本期SPP邀请到美团的两位技术专家，从算法和终端方面为大家分享目前无人机技术的挑战与发展，带来题为：《EDPLVO: Efficient Direct Point-Line Visual Odometry》、《无人机终端架构创新和实践》的报告。本期还将为同学们介绍美团2023届校招流程、相关职位以及美团校招生培养体系等内容，敬请关注。9月28日（本周三） 19:30-21:00

本期直播你将收获哪些

l 了解视觉里程计(visual odometry)的原理；直线在视觉里程计中的运用；如何高效地处理视觉里程计中的几何先验信息。

l 了解无人机终端分布式架构的实现原理以及发展、基于终端分布式架构的典型案例、终端软件面临的问题、终端软件架构的未来规划等。

l 了解美团2023届校园招聘重要信息。

演讲嘉宾及内容简介

周力普-美团无人机算法专家

分享主题《EDPLVO: Efficient Direct Point-Line Visual Odometry》

This presentation will introduce an efficient direct visual odometry (VO) algorithm using points and lines. Pixels on lines are generally adopted in direct methods. However, the original photometric error is only defined for points. It seems difficult to extend it to lines. In previous works, the collinear constraints for points on lines are either ignored or introduce heavy computational load into the resulting optimization system. This paper extends the photometric error for lines. We prove that the 3D points of the points on a 2D line are determined by the inverse depths of the endpoints of the 2D line, and derive a closed-form solution for this problem. This property can significantly reduce the number of variables to speed up the optimization, and can make the collinear constraint exactly satisfied. Furthermore, we introduce a twostep method to further accelerate the optimization, and prove the convergence of this method. The experimental results show that our algorithm outperforms the state-of-the-art direct VO algorithms.

汪宇雷-美团无人机终端架构工程师

分享主题《无人机终端架构创新和实践》

无人机是美团在即时场景下配送的一个重要手段。随着业务的发展，对终端软件的要求也越来越高，包括实时性，鲁棒性和扩展性等。此次报告将介绍无人机终端架构的技术演进和基于此架构的典型实践，以及终端当前面临的一些问题和未来规划，希望能给大家带来一些思考和启发。

开课时间

2022年9月28日（本周三）19:30-21:00