4fe1\u53f7&#xff08;\u5982GPIO\u8109\u51b2&#xff09;\u5f3a\u5236\u5de6\u53f3\u76f8\u673a\u540c\u65f6\u5f00\u542f\u66dd\u5149&#xff0c;\u540c\u6b65\u8bef\u5dee\u53ef\u63a7\u5236\u5728&lt;10\u03bcs&#xff0c;\u9002\u5408\u9ad8\u901f\u52a8\u6001\u573a\u666f&#xff08;\u5982\u81ea\u52a8\u9a7e\u9a76&#xff09;\u3002<\/li>\n<li>\u8f6f\u4ef6\u540c\u6b65&#xff1a;\u901a\u8fc7\u7cfb\u7edf\u65f6\u949f\u6821\u51c6\u66dd\u5149\u65f6\u523b&#xff0c;\u540c\u6b65\u8bef\u5dee\u901a\u5e38&gt;1ms&#xff0c;\u4ec5\u9002\u5408\u9759\u6001\u573a\u666f&#xff08;\u5982\u5de5\u4e1a\u68c0\u6d4b&#xff09;\u3002<\/li>\n<\/ul>\n<h6>3. \u955c\u5934\u6a21\u7ec4&#xff1a;\u6210\u50cf\u8d28\u91cf\u7684\u201c\u7a97\u53e3\u201d<\/h6>\n<p>\u955c\u5934\u7684\u5149\u5b66\u6027\u80fd\u76f4\u63a5\u5f71\u54cd\u56fe\u50cf\u6e05\u6670\u5ea6\u548c\u7eb9\u7406\u4fdd\u7559&#xff0c;\u8fdb\u800c\u5f71\u54cd\u7acb\u4f53\u5339\u914d\u7cbe\u5ea6&#xff1a;<\/p>\n<ul>\n<li>\u7126\u8ddd\u4e0e\u89c6\u573a\u89d2&#xff1a;\u77ed\u7126\u8ddd&#xff08;\u59828mm&#xff09;\u9002\u5408\u5e7f\u89d2\u573a\u666f&#xff08;\u89c6\u573a\u89d2&gt;90\u00b0&#xff09;&#xff0c;\u4f46\u8fdc\u8ddd\u79bb\u89c6\u5dee\u5c0f\u3001\u7cbe\u5ea6\u4f4e&#xff1b;\u957f\u7126\u8ddd&#xff08;\u598225mm&#xff09;\u89c6\u573a\u89d2\u7a84&#xff08;&lt;30\u00b0&#xff09;&#xff0c;\u4f46\u8fdc\u8ddd\u79bb\u89c6\u5dee\u66f4\u660e\u663e&#xff0c;\u9002\u5408\u957f\u7126\u573a\u666f\u3002<\/li>\n<li>\u7578\u53d8\u63a7\u5236&#xff1a;\u9c7c\u773c\u955c\u5934\u7578\u53d8\u7387\u9ad8&#xff08;&gt;10%&#xff09;&#xff0c;\u9700\u901a\u8fc7\u7b97\u6cd5\u6821\u6b63&#xff1b;\u5de5\u4e1a\u7ea7\u955c\u5934\u7578\u53d8\u7387\u53ef\u63a7\u5236\u5728&lt;1%&#xff0c;\u51cf\u5c11\u6821\u6b63\u8d1f\u62c5\u3002<\/li>\n<li>\u5149\u5708\u4e0e\u66dd\u5149&#xff1a;\u5927\u5149\u5708&#xff08;\u5982F\/1.8&#xff09;\u9002\u5408\u5f31\u5149\u73af\u5883&#xff0c;\u4f46\u666f\u6df1\u5c0f&#xff08;\u6613\u5bfc\u81f4\u524d\u540e\u666f\u5931\u7126&#xff09;&#xff1b;\u5c0f\u5149\u5708&#xff08;\u5982F\/4.0&#xff09;\u666f\u6df1\u5927&#xff0c;\u4f46\u8fdb\u5149\u91cf\u5c11&#xff0c;\u9700\u63d0\u9ad8ISO&#xff08;\u53ef\u80fd\u5f15\u5165\u566a\u58f0&#xff09;\u3002<\/li>\n<\/ul>\n<h6>4. \u6821\u51c6\u6a21\u5757&#xff1a;\u53c2\u6570\u7cbe\u5ea6\u7684\u201c\u57fa\u51c6\u201d<\/h6>\n<p>\u51fa\u5382\u524d\u9700\u901a\u8fc7\u201c\u76f8\u673a\u6807\u5b9a\u201d\u83b7\u53d6\u5185\u53c2\u548c\u5916\u53c2&#xff0c;\u8fd9\u662f\u540e\u7eed\u56fe\u50cf\u6821\u6b63\u548c\u6df1\u5ea6\u8ba1\u7b97\u7684\u524d\u63d0\u3002\u6807\u5b9a\u6d41\u7a0b\u57fa\u4e8e\u5f20\u6b63\u53cb\u6807\u5b9a\u6cd5&#xff1a;<\/p>\n<li>\u7528\u53cc\u76ee\u76f8\u673a\u62cd\u6444\u4e0d\u540c\u59ff\u6001\u7684\u68cb\u76d8\u683c\u6807\u5b9a\u677f&#xff08;\u81f3\u5c1110\u7ec4\u56fe\u50cf&#xff09;&#xff1b;<\/li>\n<li>\u901a\u8fc7\u89d2\u70b9\u68c0\u6d4b\u8ba1\u7b97\u68cb\u76d8\u683c\u5728\u56fe\u50cf\u4e2d\u7684\u50cf\u7d20\u5750\u6807&#xff0c;\u7ed3\u5408\u5df2\u77e5\u7684\u7269\u7406\u5c3a\u5bf8&#xff08;\u5982\u68cb\u76d8\u683c\u65b9\u683c\u8fb9\u957f20mm&#xff09;&#xff0c;\u53cd\u63a8\u5185\u53c2&#xff08;\u5185\u53c2\u77e9\u9635<span class=\"katex--inline\"><span class=\"katex\"><span class=\"katex-mathml\">\n<p>         K<\/p>\n<p>         &#061;<\/p>\n<p>          [<\/p>\n<p>               f<\/p>\n<p>               x<\/p>\n<p>              0<\/p>\n<p>               c<\/p>\n<p>               x<\/p>\n<p>              0<\/p>\n<p>               f<\/p>\n<p>               y<\/p>\n<p>               c<\/p>\n<p>               y<\/p>\n<p>              0<\/p>\n<p>              0<\/p>\n<p>              1<\/p>\n<p>          ]<\/p>\n<p>        K &#061; \\\\begin{bmatrix} f_x &amp; 0 &amp; c_x \\\\\\\\ 0 &amp; f_y &amp; c_y \\\\\\\\ 0 &amp; 0 &amp; 1 \\\\end{bmatrix}<\/p>\n<p>     <\/span><span class=\"katex-html\"><span class=\"base\"><span class=\"strut\" style=\"height: 0.6833em\"><\/span><span class=\"mord mathnormal\" style=\"margin-right: 0.0715em\">K<\/span><span class=\"mspace\" style=\"margin-right: 0.2778em\"><\/span><span class=\"mrel\">&#061;<\/span><span class=\"mspace\" style=\"margin-right: 0.2778em\"><\/span><\/span><span class=\"base\"><span class=\"strut\" style=\"height: 3.6em;vertical-align: -1.55em\"><\/span><span class=\"minner\"><span class=\"mopen\"><span class=\"delimsizing mult\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 2.05em\"><span class=\"\" style=\"top: -4.05em\"><span class=\"pstrut\" style=\"height: 5.6em\"><\/span><span class=\"\" style=\"width: 0.667em;height: 3.6em\"><\/p>\n<p>              <\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 1.55em\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><\/span><span class=\"mord\"><span class=\"mtable\"><span class=\"col-align-c\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 2.05em\"><span class=\"\" style=\"top: -4.21em\"><span class=\"pstrut\" style=\"height: 3em\"><\/span><span class=\"mord\"><span class=\"mord\"><span class=\"mord mathnormal\" style=\"margin-right: 0.1076em\">f<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.1514em\"><span class=\"\" style=\"top: -2.55em;margin-left: -0.1076em;margin-right: 0.05em\"><span class=\"pstrut\" style=\"height: 2.7em\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mathnormal mtight\">x<\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.15em\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><span class=\"\" style=\"top: -3.01em\"><span class=\"pstrut\" style=\"height: 3em\"><\/span><span class=\"mord\"><span class=\"mord\">0<\/span><\/span><\/span><span class=\"\" style=\"top: -1.81em\"><span class=\"pstrut\" style=\"height: 3em\"><\/span><span class=\"mord\"><span class=\"mord\">0<\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 1.55em\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><span class=\"arraycolsep\" style=\"width: 0.5em\"><\/span><span class=\"arraycolsep\" style=\"width: 0.5em\"><\/span><span class=\"col-align-c\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 2.05em\"><span class=\"\" style=\"top: -4.21em\"><span class=\"pstrut\" style=\"height: 3em\"><\/span><span class=\"mord\"><span class=\"mord\">0<\/span><\/span><\/span><span class=\"\" style=\"top: -3.01em\"><span class=\"pstrut\" style=\"height: 3em\"><\/span><span class=\"mord\"><span class=\"mord\"><span class=\"mord mathnormal\" style=\"margin-right: 0.1076em\">f<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.1514em\"><span class=\"\" style=\"top: -2.55em;margin-left: -0.1076em;margin-right: 0.05em\"><span class=\"pstrut\" style=\"height: 2.7em\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mathnormal mtight\" style=\"margin-right: 0.0359em\">y<\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.2861em\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><span class=\"\" style=\"top: -1.81em\"><span class=\"pstrut\" style=\"height: 3em\"><\/span><span class=\"mord\"><span class=\"mord\">0<\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 1.55em\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><span class=\"arraycolsep\" style=\"width: 0.5em\"><\/span><span class=\"arraycolsep\" style=\"width: 0.5em\"><\/span><span class=\"col-align-c\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 2.05em\"><span class=\"\" style=\"top: -4.21em\"><span class=\"pstrut\" style=\"height: 3em\"><\/span><span class=\"mord\"><span class=\"mord\"><span class=\"mord mathnormal\">c<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.1514em\"><span class=\"\" style=\"top: -2.55em;margin-left: 0em;margin-right: 0.05em\"><span class=\"pstrut\" style=\"height: 2.7em\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mathnormal mtight\">x<\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.15em\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><span class=\"\" style=\"top: -3.01em\"><span class=\"pstrut\" style=\"height: 3em\"><\/span><span class=\"mord\"><span class=\"mord\"><span class=\"mord mathnormal\">c<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.1514em\"><span class=\"\" style=\"top: -2.55em;margin-left: 0em;margin-right: 0.05em\"><span class=\"pstrut\" style=\"height: 2.7em\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mathnormal mtight\" style=\"margin-right: 0.0359em\">y<\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.2861em\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><span class=\"\" style=\"top: -1.81em\"><span class=\"pstrut\" style=\"height: 3em\"><\/span><span class=\"mord\"><span class=\"mord\">1<\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 1.55em\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><\/span><\/span><span class=\"mclose\"><span class=\"delimsizing mult\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 2.05em\"><span class=\"\" style=\"top: -4.05em\"><span class=\"pstrut\" style=\"height: 5.6em\"><\/span><span class=\"\" style=\"width: 0.667em;height: 3.6em\"><\/p>\n<p>              <\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 1.55em\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>&#xff0c;\u5176\u4e2d<span class=\"katex--inline\"><span class=\"katex\"><span class=\"katex-mathml\"><\/p>\n<p>          f<\/p>\n<p>          x<\/p>\n<p>         &#061;<\/p>\n<p>         f<\/p>\n<p>         \/<\/p>\n<p>         d<\/p>\n<p>         x<\/p>\n<p>        f_x &#061; f \/ dx<\/p>\n<p>     <\/span><span class=\"katex-html\"><span class=\"base\"><span class=\"strut\" style=\"height: 0.8889em;vertical-align: -0.1944em\"><\/span><span class=\"mord\"><span class=\"mord mathnormal\" style=\"margin-right: 0.1076em\">f<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.1514em\"><span class=\"\" style=\"top: -2.55em;margin-left: -0.1076em;margin-right: 0.05em\"><span class=\"pstrut\" style=\"height: 2.7em\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mathnormal mtight\">x<\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.15em\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><\/span><span class=\"mspace\" style=\"margin-right: 0.2778em\"><\/span><span class=\"mrel\">&#061;<\/span><span class=\"mspace\" style=\"margin-right: 0.2778em\"><\/span><\/span><span class=\"base\"><span class=\"strut\" style=\"height: 1em;vertical-align: -0.25em\"><\/span><span class=\"mord mathnormal\" style=\"margin-right: 0.1076em\">f<\/span><span class=\"mord\">\/<\/span><span class=\"mord mathnormal\">d<\/span><span class=\"mord mathnormal\">x<\/span><\/span><\/span><\/span><\/span>\u3001<span class=\"katex--inline\"><span class=\"katex\"><span class=\"katex-mathml\"><\/p>\n<p>          f<\/p>\n<p>          y<\/p>\n<p>         &#061;<\/p>\n<p>         f<\/p>\n<p>         \/<\/p>\n<p>         d<\/p>\n<p>         y<\/p>\n<p>        f_y &#061; f \/ dy<\/p>\n<p>     <\/span><span class=\"katex-html\"><span class=\"base\"><span class=\"strut\" style=\"height: 0.9805em;vertical-align: -0.2861em\"><\/span><span class=\"mord\"><span class=\"mord mathnormal\" style=\"margin-right: 0.1076em\">f<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.1514em\"><span class=\"\" style=\"top: -2.55em;margin-left: -0.1076em;margin-right: 0.05em\"><span class=\"pstrut\" style=\"height: 2.7em\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mathnormal mtight\" style=\"margin-right: 0.0359em\">y<\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.2861em\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><\/span><span class=\"mspace\" style=\"margin-right: 0.2778em\"><\/span><span class=\"mrel\">&#061;<\/span><span class=\"mspace\" style=\"margin-right: 0.2778em\"><\/span><\/span><span class=\"base\"><span class=\"strut\" style=\"height: 1em;vertical-align: -0.25em\"><\/span><span class=\"mord mathnormal\" style=\"margin-right: 0.1076em\">f<\/span><span class=\"mord\">\/<\/span><span class=\"mord mathnormal\">d<\/span><span class=\"mord mathnormal\" style=\"margin-right: 0.0359em\">y<\/span><\/span><\/span><\/span><\/span>\u4e3a\u50cf\u7d20\u7126\u8ddd&#xff0c;<span class=\"katex--inline\"><span class=\"katex\"><span class=\"katex-mathml\"><\/p>\n<p>          c<\/p>\n<p>          x<\/p>\n<p>         ,<\/p>\n<p>          c<\/p>\n<p>          y<\/p>\n<p>        c_x, c_y<\/p>\n<p>     <\/span><span class=\"katex-html\"><span class=\"base\"><span class=\"strut\" style=\"height: 0.7167em;vertical-align: -0.2861em\"><\/span><span class=\"mord\"><span class=\"mord mathnormal\">c<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.1514em\"><span class=\"\" style=\"top: -2.55em;margin-left: 0em;margin-right: 0.05em\"><span class=\"pstrut\" style=\"height: 2.7em\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mathnormal mtight\">x<\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.15em\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><\/span><span class=\"mpunct\">,<\/span><span class=\"mspace\" style=\"margin-right: 0.1667em\"><\/span><span class=\"mord\"><span class=\"mord mathnormal\">c<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.1514em\"><span class=\"\" style=\"top: -2.55em;margin-left: 0em;margin-right: 0.05em\"><span class=\"pstrut\" style=\"height: 2.7em\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mathnormal mtight\" style=\"margin-right: 0.0359em\">y<\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.2861em\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>\u4e3a\u4e3b\u70b9\u5750\u6807&#xff0c;<span class=\"katex--inline\"><span class=\"katex\"><span class=\"katex-mathml\"><\/p>\n<p>         d<\/p>\n<p>         x<\/p>\n<p>         ,<\/p>\n<p>         d<\/p>\n<p>         y<\/p>\n<p>        dx, dy<\/p>\n<p>     <\/span><span class=\"katex-html\"><span class=\"base\"><span class=\"strut\" style=\"height: 0.8889em;vertical-align: -0.1944em\"><\/span><span class=\"mord mathnormal\">d<\/span><span class=\"mord mathnormal\">x<\/span><span class=\"mpunct\">,<\/span><span class=\"mspace\" style=\"margin-right: 0.1667em\"><\/span><span class=\"mord mathnormal\">d<\/span><span class=\"mord mathnormal\" style=\"margin-right: 0.0359em\">y<\/span><\/span><\/span><\/span><\/span>\u4e3a\u50cf\u5143\u5c3a\u5bf8&#xff09;\u548c\u5916\u53c2&#xff08;\u65cb\u8f6c\u77e9\u9635<span class=\"katex--inline\"><span class=\"katex\"><span class=\"katex-mathml\"><\/p>\n<p>         R<\/p>\n<p>        R<\/p>\n<p>     <\/span><span class=\"katex-html\"><span class=\"base\"><span class=\"strut\" style=\"height: 0.6833em\"><\/span><span class=\"mord mathnormal\" style=\"margin-right: 0.0077em\">R<\/span><\/span><\/span><\/span><\/span>\u3001\u5e73\u79fb\u5411\u91cf<span class=\"katex--inline\"><span class=\"katex\"><span class=\"katex-mathml\"><\/p>\n<p>         T<\/p>\n<p>        T<\/p>\n<p>     <\/span><span class=\"katex-html\"><span class=\"base\"><span class=\"strut\" style=\"height: 0.6833em\"><\/span><span class=\"mord mathnormal\" style=\"margin-right: 0.1389em\">T<\/span><\/span><\/span><\/span><\/span>&#xff09;&#xff1b;<\/li>\n<li>\u8ba1\u7b97\u7578\u53d8\u7cfb\u6570&#xff08;\u5f84\u5411\u7578\u53d8<span class=\"katex--inline\"><span class=\"katex\"><span class=\"katex-mathml\">\n<p>          k<\/p>\n<p>          1<\/p>\n<p>         ,<\/p>\n<p>          k<\/p>\n<p>          2<\/p>\n<p>         ,<\/p>\n<p>          k<\/p>\n<p>          3<\/p>\n<p>        k_1, k_2, k_3<\/p>\n<p>     <\/span><span class=\"katex-html\"><span class=\"base\"><span class=\"strut\" style=\"height: 0.8889em;vertical-align: -0.1944em\"><\/span><span class=\"mord\"><span class=\"mord mathnormal\" style=\"margin-right: 0.0315em\">k<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.3011em\"><span class=\"\" style=\"top: -2.55em;margin-left: -0.0315em;margin-right: 0.05em\"><span class=\"pstrut\" style=\"height: 2.7em\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mtight\">1<\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.15em\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><\/span><span class=\"mpunct\">,<\/span><span class=\"mspace\" style=\"margin-right: 0.1667em\"><\/span><span class=\"mord\"><span class=\"mord mathnormal\" style=\"margin-right: 0.0315em\">k<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.3011em\"><span class=\"\" style=\"top: -2.55em;margin-left: -0.0315em;margin-right: 0.05em\"><span class=\"pstrut\" style=\"height: 2.7em\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mtight\">2<\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.15em\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><\/span><span class=\"mpunct\">,<\/span><span class=\"mspace\" style=\"margin-right: 0.1667em\"><\/span><span class=\"mord\"><span class=\"mord mathnormal\" style=\"margin-right: 0.0315em\">k<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.3011em\"><span class=\"\" style=\"top: -2.55em;margin-left: -0.0315em;margin-right: 0.05em\"><span class=\"pstrut\" style=\"height: 2.7em\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mtight\">3<\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.15em\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>\u548c\u5207\u5411\u7578\u53d8<span class=\"katex--inline\"><span class=\"katex\"><span class=\"katex-mathml\"><\/p>\n<p>          p<\/p>\n<p>          1<\/p>\n<p>         ,<\/p>\n<p>          p<\/p>\n<p>          2<\/p>\n<p>        p_1, p_2<\/p>\n<p>     <\/span><span class=\"katex-html\"><span class=\"base\"><span class=\"strut\" style=\"height: 0.625em;vertical-align: -0.1944em\"><\/span><span class=\"mord\"><span class=\"mord mathnormal\">p<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.3011em\"><span class=\"\" style=\"top: -2.55em;margin-left: 0em;margin-right: 0.05em\"><span class=\"pstrut\" style=\"height: 2.7em\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mtight\">1<\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.15em\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><\/span><span class=\"mpunct\">,<\/span><span class=\"mspace\" style=\"margin-right: 0.1667em\"><\/span><span class=\"mord\"><span class=\"mord mathnormal\">p<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.3011em\"><span class=\"\" style=\"top: -2.55em;margin-left: 0em;margin-right: 0.05em\"><span class=\"pstrut\" style=\"height: 2.7em\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mtight\">2<\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.15em\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>&#xff09;&#xff0c;\u7528\u4e8e\u6821\u6b63\u955c\u5934\u7578\u53d8\u3002<\/li>\n<p>\u6807\u5b9a\u7cbe\u5ea6\u8981\u6c42&#xff1a;\u5185\u53c2\u8bef\u5dee&lt;0.5%&#xff0c;\u5916\u53c2\u65cb\u8f6c\u89d2\u8bef\u5dee&lt;0.1\u00b0&#xff0c;\u5e73\u79fb\u5411\u91cf&#xff08;\u57fa\u7ebf&#xff09;\u8bef\u5dee&lt;0.1mm&#xff0c;\u5426\u5219\u4f1a\u5bfc\u81f4\u6df1\u5ea6\u8ba1\u7b97\u8bef\u5dee\u968f\u8ddd\u79bb\u5448\u7ebf\u6027\u653e\u5927&#xff08;\u4f8b\u5982&#xff0c;\u57fa\u7ebf\u8bef\u5dee1mm&#xff0c;\u572810m\u8ddd\u79bb\u5904\u6df1\u5ea6\u8bef\u5dee\u53ef\u8fbe0.1m&#xff09;\u3002<\/p>\n<h6>5. \u8ba1\u7b97\u4e0e\u4f20\u8f93\u6a21\u5757&#xff1a;\u6df1\u5ea6\u8f93\u51fa\u7684\u201c\u5f15\u64ce\u201d<\/h6>\n<p>\u7acb\u4f53\u5339\u914d\u7b97\u6cd5\u8ba1\u7b97\u91cf\u5927&#xff08;\u59821280\u00d7720\u5206\u8fa8\u7387\u56fe\u50cf&#xff0c;SGBM\u7b97\u6cd5\u5355\u6b21\u5339\u914d\u970010^8\u6b21\u8fd0\u7b97&#xff09;&#xff0c;\u9700\u4e13\u7528\u786c\u4ef6\u52a0\u901f&#xff1a;<\/p>\n<ul>\n<li>FPGA&#xff1a;\u9002\u5408\u5e76\u884c\u5904\u7406&#xff08;\u5982\u5757\u5339\u914d\u4e2d\u7684\u7a97\u53e3\u8ba1\u7b97&#xff09;&#xff0c;\u5ef6\u8fdf\u4f4e&#xff08;&lt;10ms&#xff09;&#xff0c;\u4f46\u5f00\u53d1\u96be\u5ea6\u9ad8&#xff1b;<\/li>\n<li>ASIC&#xff1a;\u5b9a\u5236\u5316\u7535\u8def&#xff08;\u5982Intel Movidius Myriad X&#xff09;&#xff0c;\u529f\u8017\u4f4e&#xff08;&lt;5W&#xff09;&#xff0c;\u9002\u5408\u5d4c\u5165\u5f0f\u8bbe\u5907&#xff1b;<\/li>\n<li>GPU&#xff1a;\u9002\u5408\u6df1\u5ea6\u5b66\u4e60\u5339\u914d\u7b97\u6cd5&#xff08;\u5982PSMNet&#xff09;&#xff0c;\u901a\u8fc7CUDA\u5e76\u884c\u52a0\u901f&#xff0c;\u7cbe\u5ea6\u9ad8\u4f46\u529f\u8017\u5927&#xff08;&gt;20W&#xff09;\u3002<\/li>\n<\/ul>\n<p>\u4f20\u8f93\u63a5\u53e3\u9700\u6ee1\u8db3\u9ad8\u5e26\u5bbd\u9700\u6c42&#xff08;\u59821280\u00d7720&#064;30fps\u7684RGB\u56fe\u50cf&#xff0c;\u5355\u8def\u6570\u636e\u91cf\u7ea680Mbps&#xff0c;\u53cc\u8def&#043;\u6df1\u5ea6\u56fe\u9700&gt;200Mbps&#xff09;&#xff0c;\u5e38\u7528USB3.0&#xff08;5Gbps&#xff09;\u3001GMSL&#xff08;6Gbps&#xff09;\u6216Ethernet&#xff08;10Gbps&#xff09;\u3002<\/p>\n<h5>\u4e09\u3001\u5de5\u4f5c\u6d41\u7a0b&#xff1a;\u4ece\u56fe\u50cf\u5230\u6df1\u5ea6\u7684\u5168\u94fe\u8def\u89e3\u6790<\/h5>\n<p>\u53cc\u76ee\u76f8\u673a\u7684\u5de5\u4f5c\u6d41\u7a0b\u53ef\u5206\u4e3a\u201c1.\u56fe\u50cf\u91c7\u96c6-2.\u6821\u6b63-3.\u5339\u914d-4.\u6df1\u5ea6\u8ba1\u7b97-5.\u540e\u5904\u7406\u201d\u4e94\u5927\u6b65\u9aa4&#xff0c;\u6bcf\u4e00\u6b65\u7684\u7cbe\u5ea6\u90fd\u4f1a\u76f4\u63a5\u5f71\u54cd\u6700\u7ec8\u6df1\u5ea6\u56fe\u8d28\u91cf\u3002<\/p>\n<h6>1. \u56fe\u50cf\u91c7\u96c6&#xff1a;\u539f\u59cb\u6570\u636e\u7684\u83b7\u53d6<\/h6>\n<p>\u5de6\u53f3\u76f8\u673a\u5728\u540c\u6b65\u4fe1\u53f7\u89e6\u53d1\u4e0b&#xff0c;\u5bf9\u540c\u4e00\u573a\u666f\u8fdb\u884c\u66dd\u5149\u6210\u50cf&#xff0c;\u8f93\u51fa\u5de6\u56fe<span class=\"katex--inline\"><span class=\"katex\"><span class=\"katex-mathml\"><\/p>\n<p>         I<\/p>\n<p>         l<\/p>\n<p>       I_l<\/p>\n<p>    <\/span><span class=\"katex-html\"><span class=\"base\"><span class=\"strut\" style=\"height: 0.8333em;vertical-align: -0.15em\"><\/span><span class=\"mord\"><span class=\"mord mathnormal\" style=\"margin-right: 0.0785em\">I<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.3361em\"><span class=\"\" style=\"top: -2.55em;margin-left: -0.0785em;margin-right: 0.05em\"><span class=\"pstrut\" style=\"height: 2.7em\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mathnormal mtight\" style=\"margin-right: 0.0197em\">l<\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.15em\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>\u548c\u53f3\u56fe<span class=\"katex--inline\"><span class=\"katex\"><span class=\"katex-mathml\"><\/p>\n<p>         I<\/p>\n<p>         r<\/p>\n<p>       I_r<\/p>\n<p>    <\/span><span class=\"katex-html\"><span class=\"base\"><span class=\"strut\" style=\"height: 0.8333em;vertical-align: -0.15em\"><\/span><span class=\"mord\"><span class=\"mord mathnormal\" style=\"margin-right: 0.0785em\">I<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.1514em\"><span class=\"\" style=\"top: -2.55em;margin-left: -0.0785em;margin-right: 0.05em\"><span class=\"pstrut\" style=\"height: 2.7em\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mathnormal mtight\" style=\"margin-right: 0.0278em\">r<\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.15em\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>&#xff08;RAW\u683c\u5f0f\u6216RGB\u683c\u5f0f&#xff09;\u3002\u9700\u6ce8\u610f&#xff1a;<\/p>\n<ul>\n<li>\u52a8\u6001\u573a\u666f\u4e2d&#xff0c;\u82e5\u540c\u6b65\u8bef\u5dee&gt;\u7269\u4f53\u8fd0\u52a8\u7684\u50cf\u7d20\u8ddd\u79bb&#xff08;\u5982\u8f66\u901f10m\/s&#xff0c;\u540c\u6b65\u8bef\u5dee1ms&#xff0c;\u7269\u4f53\u5728\u56fe\u50cf\u4e2d\u504f\u79fb\u7ea63\u50cf\u7d20&#xff09;&#xff0c;\u4f1a\u5bfc\u81f4\u89c6\u5dee\u8ba1\u7b97\u9519\u8bef&#xff1b;<\/li>\n<li>\u5f31\u5149\u73af\u5883\u4e0b&#xff0c;\u9700\u5f00\u542f\u7ea2\u5916\u8865\u5149\u706f&#xff08;\u6ce2\u957f850nm&#xff0c;\u907f\u514d\u53ef\u89c1\u5149\u5e72\u6270&#xff09;&#xff0c;\u4f46\u8865\u5149\u4e0d\u5747\u5300\u4f1a\u5bfc\u81f4\u56fe\u50cf\u4eae\u5ea6\u5dee\u5f02&#xff0c;\u589e\u52a0\u5339\u914d\u96be\u5ea6\u3002<\/li>\n<\/ul>\n<h6>2. \u56fe\u50cf\u6821\u6b63&#xff1a;\u6781\u7ebf\u5bf9\u9f50\u7684\u5173\u952e\u4e00\u6b65<\/h6>\n<p>\u672a\u7ecf\u6821\u6b63\u7684\u56fe\u50cf\u5b58\u5728\u7578\u53d8\u548c\u6781\u7ebf\u503e\u659c&#xff0c;\u9700\u901a\u8fc7\u4e24\u6b65\u5904\u7406\u5c06\u5176\u8f6c\u6362\u4e3a\u201c\u7406\u60f3\u7acb\u4f53\u56fe\u50cf\u5bf9\u201d&#xff1a;<\/p>\n<ul>\n<li>\u7578\u53d8\u6821\u6b63&#xff1a;\u5229\u7528\u5185\u53c2\u4e2d\u7684\u7578\u53d8\u7cfb\u6570&#xff0c;\u5bf9\u5de6\u53f3\u56fe\u50cf\u8fdb\u884c\u51e0\u4f55\u4fee\u6b63&#xff08;\u5982\u5f84\u5411\u7578\u53d8\u6821\u6b63\u516c\u5f0f&#xff1a;<span class=\"katex--inline\"><span class=\"katex\"><span class=\"katex-mathml\">\n<p>          x<\/p>\n<p>           c<\/p>\n<p>           o<\/p>\n<p>           r<\/p>\n<p>           r<\/p>\n<p>         &#061;<\/p>\n<p>         x<\/p>\n<p>         \u22c5<\/p>\n<p>         (<\/p>\n<p>         1<\/p>\n<p>         &#043;<\/p>\n<p>          k<\/p>\n<p>          1<\/p>\n<p>          r<\/p>\n<p>          2<\/p>\n<p>         &#043;<\/p>\n<p>          k<\/p>\n<p>          2<\/p>\n<p>          r<\/p>\n<p>          4<\/p>\n<p>         &#043;<\/p>\n<p>          k<\/p>\n<p>          3<\/p>\n<p>          r<\/p>\n<p>          6<\/p>\n<p>         )<\/p>\n<p>         &#043;<\/p>\n<p>         2<\/p>\n<p>          p<\/p>\n<p>          1<\/p>\n<p>         x<\/p>\n<p>         y<\/p>\n<p>         &#043;<\/p>\n<p>          p<\/p>\n<p>          2<\/p>\n<p>         (<\/p>\n<p>          r<\/p>\n<p>          2<\/p>\n<p>         &#043;<\/p>\n<p>         2<\/p>\n<p>          x<\/p>\n<p>          2<\/p>\n<p>         )<\/p>\n<p>        x_{corr} &#061; x \\\\cdot (1 &#043; k_1 r^2 &#043; k_2 r^4 &#043; k_3 r^6) &#043; 2 p_1 xy &#043; p_2 (r^2 &#043; 2x^2)<\/p>\n<p>     <\/span><span class=\"katex-html\"><span class=\"base\"><span class=\"strut\" style=\"height: 0.5806em;vertical-align: -0.15em\"><\/span><span class=\"mord\"><span class=\"mord mathnormal\">x<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.1514em\"><span class=\"\" style=\"top: -2.55em;margin-left: 0em;margin-right: 0.05em\"><span class=\"pstrut\" style=\"height: 2.7em\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mtight\"><span class=\"mord mathnormal mtight\" style=\"margin-right: 0.0278em\">corr<\/span><\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.15em\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><\/span><span class=\"mspace\" style=\"margin-right: 0.2778em\"><\/span><span class=\"mrel\">&#061;<\/span><span class=\"mspace\" style=\"margin-right: 0.2778em\"><\/span><\/span><span class=\"base\"><span class=\"strut\" style=\"height: 0.4445em\"><\/span><span class=\"mord mathnormal\">x<\/span><span class=\"mspace\" style=\"margin-right: 0.2222em\"><\/span><span class=\"mbin\">\u22c5<\/span><span class=\"mspace\" style=\"margin-right: 0.2222em\"><\/span><\/span><span class=\"base\"><span class=\"strut\" style=\"height: 1em;vertical-align: -0.25em\"><\/span><span class=\"mopen\">(<\/span><span class=\"mord\">1<\/span><span class=\"mspace\" style=\"margin-right: 0.2222em\"><\/span><span class=\"mbin\">&#043;<\/span><span class=\"mspace\" style=\"margin-right: 0.2222em\"><\/span><\/span><span class=\"base\"><span class=\"strut\" style=\"height: 0.9641em;vertical-align: -0.15em\"><\/span><span class=\"mord\"><span class=\"mord mathnormal\" style=\"margin-right: 0.0315em\">k<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.3011em\"><span class=\"\" style=\"top: -2.55em;margin-left: -0.0315em;margin-right: 0.05em\"><span class=\"pstrut\" style=\"height: 2.7em\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mtight\">1<\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.15em\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><\/span><span class=\"mord\"><span class=\"mord mathnormal\" style=\"margin-right: 0.0278em\">r<\/span><span class=\"msupsub\"><span class=\"vlist-t\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.8141em\"><span class=\"\" style=\"top: -3.063em;margin-right: 0.05em\"><span class=\"pstrut\" style=\"height: 2.7em\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mtight\">2<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><span class=\"mspace\" style=\"margin-right: 0.2222em\"><\/span><span class=\"mbin\">&#043;<\/span><span class=\"mspace\" style=\"margin-right: 0.2222em\"><\/span><\/span><span class=\"base\"><span class=\"strut\" style=\"height: 0.9641em;vertical-align: -0.15em\"><\/span><span class=\"mord\"><span class=\"mord mathnormal\" style=\"margin-right: 0.0315em\">k<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.3011em\"><span class=\"\" style=\"top: -2.55em;margin-left: -0.0315em;margin-right: 0.05em\"><span class=\"pstrut\" style=\"height: 2.7em\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mtight\">2<\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.15em\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><\/span><span class=\"mord\"><span class=\"mord mathnormal\" style=\"margin-right: 0.0278em\">r<\/span><span class=\"msupsub\"><span class=\"vlist-t\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.8141em\"><span class=\"\" style=\"top: -3.063em;margin-right: 0.05em\"><span class=\"pstrut\" style=\"height: 2.7em\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mtight\">4<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><span class=\"mspace\" style=\"margin-right: 0.2222em\"><\/span><span class=\"mbin\">&#043;<\/span><span class=\"mspace\" style=\"margin-right: 0.2222em\"><\/span><\/span><span class=\"base\"><span class=\"strut\" style=\"height: 1.0641em;vertical-align: -0.25em\"><\/span><span class=\"mord\"><span class=\"mord mathnormal\" style=\"margin-right: 0.0315em\">k<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.3011em\"><span class=\"\" style=\"top: -2.55em;margin-left: -0.0315em;margin-right: 0.05em\"><span class=\"pstrut\" style=\"height: 2.7em\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mtight\">3<\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.15em\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><\/span><span class=\"mord\"><span class=\"mord mathnormal\" style=\"margin-right: 0.0278em\">r<\/span><span class=\"msupsub\"><span class=\"vlist-t\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.8141em\"><span class=\"\" style=\"top: -3.063em;margin-right: 0.05em\"><span class=\"pstrut\" style=\"height: 2.7em\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mtight\">6<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><span class=\"mclose\">)<\/span><span class=\"mspace\" style=\"margin-right: 0.2222em\"><\/span><span class=\"mbin\">&#043;<\/span><span class=\"mspace\" style=\"margin-right: 0.2222em\"><\/span><\/span><span class=\"base\"><span class=\"strut\" style=\"height: 0.8389em;vertical-align: -0.1944em\"><\/span><span class=\"mord\">2<\/span><span class=\"mord\"><span class=\"mord mathnormal\">p<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.3011em\"><span class=\"\" style=\"top: -2.55em;margin-left: 0em;margin-right: 0.05em\"><span class=\"pstrut\" style=\"height: 2.7em\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mtight\">1<\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.15em\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><\/span><span class=\"mord mathnormal\">x<\/span><span class=\"mord mathnormal\" style=\"margin-right: 0.0359em\">y<\/span><span class=\"mspace\" style=\"margin-right: 0.2222em\"><\/span><span class=\"mbin\">&#043;<\/span><span class=\"mspace\" style=\"margin-right: 0.2222em\"><\/span><\/span><span class=\"base\"><span class=\"strut\" style=\"height: 1.0641em;vertical-align: -0.25em\"><\/span><span class=\"mord\"><span class=\"mord mathnormal\">p<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.3011em\"><span class=\"\" style=\"top: -2.55em;margin-left: 0em;margin-right: 0.05em\"><span class=\"pstrut\" style=\"height: 2.7em\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mtight\">2<\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.15em\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><\/span><span class=\"mopen\">(<\/span><span class=\"mord\"><span class=\"mord mathnormal\" style=\"margin-right: 0.0278em\">r<\/span><span class=\"msupsub\"><span class=\"vlist-t\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.8141em\"><span class=\"\" style=\"top: -3.063em;margin-right: 0.05em\"><span class=\"pstrut\" style=\"height: 2.7em\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mtight\">2<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><span class=\"mspace\" style=\"margin-right: 0.2222em\"><\/span><span class=\"mbin\">&#043;<\/span><span class=\"mspace\" style=\"margin-right: 0.2222em\"><\/span><\/span><span class=\"base\"><span class=\"strut\" style=\"height: 1.0641em;vertical-align: -0.25em\"><\/span><span class=\"mord\">2<\/span><span class=\"mord\"><span class=\"mord mathnormal\">x<\/span><span class=\"msupsub\"><span class=\"vlist-t\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.8141em\"><span class=\"\" style=\"top: -3.063em;margin-right: 0.05em\"><span class=\"pstrut\" style=\"height: 2.7em\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mtight\">2<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><span class=\"mclose\">)<\/span><\/span><\/span><\/span><\/span>&#xff0c;\u5176\u4e2d<span class=\"katex--inline\"><span class=\"katex\"><span class=\"katex-mathml\"><\/p>\n<p>          r<\/p>\n<p>          2<\/p>\n<p>         &#061;<\/p>\n<p>          x<\/p>\n<p>          2<\/p>\n<p>         &#043;<\/p>\n<p>          y<\/p>\n<p>          2<\/p>\n<p>        r^2 &#061; x^2 &#043; y^2<\/p>\n<p>     <\/span><span class=\"katex-html\"><span class=\"base\"><span class=\"strut\" style=\"height: 0.8141em\"><\/span><span class=\"mord\"><span class=\"mord mathnormal\" style=\"margin-right: 0.0278em\">r<\/span><span class=\"msupsub\"><span class=\"vlist-t\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.8141em\"><span class=\"\" style=\"top: -3.063em;margin-right: 0.05em\"><span class=\"pstrut\" style=\"height: 2.7em\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mtight\">2<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><span class=\"mspace\" style=\"margin-right: 0.2778em\"><\/span><span class=\"mrel\">&#061;<\/span><span class=\"mspace\" style=\"margin-right: 0.2778em\"><\/span><\/span><span class=\"base\"><span class=\"strut\" style=\"height: 0.8974em;vertical-align: -0.0833em\"><\/span><span class=\"mord\"><span class=\"mord mathnormal\">x<\/span><span class=\"msupsub\"><span class=\"vlist-t\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.8141em\"><span class=\"\" style=\"top: -3.063em;margin-right: 0.05em\"><span class=\"pstrut\" style=\"height: 2.7em\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mtight\">2<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><span class=\"mspace\" style=\"margin-right: 0.2222em\"><\/span><span class=\"mbin\">&#043;<\/span><span class=\"mspace\" style=\"margin-right: 0.2222em\"><\/span><\/span><span class=\"base\"><span class=\"strut\" style=\"height: 1.0085em;vertical-align: -0.1944em\"><\/span><span class=\"mord\"><span class=\"mord mathnormal\" style=\"margin-right: 0.0359em\">y<\/span><span class=\"msupsub\"><span class=\"vlist-t\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.8141em\"><span class=\"\" style=\"top: -3.063em;margin-right: 0.05em\"><span class=\"pstrut\" style=\"height: 2.7em\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mtight\">2<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>&#xff09;&#xff1b;<\/li>\n<li>\u6781\u7ebf\u6821\u6b63&#xff1a;\u6839\u636e\u5916\u53c2<span class=\"katex--inline\"><span class=\"katex\"><span class=\"katex-mathml\">\n<p>         R<\/p>\n<p>        R<\/p>\n<p>     <\/span><span class=\"katex-html\"><span class=\"base\"><span class=\"strut\" style=\"height: 0.6833em\"><\/span><span class=\"mord mathnormal\" style=\"margin-right: 0.0077em\">R<\/span><\/span><\/span><\/span><\/span>\u548c<span class=\"katex--inline\"><span class=\"katex\"><span class=\"katex-mathml\"><\/p>\n<p>         T<\/p>\n<p>        T<\/p>\n<p>     <\/span><span class=\"katex-html\"><span class=\"base\"><span class=\"strut\" style=\"height: 0.6833em\"><\/span><span class=\"mord mathnormal\" style=\"margin-right: 0.1389em\">T<\/span><\/span><\/span><\/span><\/span>&#xff0c;\u8ba1\u7b97\u6821\u6b63\u77e9\u9635&#xff08;\u901a\u8fc7\u5355\u5e94\u6027\u53d8\u6362<span class=\"katex--inline\"><span class=\"katex\"><span class=\"katex-mathml\"><\/p>\n<p>          H<\/p>\n<p>          l<\/p>\n<p>         ,<\/p>\n<p>          H<\/p>\n<p>          r<\/p>\n<p>        H_l, H_r<\/p>\n<p>     <\/span><span class=\"katex-html\"><span class=\"base\"><span class=\"strut\" style=\"height: 0.8778em;vertical-align: -0.1944em\"><\/span><span class=\"mord\"><span class=\"mord mathnormal\" style=\"margin-right: 0.0813em\">H<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.3361em\"><span class=\"\" style=\"top: -2.55em;margin-left: -0.0813em;margin-right: 0.05em\"><span class=\"pstrut\" style=\"height: 2.7em\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mathnormal mtight\" style=\"margin-right: 0.0197em\">l<\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.15em\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><\/span><span class=\"mpunct\">,<\/span><span class=\"mspace\" style=\"margin-right: 0.1667em\"><\/span><span class=\"mord\"><span class=\"mord mathnormal\" style=\"margin-right: 0.0813em\">H<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.1514em\"><span class=\"\" style=\"top: -2.55em;margin-left: -0.0813em;margin-right: 0.05em\"><span class=\"pstrut\" style=\"height: 2.7em\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mathnormal mtight\" style=\"margin-right: 0.0278em\">r<\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.15em\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>&#xff09;&#xff0c;\u5c06\u5de6\u53f3\u56fe\u50cf\u6620\u5c04\u5230\u540c\u4e00\u5e73\u9762&#xff0c;\u4f7f\u6781\u7ebf\u6c34\u5e73\u5bf9\u9f50&#xff08;\u5373<span class=\"katex--inline\"><span class=\"katex\"><span class=\"katex-mathml\"><\/p>\n<p>          y<\/p>\n<p>          l<\/p>\n<p>         &#061;<\/p>\n<p>          y<\/p>\n<p>          r<\/p>\n<p>        y_l &#061; y_r<\/p>\n<p>     <\/span><span class=\"katex-html\"><span class=\"base\"><span class=\"strut\" style=\"height: 0.625em;vertical-align: -0.1944em\"><\/span><span class=\"mord\"><span class=\"mord mathnormal\" style=\"margin-right: 0.0359em\">y<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.3361em\"><span class=\"\" style=\"top: -2.55em;margin-left: -0.0359em;margin-right: 0.05em\"><span class=\"pstrut\" style=\"height: 2.7em\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mathnormal mtight\" style=\"margin-right: 0.0197em\">l<\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.15em\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><\/span><span class=\"mspace\" style=\"margin-right: 0.2778em\"><\/span><span class=\"mrel\">&#061;<\/span><span class=\"mspace\" style=\"margin-right: 0.2778em\"><\/span><\/span><span class=\"base\"><span class=\"strut\" style=\"height: 0.625em;vertical-align: -0.1944em\"><\/span><span class=\"mord\"><span class=\"mord mathnormal\" style=\"margin-right: 0.0359em\">y<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.1514em\"><span class=\"\" style=\"top: -2.55em;margin-left: -0.0359em;margin-right: 0.05em\"><span class=\"pstrut\" style=\"height: 2.7em\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mathnormal mtight\" style=\"margin-right: 0.0278em\">r<\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.15em\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>&#xff09;\u3002\u6821\u6b63\u540e&#xff0c;\u5bf9\u5e94\u70b9\u641c\u7d22\u8303\u56f4\u4ece\u5168\u56fe\u50cf\u538b\u7f29\u5230\u540c\u4e00\u884c&#xff0c;\u6548\u7387\u63d0\u534710\u500d\u4ee5\u4e0a\u3002 \u6211\u4eec\u53cc\u76ee\u76f8\u673a\u62cd\u6444\u7684\u65f6\u5019\u5b9e\u9645\u60c5\u51b5\u4e0b\u5982\u4e0b\u56fea,\u4e24\u4e2a\u56fe\u50cf\u505a\u5339\u914d\u65f6\u5982\u6211\u4eec\u56fe\u4e2d\u84dd\u8272\u7bad\u5934\u6307\u793a\u7684\u5339\u914d\u70b9\u90a3\u6837&#xff0c;\u9700\u8981\u5728\u5168\u56fe\u4e2d\u8fdb\u884c\u67e5\u627e\u3002\u4f46\u662f\u5982\u679c\u6211\u4eec\u5bf9\u76f8\u673a\u8fdb\u884c\u6821\u6b63&#xff0c;\u4f7f\u5f97\u5b83\u4eec\u6210\u50cf\u9762\u5e73\u884c\u4e14\u884c\u5bf9\u9f50\u5982\u4e0b\u56feb&#xff0c;\u5339\u914d\u70b9\u5728\u540c\u4e00\u884c\u3002\u90a3\u4e48\u6211\u4eec\u53ea\u9700\u5728\u540c\u884c\u4e0a\u67e5\u627e&#xff0c;\u5927\u5927\u8282\u7ea6\u65f6\u95f4\u3002\u56e0\u6b64&#xff0c;\u6781\u7ebf\u6821\u6b63\u76ee\u7684\u662f\u5bf9\u4e24\u5e45\u56fe\u50cf\u7684\u4e8c\u7ef4\u5339\u914d\u641c\u7d22\u53d8\u6210\u4e00\u7ef4&#xff0c;\u8282\u7701\u8ba1\u7b97\u91cf&#xff0c;\u6392\u9664\u865a\u5047\u5339\u914d\u70b9\u3002 <img decoding=\"async\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2025\/08\/20250812232008-689bcc286432d.png\" alt=\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" width=\"460\" \/><\/li>\n<\/ul>\n<h6>3. \u7acb\u4f53\u5339\u914d&#xff1a;\u89c6\u5dee\u8ba1\u7b97\u7684\u6838\u5fc3<\/h6>\n<p>\u7acb\u4f53\u5339\u914d\u7684\u76ee\u6807\u662f\u4e3a\u5de6\u56fe\u6bcf\u4e2a\u50cf\u7d20<span class=\"katex--inline\"><span class=\"katex\"><span class=\"katex-mathml\"><\/p>\n<p>         (<\/p>\n<p>         x<\/p>\n<p>         ,<\/p>\n<p>         y<\/p>\n<p>         )<\/p>\n<p>        (x, y)<\/p>\n<p>     <\/span><span class=\"katex-html\"><span class=\"base\"><span class=\"strut\" style=\"height: 1em;vertical-align: -0.25em\"><\/span><span class=\"mopen\">(<\/span><span class=\"mord mathnormal\">x<\/span><span class=\"mpunct\">,<\/span><span class=\"mspace\" style=\"margin-right: 0.1667em\"><\/span><span class=\"mord mathnormal\" style=\"margin-right: 0.0359em\">y<\/span><span class=\"mclose\">)<\/span><\/span><\/span><\/span><\/span>\u5728\u53f3\u56fe\u540c\u4e00\u884c<span class=\"katex--inline\"><span class=\"katex\"><span class=\"katex-mathml\"><\/p>\n<p>         y<\/p>\n<p>        y<\/p>\n<p>     <\/span><span class=\"katex-html\"><span class=\"base\"><span class=\"strut\" style=\"height: 0.625em;vertical-align: -0.1944em\"><\/span><span class=\"mord mathnormal\" style=\"margin-right: 0.0359em\">y<\/span><\/span><\/span><\/span><\/span>\u4e0a\u627e\u5230\u6700\u76f8\u4f3c\u7684\u50cf\u7d20&#xff0c;\u5f97\u5230\u89c6\u5dee<span class=\"katex--inline\"><span class=\"katex\"><span class=\"katex-mathml\"><\/p>\n<p>         d<\/p>\n<p>        d<\/p>\n<p>     <\/span><span class=\"katex-html\"><span class=\"base\"><span class=\"strut\" style=\"height: 0.6944em\"><\/span><span class=\"mord mathnormal\">d<\/span><\/span><\/span><\/span><\/span>\u3002\u8fd9\u662f\u53cc\u76ee\u76f8\u673a\u6700\u590d\u6742\u7684\u6b65\u9aa4&#xff0c;\u7b97\u6cd5\u9700\u5e73\u8861\u7cbe\u5ea6\u3001\u901f\u5ea6\u548c\u9c81\u68d2\u6027&#xff1a;<\/p>\n<ul>\n<li>\n<p>\u4f20\u7edf\u7b97\u6cd5&#xff1a;<\/p>\n<ul>\n<li>BM&#xff08;Block Matching&#xff09;&#xff1a;\u4ee5\u5de6\u56fe\u50cf\u7d20\u4e3a\u4e2d\u5fc3\u53d6<span class=\"katex--inline\"><span class=\"katex\"><span class=\"katex-mathml\">\n<p>           n<\/p>\n<p>           \u00d7<\/p>\n<p>           n<\/p>\n<p>          n\u00d7n<\/p>\n<p>       <\/span><span class=\"katex-html\"><span class=\"base\"><span class=\"strut\" style=\"height: 0.6667em;vertical-align: -0.0833em\"><\/span><span class=\"mord mathnormal\">n<\/span><span class=\"mspace\" style=\"margin-right: 0.2222em\"><\/span><span class=\"mbin\">\u00d7<\/span><span class=\"mspace\" style=\"margin-right: 0.2222em\"><\/span><\/span><span class=\"base\"><span class=\"strut\" style=\"height: 0.4306em\"><\/span><span class=\"mord mathnormal\">n<\/span><\/span><\/span><\/span><\/span>\u7a97\u53e3&#xff08;\u59825\u00d75\u30019\u00d79&#xff09;&#xff0c;\u5728\u53f3\u56fe\u5bf9\u5e94\u884c\u6ed1\u52a8\u7a97\u53e3\u8ba1\u7b97\u76f8\u4f3c\u5ea6&#xff08;\u5982SSD&#xff1a;<span class=\"katex--inline\"><span class=\"katex\"><span class=\"katex-mathml\"><\/p>\n<p>           \u2211<\/p>\n<p>           (<\/p>\n<p>            I<\/p>\n<p>            l<\/p>\n<p>           \u2212<\/p>\n<p>            I<\/p>\n<p>            r<\/p>\n<p>            )<\/p>\n<p>            2<\/p>\n<p>          \\\\sum (I_l &#8211; I_r)^2<\/p>\n<p>       <\/span><span class=\"katex-html\"><span class=\"base\"><span class=\"strut\" style=\"height: 1em;vertical-align: -0.25em\"><\/span><span class=\"mop op-symbol small-op\" style=\"position: relative;top: 0em\">\u2211<\/span><span class=\"mopen\">(<\/span><span class=\"mord\"><span class=\"mord mathnormal\" style=\"margin-right: 0.0785em\">I<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.3361em\"><span class=\"\" style=\"top: -2.55em;margin-left: -0.0785em;margin-right: 0.05em\"><span class=\"pstrut\" style=\"height: 2.7em\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mathnormal mtight\" style=\"margin-right: 0.0197em\">l<\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.15em\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><\/span><span class=\"mspace\" style=\"margin-right: 0.2222em\"><\/span><span class=\"mbin\">\u2212<\/span><span class=\"mspace\" style=\"margin-right: 0.2222em\"><\/span><\/span><span class=\"base\"><span class=\"strut\" style=\"height: 1.0641em;vertical-align: -0.25em\"><\/span><span class=\"mord\"><span class=\"mord mathnormal\" style=\"margin-right: 0.0785em\">I<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.1514em\"><span class=\"\" style=\"top: -2.55em;margin-left: -0.0785em;margin-right: 0.05em\"><span class=\"pstrut\" style=\"height: 2.7em\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mathnormal mtight\" style=\"margin-right: 0.0278em\">r<\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.15em\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><\/span><span class=\"mclose\"><span class=\"mclose\">)<\/span><span class=\"msupsub\"><span class=\"vlist-t\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.8141em\"><span class=\"\" style=\"top: -3.063em;margin-right: 0.05em\"><span class=\"pstrut\" style=\"height: 2.7em\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mtight\">2<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>&#xff09;&#xff0c;\u53d6\u6700\u5c0f\u503c\u5bf9\u5e94\u7684\u4f4d\u7f6e\u4e3a\u5339\u914d\u70b9\u3002\u4f18\u70b9\u662f\u901f\u5ea6\u5feb&#xff08;\u9002\u5408FPGA\u5b9e\u73b0&#xff09;&#xff0c;\u7f3a\u70b9\u662f\u5f31\u7eb9\u7406\u533a\u57df\u6613\u5339\u914d\u9519\u8bef&#xff0c;\u7a97\u53e3\u5c3a\u5bf8\u9700\u6839\u636e\u573a\u666f\u8c03\u6574&#xff08;\u5c0f\u7a97\u53e3\u9002\u5408\u7ec6\u8282&#xff0c;\u5927\u7a97\u53e3\u6297\u566a\u58f0&#xff09;\u3002<\/li>\n<li>SGBM&#xff08;Semi-Global Block Matching&#xff09;&#xff1a;\u5728BM\u57fa\u7840\u4e0a\u5f15\u5165\u5168\u5c40\u80fd\u91cf\u51fd\u6570&#xff08;<span class=\"katex--inline\"><span class=\"katex\"><span class=\"katex-mathml\">\n<p>           E<\/p>\n<p>           &#061;<\/p>\n<p>           \u2211<\/p>\n<p>           (<\/p>\n<p>           D<\/p>\n<p>           (<\/p>\n<p>           x<\/p>\n<p>           )<\/p>\n<p>           &#043;<\/p>\n<p>           P<\/p>\n<p>           1<\/p>\n<p>           \u22c5<\/p>\n<p>           \u2223<\/p>\n<p>           d<\/p>\n<p>           (<\/p>\n<p>           x<\/p>\n<p>           )<\/p>\n<p>           \u2212<\/p>\n<p>           d<\/p>\n<p>           (<\/p>\n<p>           x<\/p>\n<p>           \u2212<\/p>\n<p>           1<\/p>\n<p>           )<\/p>\n<p>           \u2223<\/p>\n<p>           &#043;<\/p>\n<p>           P<\/p>\n<p>           2<\/p>\n<p>           \u22c5<\/p>\n<p>           large\u00a0difference<\/p>\n<p>           )<\/p>\n<p>          E &#061; \\\\sum (D(x) &#043; P1 \\\\cdot |d(x)-d(x-1)| &#043; P2 \\\\cdot \\\\text{large difference})<\/p>\n<p>       <\/span><span class=\"katex-html\"><span class=\"base\"><span class=\"strut\" style=\"height: 0.6833em\"><\/span><span class=\"mord mathnormal\" style=\"margin-right: 0.0576em\">E<\/span><span class=\"mspace\" style=\"margin-right: 0.2778em\"><\/span><span class=\"mrel\">&#061;<\/span><span class=\"mspace\" style=\"margin-right: 0.2778em\"><\/span><\/span><span class=\"base\"><span class=\"strut\" style=\"height: 1em;vertical-align: -0.25em\"><\/span><span class=\"mop op-symbol small-op\" style=\"position: relative;top: 0em\">\u2211<\/span><span class=\"mopen\">(<\/span><span class=\"mord mathnormal\" style=\"margin-right: 0.0278em\">D<\/span><span class=\"mopen\">(<\/span><span class=\"mord mathnormal\">x<\/span><span class=\"mclose\">)<\/span><span class=\"mspace\" style=\"margin-right: 0.2222em\"><\/span><span class=\"mbin\">&#043;<\/span><span class=\"mspace\" style=\"margin-right: 0.2222em\"><\/span><\/span><span class=\"base\"><span class=\"strut\" style=\"height: 0.6833em\"><\/span><span class=\"mord mathnormal\" style=\"margin-right: 0.1389em\">P<\/span><span class=\"mord\">1<\/span><span class=\"mspace\" style=\"margin-right: 0.2222em\"><\/span><span class=\"mbin\">\u22c5<\/span><span class=\"mspace\" style=\"margin-right: 0.2222em\"><\/span><\/span><span class=\"base\"><span class=\"strut\" style=\"height: 1em;vertical-align: -0.25em\"><\/span><span class=\"mord\">\u2223<\/span><span class=\"mord mathnormal\">d<\/span><span class=\"mopen\">(<\/span><span class=\"mord mathnormal\">x<\/span><span class=\"mclose\">)<\/span><span class=\"mspace\" style=\"margin-right: 0.2222em\"><\/span><span class=\"mbin\">\u2212<\/span><span class=\"mspace\" style=\"margin-right: 0.2222em\"><\/span><\/span><span class=\"base\"><span class=\"strut\" style=\"height: 1em;vertical-align: -0.25em\"><\/span><span class=\"mord mathnormal\">d<\/span><span class=\"mopen\">(<\/span><span class=\"mord mathnormal\">x<\/span><span class=\"mspace\" style=\"margin-right: 0.2222em\"><\/span><span class=\"mbin\">\u2212<\/span><span class=\"mspace\" style=\"margin-right: 0.2222em\"><\/span><\/span><span class=\"base\"><span class=\"strut\" style=\"height: 1em;vertical-align: -0.25em\"><\/span><span class=\"mord\">1<\/span><span class=\"mclose\">)<\/span><span class=\"mord\">\u2223<\/span><span class=\"mspace\" style=\"margin-right: 0.2222em\"><\/span><span class=\"mbin\">&#043;<\/span><span class=\"mspace\" style=\"margin-right: 0.2222em\"><\/span><\/span><span class=\"base\"><span class=\"strut\" style=\"height: 0.6833em\"><\/span><span class=\"mord mathnormal\" style=\"margin-right: 0.1389em\">P<\/span><span class=\"mord\">2<\/span><span class=\"mspace\" style=\"margin-right: 0.2222em\"><\/span><span class=\"mbin\">\u22c5<\/span><span class=\"mspace\" style=\"margin-right: 0.2222em\"><\/span><\/span><span class=\"base\"><span class=\"strut\" style=\"height: 1em;vertical-align: -0.25em\"><\/span><span class=\"mord text\"><span class=\"mord\">large\u00a0difference<\/span><\/span><span class=\"mclose\">)<\/span><\/span><\/span><\/span><\/span>&#xff09;&#xff0c;\u901a\u8fc7\u52a8\u6001\u89c4\u5212\u57288\u4e2a\u65b9\u5411\u4f18\u5316\u5339\u914d\u7ed3\u679c&#xff0c;\u5e73\u8861\u5c40\u90e8\u5339\u914d\u7684\u566a\u58f0\u548c\u5168\u5c40\u4e00\u81f4\u6027\u3002\u7cbe\u5ea6\u4f18\u4e8eBM&#xff08;\u8bef\u5dee&lt;3%&#064;5m&#xff09;&#xff0c;\u4f46\u8ba1\u7b97\u91cf\u589e\u52a03\u500d\u3002<\/li>\n<\/ul>\n<\/li>\n<li>\n<p>\u6df1\u5ea6\u5b66\u4e60\u7b97\u6cd5&#xff1a;<\/p>\n<ul>\n<li>PSMNet&#xff08;Pyramid Stereo Matching Network&#xff09;&#xff1a;\u901a\u8fc7\u91d1\u5b57\u5854\u7279\u5f81\u63d0\u53d6&#xff08;\u5de6\u56fe\u548c\u53f3\u56fe\u5206\u522b\u63d0\u53d6\u591a\u5c3a\u5ea6\u7279\u5f81&#xff09;&#xff0c;\u6784\u5efa4D\u4ee3\u4ef7\u4f53&#xff08;<span class=\"katex--inline\"><span class=\"katex\"><span class=\"katex-mathml\">\n<p>           H<\/p>\n<p>           \u00d7<\/p>\n<p>           W<\/p>\n<p>           \u00d7<\/p>\n<p>           D<\/p>\n<p>           \u00d7<\/p>\n<p>           C<\/p>\n<p>          H\u00d7W\u00d7D\u00d7C<\/p>\n<p>       <\/span><span class=\"katex-html\"><span class=\"base\"><span class=\"strut\" style=\"height: 0.7667em;vertical-align: -0.0833em\"><\/span><span class=\"mord mathnormal\" style=\"margin-right: 0.0813em\">H<\/span><span class=\"mspace\" style=\"margin-right: 0.2222em\"><\/span><span class=\"mbin\">\u00d7<\/span><span class=\"mspace\" style=\"margin-right: 0.2222em\"><\/span><\/span><span class=\"base\"><span class=\"strut\" style=\"height: 0.7667em;vertical-align: -0.0833em\"><\/span><span class=\"mord mathnormal\" style=\"margin-right: 0.1389em\">W<\/span><span class=\"mspace\" style=\"margin-right: 0.2222em\"><\/span><span class=\"mbin\">\u00d7<\/span><span class=\"mspace\" style=\"margin-right: 0.2222em\"><\/span><\/span><span class=\"base\"><span class=\"strut\" style=\"height: 0.7667em;vertical-align: -0.0833em\"><\/span><span class=\"mord mathnormal\" style=\"margin-right: 0.0278em\">D<\/span><span class=\"mspace\" style=\"margin-right: 0.2222em\"><\/span><span class=\"mbin\">\u00d7<\/span><span class=\"mspace\" style=\"margin-right: 0.2222em\"><\/span><\/span><span class=\"base\"><span class=\"strut\" style=\"height: 0.6833em\"><\/span><span class=\"mord mathnormal\" style=\"margin-right: 0.0715em\">C<\/span><\/span><\/span><\/span><\/span>&#xff0c;<span class=\"katex--inline\"><span class=\"katex\"><span class=\"katex-mathml\"><\/p>\n<p>           D<\/p>\n<p>          D<\/p>\n<p>       <\/span><span class=\"katex-html\"><span class=\"base\"><span class=\"strut\" style=\"height: 0.6833em\"><\/span><span class=\"mord mathnormal\" style=\"margin-right: 0.0278em\">D<\/span><\/span><\/span><\/span><\/span>\u4e3a\u89c6\u5dee\u8303\u56f4&#xff09;&#xff0c;\u75283D\u5377\u79ef\u8fdb\u884c\u4ee3\u4ef7\u805a\u5408&#xff0c;\u6700\u540e\u901a\u8fc7softmax\u8f93\u51fa\u89c6\u5dee\u3002\u5728\u5f31\u7eb9\u7406\u3001\u906e\u6321\u533a\u57df\u8868\u73b0\u4f18\u4e8e\u4f20\u7edf\u7b97\u6cd5&#xff08;\u8bef\u5dee&lt;2%&#064;5m&#xff09;&#xff0c;\u4f46\u8ba1\u7b97\u91cf\u662fSGBM\u768410\u500d\u4ee5\u4e0a&#xff0c;\u9700GPU\u652f\u6301\u3002<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n<h6>4. \u6df1\u5ea6\u8ba1\u7b97&#xff1a;\u4ece\u89c6\u5dee\u5230\u4e09\u7ef4\u5750\u6807\u7684\u8f6c\u6362<\/h6>\n<p>\u6839\u636e\u4e09\u89d2\u6d4b\u91cf\u516c\u5f0f<span class=\"katex--inline\"><span class=\"katex\"><span class=\"katex-mathml\"><\/p>\n<p>        Z<\/p>\n<p>        &#061;<\/p>\n<p>          B<\/p>\n<p>          \u22c5<\/p>\n<p>          f<\/p>\n<p>         d<\/p>\n<p>       Z &#061; \\\\frac{B \\\\cdot f}{d}<\/p>\n<p>    <\/span><span class=\"katex-html\"><span class=\"base\"><span class=\"strut\" style=\"height: 0.6833em\"><\/span><span class=\"mord mathnormal\" style=\"margin-right: 0.0715em\">Z<\/span><span class=\"mspace\" style=\"margin-right: 0.2778em\"><\/span><span class=\"mrel\">&#061;<\/span><span class=\"mspace\" style=\"margin-right: 0.2778em\"><\/span><\/span><span class=\"base\"><span class=\"strut\" style=\"height: 1.2772em;vertical-align: -0.345em\"><\/span><span class=\"mord\"><span class=\"mopen nulldelimiter\"><\/span><span class=\"mfrac\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.9322em\"><span class=\"\" style=\"top: -2.655em\"><span class=\"pstrut\" style=\"height: 3em\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mtight\"><span class=\"mord mathnormal mtight\">d<\/span><\/span><\/span><\/span><span class=\"\" style=\"top: -3.23em\"><span class=\"pstrut\" style=\"height: 3em\"><\/span><span class=\"frac-line\" style=\"border-bottom-width: 0.04em\"><\/span><\/span><span class=\"\" style=\"top: -3.4461em\"><span class=\"pstrut\" style=\"height: 3em\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mtight\"><span class=\"mord mathnormal mtight\" style=\"margin-right: 0.0502em\">B<\/span><span class=\"mbin mtight\">\u22c5<\/span><span class=\"mord mathnormal mtight\" style=\"margin-right: 0.1076em\">f<\/span><\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.345em\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><span class=\"mclose nulldelimiter\"><\/span><\/span><\/span><\/span><\/span><\/span>&#xff0c;\u5c06\u89c6\u5dee\u56fe\u8f6c\u6362\u4e3a\u6df1\u5ea6\u56fe\u3002\u9700\u6ce8\u610f\u5355\u4f4d\u8f6c\u6362&#xff1a;<\/p>\n<ul>\n<li>\u50cf\u7d20\u7126\u8ddd<span class=\"katex--inline\"><span class=\"katex\"><span class=\"katex-mathml\">\n<p>          f<\/p>\n<p>          x<\/p>\n<p>         &#061;<\/p>\n<p>         f<\/p>\n<p>         \/<\/p>\n<p>         d<\/p>\n<p>         x<\/p>\n<p>        f_x &#061; f \/ dx<\/p>\n<p>     <\/span><span class=\"katex-html\"><span class=\"base\"><span class=\"strut\" style=\"height: 0.8889em;vertical-align: -0.1944em\"><\/span><span class=\"mord\"><span class=\"mord mathnormal\" style=\"margin-right: 0.1076em\">f<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.1514em\"><span class=\"\" style=\"top: -2.55em;margin-left: -0.1076em;margin-right: 0.05em\"><span class=\"pstrut\" style=\"height: 2.7em\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mathnormal mtight\">x<\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.15em\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><\/span><span class=\"mspace\" style=\"margin-right: 0.2778em\"><\/span><span class=\"mrel\">&#061;<\/span><span class=\"mspace\" style=\"margin-right: 0.2778em\"><\/span><\/span><span class=\"base\"><span class=\"strut\" style=\"height: 1em;vertical-align: -0.25em\"><\/span><span class=\"mord mathnormal\" style=\"margin-right: 0.1076em\">f<\/span><span class=\"mord\">\/<\/span><span class=\"mord mathnormal\">d<\/span><span class=\"mord mathnormal\">x<\/span><\/span><\/span><\/span><\/span>&#xff08;<span class=\"katex--inline\"><span class=\"katex\"><span class=\"katex-mathml\"><\/p>\n<p>         d<\/p>\n<p>         x<\/p>\n<p>        dx<\/p>\n<p>     <\/span><span class=\"katex-html\"><span class=\"base\"><span class=\"strut\" style=\"height: 0.6944em\"><\/span><span class=\"mord mathnormal\">d<\/span><span class=\"mord mathnormal\">x<\/span><\/span><\/span><\/span><\/span>\u4e3a\u50cf\u5143\u5c3a\u5bf8&#xff0c;\u5355\u4f4dmm\/\u50cf\u7d20&#xff09;&#xff0c;\u56e0\u6b64<span class=\"katex--inline\"><span class=\"katex\"><span class=\"katex-mathml\"><\/p>\n<p>         f<\/p>\n<p>         &#061;<\/p>\n<p>          f<\/p>\n<p>          x<\/p>\n<p>         \u22c5<\/p>\n<p>         d<\/p>\n<p>         x<\/p>\n<p>        f &#061; f_x \\\\cdot dx<\/p>\n<p>     <\/span><span class=\"katex-html\"><span class=\"base\"><span class=\"strut\" style=\"height: 0.8889em;vertical-align: -0.1944em\"><\/span><span class=\"mord mathnormal\" style=\"margin-right: 0.1076em\">f<\/span><span class=\"mspace\" style=\"margin-right: 0.2778em\"><\/span><span class=\"mrel\">&#061;<\/span><span class=\"mspace\" style=\"margin-right: 0.2778em\"><\/span><\/span><span class=\"base\"><span class=\"strut\" style=\"height: 0.8889em;vertical-align: -0.1944em\"><\/span><span class=\"mord\"><span class=\"mord mathnormal\" style=\"margin-right: 0.1076em\">f<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.1514em\"><span class=\"\" style=\"top: -2.55em;margin-left: -0.1076em;margin-right: 0.05em\"><span class=\"pstrut\" style=\"height: 2.7em\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mathnormal mtight\">x<\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.15em\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><\/span><span class=\"mspace\" style=\"margin-right: 0.2222em\"><\/span><span class=\"mbin\">\u22c5<\/span><span class=\"mspace\" style=\"margin-right: 0.2222em\"><\/span><\/span><span class=\"base\"><span class=\"strut\" style=\"height: 0.6944em\"><\/span><span class=\"mord mathnormal\">d<\/span><span class=\"mord mathnormal\">x<\/span><\/span><\/span><\/span><\/span>&#xff0c;\u4ee3\u5165\u516c\u5f0f\u5f97<span class=\"katex--inline\"><span class=\"katex\"><span class=\"katex-mathml\"><\/p>\n<p>         Z<\/p>\n<p>         &#061;<\/p>\n<p>           B<\/p>\n<p>           \u22c5<\/p>\n<p>            f<\/p>\n<p>            x<\/p>\n<p>           \u22c5<\/p>\n<p>           d<\/p>\n<p>           x<\/p>\n<p>          d<\/p>\n<p>         &#061;<\/p>\n<p>           B<\/p>\n<p>           \u22c5<\/p>\n<p>            f<\/p>\n<p>            x<\/p>\n<p>          d<\/p>\n<p>         \u22c5<\/p>\n<p>         d<\/p>\n<p>         x<\/p>\n<p>        Z &#061; \\\\frac{B \\\\cdot f_x \\\\cdot dx}{d} &#061; \\\\frac{B \\\\cdot f_x}{d} \\\\cdot dx<\/p>\n<p>     <\/span><span class=\"katex-html\"><span class=\"base\"><span class=\"strut\" style=\"height: 0.6833em\"><\/span><span class=\"mord mathnormal\" style=\"margin-right: 0.0715em\">Z<\/span><span class=\"mspace\" style=\"margin-right: 0.2778em\"><\/span><span class=\"mrel\">&#061;<\/span><span class=\"mspace\" style=\"margin-right: 0.2778em\"><\/span><\/span><span class=\"base\"><span class=\"strut\" style=\"height: 1.2772em;vertical-align: -0.345em\"><\/span><span class=\"mord\"><span class=\"mopen nulldelimiter\"><\/span><span class=\"mfrac\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.9322em\"><span class=\"\" style=\"top: -2.655em\"><span class=\"pstrut\" style=\"height: 3em\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mtight\"><span class=\"mord mathnormal mtight\">d<\/span><\/span><\/span><\/span><span class=\"\" style=\"top: -3.23em\"><span class=\"pstrut\" style=\"height: 3em\"><\/span><span class=\"frac-line\" style=\"border-bottom-width: 0.04em\"><\/span><\/span><span class=\"\" style=\"top: -3.4461em\"><span class=\"pstrut\" style=\"height: 3em\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mtight\"><span class=\"mord mathnormal mtight\" style=\"margin-right: 0.0502em\">B<\/span><span class=\"mbin mtight\">\u22c5<\/span><span class=\"mord mtight\"><span class=\"mord mathnormal mtight\" style=\"margin-right: 0.1076em\">f<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.1645em\"><span class=\"\" style=\"top: -2.357em;margin-left: -0.1076em;margin-right: 0.0714em\"><span class=\"pstrut\" style=\"height: 2.5em\"><\/span><span class=\"sizing reset-size3 size1 mtight\"><span class=\"mord mathnormal mtight\">x<\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.143em\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><\/span><span class=\"mbin mtight\">\u22c5<\/span><span class=\"mord mathnormal mtight\">d<\/span><span class=\"mord mathnormal mtight\">x<\/span><\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.345em\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><span class=\"mclose nulldelimiter\"><\/span><\/span><span class=\"mspace\" style=\"margin-right: 0.2778em\"><\/span><span class=\"mrel\">&#061;<\/span><span class=\"mspace\" style=\"margin-right: 0.2778em\"><\/span><\/span><span class=\"base\"><span class=\"strut\" style=\"height: 1.2772em;vertical-align: -0.345em\"><\/span><span class=\"mord\"><span class=\"mopen nulldelimiter\"><\/span><span class=\"mfrac\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.9322em\"><span class=\"\" style=\"top: -2.655em\"><span class=\"pstrut\" style=\"height: 3em\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mtight\"><span class=\"mord mathnormal mtight\">d<\/span><\/span><\/span><\/span><span class=\"\" style=\"top: -3.23em\"><span class=\"pstrut\" style=\"height: 3em\"><\/span><span class=\"frac-line\" style=\"border-bottom-width: 0.04em\"><\/span><\/span><span class=\"\" style=\"top: -3.4461em\"><span class=\"pstrut\" style=\"height: 3em\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mtight\"><span class=\"mord mathnormal mtight\" style=\"margin-right: 0.0502em\">B<\/span><span class=\"mbin mtight\">\u22c5<\/span><span class=\"mord mtight\"><span class=\"mord mathnormal mtight\" style=\"margin-right: 0.1076em\">f<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.1645em\"><span class=\"\" style=\"top: -2.357em;margin-left: -0.1076em;margin-right: 0.0714em\"><span class=\"pstrut\" style=\"height: 2.5em\"><\/span><span class=\"sizing reset-size3 size1 mtight\"><span class=\"mord mathnormal mtight\">x<\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.143em\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.345em\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><span class=\"mclose nulldelimiter\"><\/span><\/span><span class=\"mspace\" style=\"margin-right: 0.2222em\"><\/span><span class=\"mbin\">\u22c5<\/span><span class=\"mspace\" style=\"margin-right: 0.2222em\"><\/span><\/span><span class=\"base\"><span class=\"strut\" style=\"height: 0.6944em\"><\/span><span class=\"mord mathnormal\">d<\/span><span class=\"mord mathnormal\">x<\/span><\/span><\/span><\/span><\/span>\u3002\u5b9e\u9645\u5e94\u7528\u4e2d&#xff0c;\u5382\u5546\u901a\u5e38\u901a\u8fc7\u6807\u5b9a\u5c06<span class=\"katex--inline\"><span class=\"katex\"><span class=\"katex-mathml\"><\/p>\n<p>         B<\/p>\n<p>         \u22c5<\/p>\n<p>          f<\/p>\n<p>          x<\/p>\n<p>         \u22c5<\/p>\n<p>         d<\/p>\n<p>         x<\/p>\n<p>        B \\\\cdot f_x \\\\cdot dx<\/p>\n<p>     <\/span><span class=\"katex-html\"><span class=\"base\"><span class=\"strut\" style=\"height: 0.6833em\"><\/span><span class=\"mord mathnormal\" style=\"margin-right: 0.0502em\">B<\/span><span class=\"mspace\" style=\"margin-right: 0.2222em\"><\/span><span class=\"mbin\">\u22c5<\/span><span class=\"mspace\" style=\"margin-right: 0.2222em\"><\/span><\/span><span class=\"base\"><span class=\"strut\" style=\"height: 0.8889em;vertical-align: -0.1944em\"><\/span><span class=\"mord\"><span class=\"mord mathnormal\" style=\"margin-right: 0.1076em\">f<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.1514em\"><span class=\"\" style=\"top: -2.55em;margin-left: -0.1076em;margin-right: 0.05em\"><span class=\"pstrut\" style=\"height: 2.7em\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mathnormal mtight\">x<\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.15em\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><\/span><span class=\"mspace\" style=\"margin-right: 0.2222em\"><\/span><span class=\"mbin\">\u22c5<\/span><span class=\"mspace\" style=\"margin-right: 0.2222em\"><\/span><\/span><span class=\"base\"><span class=\"strut\" style=\"height: 0.6944em\"><\/span><span class=\"mord mathnormal\">d<\/span><span class=\"mord mathnormal\">x<\/span><\/span><\/span><\/span><\/span>\u9884\u8ba1\u7b97\u4e3a\u201c\u5c3a\u5ea6\u56e0\u5b50\u201d&#xff0c;\u76f4\u63a5\u7528<span class=\"katex--inline\"><span class=\"katex\"><span class=\"katex-mathml\"><\/p>\n<p>         Z<\/p>\n<p>         &#061;<\/p>\n<p>         scale<\/p>\n<p>         \/<\/p>\n<p>         d<\/p>\n<p>        Z &#061; \\\\text{scale} \/ d<\/p>\n<p>     <\/span><span class=\"katex-html\"><span class=\"base\"><span class=\"strut\" style=\"height: 0.6833em\"><\/span><span class=\"mord mathnormal\" style=\"margin-right: 0.0715em\">Z<\/span><span class=\"mspace\" style=\"margin-right: 0.2778em\"><\/span><span class=\"mrel\">&#061;<\/span><span class=\"mspace\" style=\"margin-right: 0.2778em\"><\/span><\/span><span class=\"base\"><span class=\"strut\" style=\"height: 1em;vertical-align: -0.25em\"><\/span><span class=\"mord text\"><span class=\"mord\">scale<\/span><\/span><span class=\"mord\">\/<\/span><span class=\"mord mathnormal\">d<\/span><\/span><\/span><\/span><\/span>\u8ba1\u7b97\u6df1\u5ea6&#xff08;\u5355\u4f4dm&#xff09;\u3002<\/li>\n<\/ul>\n<h6>5. \u540e\u5904\u7406&#xff1a;\u6df1\u5ea6\u56fe\u7684\u4f18\u5316\u4e0e\u4fee\u590d<\/h6>\n<p>\u539f\u59cb\u6df1\u5ea6\u56fe\u5b58\u5728\u4e09\u7c7b\u95ee\u9898&#xff1a;\u5339\u914d\u9519\u8bef&#xff08;\u566a\u58f0&#xff09;\u3001\u906e\u6321\/\u5f31\u7eb9\u7406\u5bfc\u81f4\u7684\u7a7a\u6d1e\u3001\u8fb9\u7f18\u6a21\u7cca\u3002\u540e\u5904\u7406\u6b65\u9aa4\u5305\u62ec&#xff1a;<\/p>\n<ul>\n<li>\u566a\u58f0\u53bb\u9664&#xff1a;\u4e2d\u503c\u6ee4\u6ce2&#xff08;\u53bb\u9664\u6912\u76d0\u566a\u58f0&#xff09;\u3001\u53cc\u8fb9\u6ee4\u6ce2&#xff08;\u4fdd\u7559\u8fb9\u7f18\u7684\u540c\u65f6\u5e73\u6ed1\u566a\u58f0&#xff09;&#xff1b;<\/li>\n<li>\u7a7a\u6d1e\u586b\u5145&#xff1a;\u5bf9\u906e\u6321\u533a\u57df&#xff08;\u89c6\u5dee\u8d85\u51fa\u8303\u56f4&#xff09;&#xff0c;\u91c7\u7528\u90bb\u57df\u63d2\u503c&#xff08;\u5982\u57fa\u4e8e\u5de6\u53f3\u4e00\u81f4\u6027\u68c0\u6d4b&#xff0c;\u7528\u53ef\u4fe1\u533a\u57df\u7684\u6df1\u5ea6\u503c\u586b\u5145&#xff09;&#xff1b;<\/li>\n<li>\u8fb9\u7f18\u4f18\u5316&#xff1a;\u7ed3\u5408\u539f\u56fe\u8fb9\u7f18\u4fe1\u606f&#xff08;\u5982Canny\u8fb9\u7f18\u68c0\u6d4b&#xff09;&#xff0c;\u5bf9\u6df1\u5ea6\u56fe\u8fb9\u7f18\u8fdb\u884c\u9510\u5316&#xff0c;\u51cf\u5c11\u7269\u4f53\u8fb9\u7f18\u7684\u6df1\u5ea6\u6a21\u7cca\u3002<\/li>\n<\/ul>\n<h5>\u56db\u3001\u7cbe\u5ea6\u4e0e\u9c81\u68d2\u6027\u7684\u76f8\u5173\u95ee\u9898<\/h5>\n<h6>1. \u7acb\u4f53\u5339\u914d\u7684\u9c81\u68d2\u6027\u56f0\u5883<\/h6>\n<p>\u5339\u914d\u9519\u8bef\u662f\u6df1\u5ea6\u56fe\u8bef\u5dee\u7684\u4e3b\u8981\u6765\u6e90&#xff0c;\u6839\u6e90\u5728\u4e8e\u573a\u666f\u7279\u6027\u4e0e\u7b97\u6cd5\u5c40\u9650&#xff1a;<\/p>\n<ul>\n<li>\u5f31\u7eb9\u7406\u533a\u57df&#xff1a;\u5982\u767d\u5899\u3001\u7eaf\u8272\u684c\u9762&#xff0c;\u56fe\u50cf\u68af\u5ea6\u63a5\u8fd10&#xff0c;\u4e0d\u540c\u4f4d\u7f6e\u7684\u7a97\u53e3\u76f8\u4f3c\u5ea6\u5dee\u5f02\u5c0f&#xff0c;\u6613\u5bfc\u81f4\u968f\u673a\u5339\u914d&#xff08;\u4f8b\u5982&#xff0c;\u767d\u5899\u533a\u57df\u53ef\u80fd\u51fa\u73b0\u6df1\u5ea6\u8df3\u53d8&#xff09;\u3002\u89e3\u51b3\u65b9\u6848&#xff1a;\u5f15\u5165\u8bed\u4e49\u4fe1\u606f&#xff08;\u5982\u6df1\u5ea6\u5b66\u4e60\u7b97\u6cd5\u5229\u7528\u4e0a\u4e0b\u6587\u7279\u5f81&#xff09;&#xff0c;\u6216\u4e3b\u52a8\u6295\u5c04\u7eb9\u7406\u56fe\u6848&#xff08;\u6df7\u5408\u7ed3\u6784\u5149\u4e0e\u53cc\u76ee\u6280\u672f&#xff09;\u3002<\/li>\n<li>\u91cd\u590d\u7eb9\u7406\u533a\u57df&#xff1a;\u5982\u7816\u5757\u5899\u3001\u683c\u6805&#xff0c;\u591a\u4e2a\u4f4d\u7f6e\u7684\u7a97\u53e3\u7279\u5f81\u9ad8\u5ea6\u76f8\u4f3c&#xff0c;\u7b97\u6cd5\u96be\u4ee5\u533a\u5206\u771f\u5b9e\u5bf9\u5e94\u70b9&#xff08;\u89c6\u5dee\u8bef\u5dee\u53ef\u80fd\u8fbe10\u50cf\u7d20\u4ee5\u4e0a&#xff09;\u3002\u89e3\u51b3\u65b9\u6848&#xff1a;\u589e\u52a0\u5339\u914d\u7a97\u53e3\u7684\u5c3a\u5bf8&#xff08;\u5229\u7528\u5168\u5c40\u7279\u5f81&#xff09;&#xff0c;\u6216\u7ed3\u5408\u8fd0\u52a8\u89c6\u5dee&#xff08;\u901a\u8fc7\u591a\u5e27\u56fe\u50cf\u4f18\u5316&#xff09;\u3002<\/li>\n<li>\u906e\u6321\u533a\u57df&#xff1a;\u524d\u666f\u7269\u4f53\u906e\u6321\u80cc\u666f&#xff08;\u5982\u4eba\u7ad9\u5728\u5899\u524d&#xff09;&#xff0c;\u88ab\u906e\u6321\u533a\u57df\u5728\u53e6\u4e00\u5e45\u56fe\u50cf\u4e2d\u65e0\u5bf9\u5e94\u70b9&#xff0c;\u5bfc\u81f4\u6df1\u5ea6\u7a7a\u6d1e&#xff08;\u5360\u6bd4\u53ef\u8fbe10-20%&#xff09;\u3002\u89e3\u51b3\u65b9\u6848&#xff1a;\u57fa\u4e8e\u5de6\u53f3\u4e00\u81f4\u6027\u68c0\u6d4b&#xff08;\u5de6\u56fe\u89c6\u5dee\u4e0e\u53f3\u56fe\u53cd\u6295\u5f71\u89c6\u5dee\u5dee\u5f02&gt;\u9608\u503c\u5219\u6807\u8bb0\u4e3a\u906e\u6321&#xff09;&#xff0c;\u7528\u80cc\u666f\u586b\u5145\u6216\u591a\u5e27\u878d\u5408\u4fee\u590d\u3002 <img decoding=\"async\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2025\/08\/20250812232008-689bcc28b3e02.png\" alt=\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" width=\"360\" \/><\/li>\n<\/ul>\n<h6>2. \u6821\u51c6\u7cbe\u5ea6\u7684\u7a33\u5b9a\u6027\u96be\u9898<\/h6>\n<p>\u76f8\u673a\u53c2\u6570\u4f1a\u968f\u73af\u5883\u53d8\u5316\u6f02\u79fb&#xff0c;\u5bfc\u81f4\u6df1\u5ea6\u7cbe\u5ea6\u4e0b\u964d&#xff1a;<\/p>\n<ul>\n<li>\u6e29\u5ea6\u6f02\u79fb&#xff1a;\u6e29\u5ea6\u53d8\u531610\u2103&#xff0c;\u955c\u5934\u7126\u8ddd\u53ef\u80fd\u53d8\u53160.1%&#xff08;\u598225mm\u7126\u8ddd\u53d8\u4e3a25.025mm&#xff09;&#xff0c;\u57fa\u7ebf\u56e0\u673a\u68b0\u7ed3\u6784\u70ed\u80c0\u51b7\u7f29\u53d8\u53160.05mm&#xff0c;\u572810m\u8ddd\u79bb\u5904\u6df1\u5ea6\u8bef\u5dee\u53ef\u8fbe0.1m\u3002 \u89e3\u51b3\u65b9\u6848&#xff1a;\u91c7\u7528\u4f4e\u81a8\u80c0\u7cfb\u6570\u6750\u6599&#xff08;\u5982\u6bb7\u94a2&#xff09;\u5236\u4f5c\u57fa\u7ebf\u7ed3\u6784&#xff0c;\u6216\u901a\u8fc7\u5728\u7ebf\u6807\u5b9a&#xff08;\u5b9e\u65f6\u68c0\u6d4b\u68cb\u76d8\u683c\u6216\u81ea\u7136\u7279\u5f81&#xff09;\u52a8\u6001\u66f4\u65b0\u53c2\u6570\u3002<\/li>\n<li>\u632f\u52a8\u4e0e\u51b2\u51fb&#xff1a;\u8f66\u8f7d\u3001\u673a\u5668\u4eba\u7b49\u573a\u666f\u4e2d&#xff0c;\u632f\u52a8\u53ef\u80fd\u5bfc\u81f4\u5de6\u53f3\u76f8\u673a\u76f8\u5bf9\u59ff\u6001\u53d8\u5316&#xff08;\u5982\u65cb\u8f6c0.5\u00b0&#xff09;&#xff0c;\u6781\u7ebf\u6821\u6b63\u5931\u6548&#xff0c;\u89c6\u5dee\u8ba1\u7b97\u8bef\u5dee\u589e\u5927\u3002 \u89e3\u51b3\u65b9\u6848&#xff1a;\u7528\u521a\u6027\u7ed3\u6784\u56fa\u5b9a\u76f8\u673a&#xff08;\u5982\u91d1\u5c5e\u652f\u67b6&#xff09;&#xff0c;\u6216\u96c6\u6210IMU&#xff08;\u60ef\u6027\u6d4b\u91cf\u5355\u5143&#xff09;&#xff0c;\u901a\u8fc7\u8fd0\u52a8\u8865\u507f\u4fee\u6b63\u59ff\u6001\u53d8\u5316\u3002<\/li>\n<\/ul>\n<h6>3. \u5b9e\u65f6\u6027\u4e0e\u7cbe\u5ea6\u7684\u5e73\u8861\u77db\u76fe<\/h6>\n<p>\u9ad8\u5206\u8fa8\u7387\u4e0e\u9ad8\u7cbe\u5ea6\u9700\u6c42\u5bfc\u81f4\u8ba1\u7b97\u91cf\u7206\u70b8&#xff1a;<\/p>\n<ul>\n<li>\u5206\u8fa8\u7387\u4e0e\u5e27\u7387\u7684\u6743\u8861&#xff1a;1280\u00d7720\u56fe\u50cf\u7684SGBM\u7b97\u6cd5\u5728FPGA\u4e0a\u53ef\u5b9e\u73b030fps&#xff0c;\u4f46\u5347\u7ea7\u52302560\u00d71440\u540e\u5e27\u7387\u964d\u81f310fps\u4ee5\u4e0b&#xff1b;\u6df1\u5ea6\u5b66\u4e60\u7b97\u6cd5\u5728GPU\u4e0a\u5904\u74061280\u00d7720\u56fe\u50cf\u970020ms\/\u5e27&#xff0c;\u96be\u4ee5\u6ee1\u8db3\u5b9e\u65f6\u6027&#xff08;&lt;33ms&#xff09;\u3002 \u89e3\u51b3\u65b9\u6848&#xff1a;\u91c7\u7528\u201c\u611f\u5174\u8da3\u533a\u57df&#xff08;ROI&#xff09;\u5339\u914d\u201d&#xff08;\u4ec5\u5bf9\u524d\u666f\u76ee\u6807\u8ba1\u7b97\u6df1\u5ea6&#xff09;&#xff0c;\u6216\u964d\u91c7\u6837\u5904\u7406&#xff08;\u727a\u7272\u8fb9\u7f18\u7cbe\u5ea6\u6362\u53d6\u901f\u5ea6&#xff09;\u3002<\/li>\n<li>\u786c\u4ef6\u6210\u672c\u7684\u9650\u5236&#xff1a;FPGA\/ASIC\u5f00\u53d1\u6210\u672c\u9ad8&#xff08;\u767e\u4e07\u7ea7\u4eba\u6c11\u5e01&#xff09;&#xff0c;\u4e2d\u5c0f\u5382\u5546\u96be\u4ee5\u627f\u62c5&#xff1b;GPU\u65b9\u6848\u529f\u8017\u5927&#xff08;&gt;20W&#xff09;&#xff0c;\u65e0\u6cd5\u7528\u4e8e\u7535\u6c60\u4f9b\u7535\u8bbe\u5907&#xff08;\u5982\u624b\u6301AR\u8bbe\u5907&#xff09;\u3002 \u89e3\u51b3\u65b9\u6848&#xff1a;\u63a2\u7d22\u8f7b\u91cf\u7ea7\u6df1\u5ea6\u5b66\u4e60\u6a21\u578b&#xff08;\u5982MobileStereoNet&#xff09;&#xff0c;\u901a\u8fc7\u6a21\u578b\u538b\u7f29\u964d\u4f4e\u8ba1\u7b97\u91cf\u3002<\/li>\n<\/ul>\n<h6>4. \u6df1\u5ea6\u8303\u56f4\u7684\u56fa\u6709\u5c40\u9650<\/h6>\n<p>\u57fa\u7ebf\u56fa\u5b9a\u5bfc\u81f4\u53cc\u76ee\u76f8\u673a\u7684\u6709\u6548\u6df1\u5ea6\u8303\u56f4\u53d7\u9650&#xff1a;<\/p>\n<ul>\n<li>\u8fd1\u8ddd\u79bb\u76f2\u533a&#xff1a;\u5f53\u7269\u4f53\u8ddd\u79bb<span class=\"katex--inline\"><span class=\"katex\"><span class=\"katex-mathml\">\n<p>         Z<\/p>\n<p>         &lt;<\/p>\n<p>          Z<\/p>\n<p>          min<\/p>\n<p>         &#061;<\/p>\n<p>           B<\/p>\n<p>           \u22c5<\/p>\n<p>           f<\/p>\n<p>           d<\/p>\n<p>           max<\/p>\n<p>        Z &lt; Z_{\\\\text{min}} &#061; \\\\frac{B \\\\cdot f}{d_{\\\\text{max}}}<\/p>\n<p>     <\/span><span class=\"katex-html\"><span class=\"base\"><span class=\"strut\" style=\"height: 0.7224em;vertical-align: -0.0391em\"><\/span><span class=\"mord mathnormal\" style=\"margin-right: 0.0715em\">Z<\/span><span class=\"mspace\" style=\"margin-right: 0.2778em\"><\/span><span class=\"mrel\">&lt;<\/span><span class=\"mspace\" style=\"margin-right: 0.2778em\"><\/span><\/span><span class=\"base\"><span class=\"strut\" style=\"height: 0.8333em;vertical-align: -0.15em\"><\/span><span class=\"mord\"><span class=\"mord mathnormal\" style=\"margin-right: 0.0715em\">Z<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.3175em\"><span class=\"\" style=\"top: -2.55em;margin-left: -0.0715em;margin-right: 0.05em\"><span class=\"pstrut\" style=\"height: 2.7em\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mtight\"><span class=\"mord text mtight\"><span class=\"mord mtight\">min<\/span><\/span><\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.15em\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><\/span><span class=\"mspace\" style=\"margin-right: 0.2778em\"><\/span><span class=\"mrel\">&#061;<\/span><span class=\"mspace\" style=\"margin-right: 0.2778em\"><\/span><\/span><span class=\"base\"><span class=\"strut\" style=\"height: 1.3773em;vertical-align: -0.4451em\"><\/span><span class=\"mord\"><span class=\"mopen nulldelimiter\"><\/span><span class=\"mfrac\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.9322em\"><span class=\"\" style=\"top: -2.655em\"><span class=\"pstrut\" style=\"height: 3em\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mtight\"><span class=\"mord mtight\"><span class=\"mord mathnormal mtight\">d<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.1645em\"><span class=\"\" style=\"top: -2.357em;margin-left: 0em;margin-right: 0.0714em\"><span class=\"pstrut\" style=\"height: 2.5em\"><\/span><span class=\"sizing reset-size3 size1 mtight\"><span class=\"mord mtight\"><span class=\"mord text mtight\"><span class=\"mord mtight\">max<\/span><\/span><\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.143em\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><span class=\"\" style=\"top: -3.23em\"><span class=\"pstrut\" style=\"height: 3em\"><\/span><span class=\"frac-line\" style=\"border-bottom-width: 0.04em\"><\/span><\/span><span class=\"\" style=\"top: -3.4461em\"><span class=\"pstrut\" style=\"height: 3em\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mtight\"><span class=\"mord mathnormal mtight\" style=\"margin-right: 0.0502em\">B<\/span><span class=\"mbin mtight\">\u22c5<\/span><span class=\"mord mathnormal mtight\" style=\"margin-right: 0.1076em\">f<\/span><\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.4451em\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><span class=\"mclose nulldelimiter\"><\/span><\/span><\/span><\/span><\/span><\/span>&#xff08;<span class=\"katex--inline\"><span class=\"katex\"><span class=\"katex-mathml\"><\/p>\n<p>          d<\/p>\n<p>          max<\/p>\n<p>        d_{\\\\text{max}}<\/p>\n<p>     <\/span><span class=\"katex-html\"><span class=\"base\"><span class=\"strut\" style=\"height: 0.8444em;vertical-align: -0.15em\"><\/span><span class=\"mord\"><span class=\"mord mathnormal\">d<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.1514em\"><span class=\"\" style=\"top: -2.55em;margin-left: 0em;margin-right: 0.05em\"><span class=\"pstrut\" style=\"height: 2.7em\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mtight\"><span class=\"mord text mtight\"><span class=\"mord mtight\">max<\/span><\/span><\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.15em\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>\u4e3a\u6700\u5927\u53ef\u6d4b\u89c6\u5dee&#xff0c;\u901a\u5e38\u4e3a\u56fe\u50cf\u5bbd\u5ea6\u76841\/2&#xff09;&#xff0c;\u89c6\u5dee\u8d85\u51fa\u641c\u7d22\u8303\u56f4&#xff0c;\u65e0\u6cd5\u5339\u914d\u3002\u4f8b\u5982&#xff0c;\u57fa\u7ebf10cm\u3001\u7126\u8ddd16mm\u3001\u56fe\u50cf\u5bbd\u5ea61280\u50cf\u7d20&#xff0c;<span class=\"katex--inline\"><span class=\"katex\"><span class=\"katex-mathml\"><\/p>\n<p>          Z<\/p>\n<p>          min<\/p>\n<p>         \u2248<\/p>\n<p>         0.25<\/p>\n<p>         m<\/p>\n<p>        Z_{\\\\text{min}} \\\\approx 0.25m<\/p>\n<p>     <\/span><span class=\"katex-html\"><span class=\"base\"><span class=\"strut\" style=\"height: 0.8333em;vertical-align: -0.15em\"><\/span><span class=\"mord\"><span class=\"mord mathnormal\" style=\"margin-right: 0.0715em\">Z<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.3175em\"><span class=\"\" style=\"top: -2.55em;margin-left: -0.0715em;margin-right: 0.05em\"><span class=\"pstrut\" style=\"height: 2.7em\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mtight\"><span class=\"mord text mtight\"><span class=\"mord mtight\">min<\/span><\/span><\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.15em\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><\/span><span class=\"mspace\" style=\"margin-right: 0.2778em\"><\/span><span class=\"mrel\">\u2248<\/span><span class=\"mspace\" style=\"margin-right: 0.2778em\"><\/span><\/span><span class=\"base\"><span class=\"strut\" style=\"height: 0.6444em\"><\/span><span class=\"mord\">0.25<\/span><span class=\"mord mathnormal\">m<\/span><\/span><\/span><\/span><\/span>&#xff0c;\u66f4\u8fd1\u7684\u7269\u4f53&#xff08;\u598220cm&#xff09;\u4f1a\u6210\u4e3a\u76f2\u533a\u3002<\/li>\n<li>\u8fdc\u8ddd\u79bb\u7cbe\u5ea6\u8870\u51cf&#xff1a;\u5f53<span class=\"katex--inline\"><span class=\"katex\"><span class=\"katex-mathml\">\n<p>         Z<\/p>\n<p>         &gt;<\/p>\n<p>          Z<\/p>\n<p>          max<\/p>\n<p>         &#061;<\/p>\n<p>           B<\/p>\n<p>           \u22c5<\/p>\n<p>           f<\/p>\n<p>           d<\/p>\n<p>           min<\/p>\n<p>        Z &gt; Z_{\\\\text{max}} &#061; \\\\frac{B \\\\cdot f}{d_{\\\\text{min}}}<\/p>\n<p>     <\/span><span class=\"katex-html\"><span class=\"base\"><span class=\"strut\" style=\"height: 0.7224em;vertical-align: -0.0391em\"><\/span><span class=\"mord mathnormal\" style=\"margin-right: 0.0715em\">Z<\/span><span class=\"mspace\" style=\"margin-right: 0.2778em\"><\/span><span class=\"mrel\">&gt;<\/span><span class=\"mspace\" style=\"margin-right: 0.2778em\"><\/span><\/span><span class=\"base\"><span class=\"strut\" style=\"height: 0.8333em;vertical-align: -0.15em\"><\/span><span class=\"mord\"><span class=\"mord mathnormal\" style=\"margin-right: 0.0715em\">Z<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.1514em\"><span class=\"\" style=\"top: -2.55em;margin-left: -0.0715em;margin-right: 0.05em\"><span class=\"pstrut\" style=\"height: 2.7em\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mtight\"><span class=\"mord text mtight\"><span class=\"mord mtight\">max<\/span><\/span><\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.15em\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><\/span><span class=\"mspace\" style=\"margin-right: 0.2778em\"><\/span><span class=\"mrel\">&#061;<\/span><span class=\"mspace\" style=\"margin-right: 0.2778em\"><\/span><\/span><span class=\"base\"><span class=\"strut\" style=\"height: 1.3773em;vertical-align: -0.4451em\"><\/span><span class=\"mord\"><span class=\"mopen nulldelimiter\"><\/span><span class=\"mfrac\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.9322em\"><span class=\"\" style=\"top: -2.655em\"><span class=\"pstrut\" style=\"height: 3em\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mtight\"><span class=\"mord mtight\"><span class=\"mord mathnormal mtight\">d<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.334em\"><span class=\"\" style=\"top: -2.357em;margin-left: 0em;margin-right: 0.0714em\"><span class=\"pstrut\" style=\"height: 2.5em\"><\/span><span class=\"sizing reset-size3 size1 mtight\"><span class=\"mord mtight\"><span class=\"mord text mtight\"><span class=\"mord mtight\">min<\/span><\/span><\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.143em\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><span class=\"\" style=\"top: -3.23em\"><span class=\"pstrut\" style=\"height: 3em\"><\/span><span class=\"frac-line\" style=\"border-bottom-width: 0.04em\"><\/span><\/span><span class=\"\" style=\"top: -3.4461em\"><span class=\"pstrut\" style=\"height: 3em\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mtight\"><span class=\"mord mathnormal mtight\" style=\"margin-right: 0.0502em\">B<\/span><span class=\"mbin mtight\">\u22c5<\/span><span class=\"mord mathnormal mtight\" style=\"margin-right: 0.1076em\">f<\/span><\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.4451em\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><span class=\"mclose nulldelimiter\"><\/span><\/span><\/span><\/span><\/span><\/span>&#xff08;<span class=\"katex--inline\"><span class=\"katex\"><span class=\"katex-mathml\"><\/p>\n<p>          d<\/p>\n<p>          min<\/p>\n<p>         &#061;<\/p>\n<p>         1<\/p>\n<p>        d_{\\\\text{min}}&#061;1<\/p>\n<p>     <\/span><span class=\"katex-html\"><span class=\"base\"><span class=\"strut\" style=\"height: 0.8444em;vertical-align: -0.15em\"><\/span><span class=\"mord\"><span class=\"mord mathnormal\">d<\/span><span class=\"msupsub\"><span class=\"vlist-t vlist-t2\"><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.3175em\"><span class=\"\" style=\"top: -2.55em;margin-left: 0em;margin-right: 0.05em\"><span class=\"pstrut\" style=\"height: 2.7em\"><\/span><span class=\"sizing reset-size6 size3 mtight\"><span class=\"mord mtight\"><span class=\"mord text mtight\"><span class=\"mord mtight\">min<\/span><\/span><\/span><\/span><\/span><\/span><span class=\"vlist-s\">\u200b<\/span><\/span><span class=\"vlist-r\"><span class=\"vlist\" style=\"height: 0.15em\"><span class=\"\"><\/span><\/span><\/span><\/span><\/span><\/span><span class=\"mspace\" style=\"margin-right: 0.2778em\"><\/span><span class=\"mrel\">&#061;<\/span><span class=\"mspace\" style=\"margin-right: 0.2778em\"><\/span><\/span><span class=\"base\"><span class=\"strut\" style=\"height: 0.6444em\"><\/span><span class=\"mord\">1<\/span><\/span><\/span><\/span><\/span>\u50cf\u7d20&#xff09;&#xff0c;\u89c6\u5dee<span class=\"katex--inline\"><span class=\"katex\"><span class=\"katex-mathml\"><\/p>\n<p>         d<\/p>\n<p>         &#061;<\/p>\n<p>         1<\/p>\n<p>        d&#061;1<\/p>\n<p>     <\/span><span class=\"katex-html\"><span class=\"base\"><span class=\"strut\" style=\"height: 0.6944em\"><\/span><span class=\"mord mathnormal\">d<\/span><span class=\"mspace\" style=\"margin-right: 0.2778em\"><\/span><span class=\"mrel\">&#061;<\/span><span class=\"mspace\" style=\"margin-right: 0.2778em\"><\/span><\/span><span class=\"base\"><span class=\"strut\" style=\"height: 0.6444em\"><\/span><span class=\"mord\">1<\/span><\/span><\/span><\/span><\/span>\u50cf\u7d20&#xff0c;\u6b64\u65f6<span class=\"katex--inline\"><span class=\"katex\"><span class=\"katex-mathml\"><\/p>\n<p>         d<\/p>\n<p>        d<\/p>\n<p>     <\/span><span class=\"katex-html\"><span class=\"base\"><span class=\"strut\" style=\"height: 0.6944em\"><\/span><span class=\"mord mathnormal\">d<\/span><\/span><\/span><\/span><\/span>\u7684\u00b11\u50cf\u7d20\u8bef\u5dee\u4f1a\u5bfc\u81f4<span class=\"katex--inline\"><span class=\"katex\"><span class=\"katex-mathml\"><\/p>\n<p>         Z<\/p>\n<p>        Z<\/p>\n<p>     <\/span><span class=\"katex-html\"><span class=\"base\"><span class=\"strut\" style=\"height: 0.6833em\"><\/span><span class=\"mord mathnormal\" style=\"margin-right: 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