{"id":48639,"date":"2025-10-10T11:21:00","date_gmt":"2025-10-10T09:21:00","guid":{"rendered":"https:\/\/www.derivaty.sk\/?p=48639"},"modified":"2025-10-10T11:21:00","modified_gmt":"2025-10-10T09:21:00","slug":"slam-v-dynamickych-scenach-zvysovanie-odolnosti-voci-pohybujucim-sa-objektom","status":"publish","type":"post","link":"https:\/\/www.vrtulniky.sk\/news\/slam-v-dynamickych-scenach-zvysovanie-odolnosti-voci-pohybujucim-sa-objektom\/","title":{"rendered":"SLAM v dynamick\u00fdch sc\u00e9nach: Zvy\u0161ovanie odolnosti vo\u010di pohybuj\u00facim sa objektom"},"content":{"rendered":"<h2>Pre\u010do je SLAM v dynamick\u00fdch sc\u00e9nach n\u00e1ro\u010dn\u00fd<\/h2>\n<p>SLAM (Simultaneous Localization and Mapping) predpoklad\u00e1, \u017ee v\u00e4\u010d\u0161ina prostredia je statick\u00e1. V re\u00e1lnych misi\u00e1ch dronov v\u0161ak doch\u00e1dza k poru\u0161eniu tohto predpokladu: \u013eudia, vozidl\u00e1, zvierat\u00e1, vetrom h\u00fdban\u00e9 stromy \u010di in\u00ed roboti generuj\u00fa pohybuj\u00face sa objekty, ktor\u00e9 m\u00f4\u017eu znehodnoti\u0165 odhady polohy aj mapy. Dynamika sa premieta do falo\u0161n\u00fdch zodpovedan\u00ed prvkov (feature correspondences), chybne identifikovan\u00fdch slu\u010diek (loop closures) a do driftu v odometrii. Cie\u013eom odoln\u00e9ho SLAM-u je preto <em>detegova\u0165, modelova\u0165 a potl\u00e1\u010da\u0165<\/em> vplyv pohybuj\u00facich sa objektov, pri\u010dom si zachov\u00e1va presnos\u0165 a real-time chod.<\/p>\n<h2>Typy dynamiky a ich dopad na odhad<\/h2>\n<ul>\n<li><strong>Plne dynamick\u00e9 objekty:<\/strong> nezdie\u013eaj\u00fa trajekt\u00f3riu so sc\u00e9nou (aut\u00e1, chodci). Sp\u00f4sobuj\u00fa od\u013eahl\u00e9 merania v geometrii.<\/li>\n<li><strong>Pseudo-dynamick\u00e9 elementy:<\/strong> periodicky sa h\u00fdbu (listy, vlajky). Indukuj\u00fa vysokofrekven\u010dn\u00fd \u0161um v obrazov\u00fdch aj lidarov\u00fdch d\u00e1tach.<\/li>\n<li><strong>Do\u010dasn\u00e9 prek\u00e1\u017eky v bl\u00edzkosti senzora:<\/strong> prelety vt\u00e1kov, kvapky vody na optike. M\u00f4\u017eu sp\u00f4sobi\u0165 stratu trackingu a lok\u00e1lne satur\u00e1cie.<\/li>\n<li><strong>Zmeny sc\u00e9ny v \u010dase:<\/strong> parkovisko v r\u00f4znych hodin\u00e1ch, presun n\u00e1bytku v interi\u00e9ri. Zni\u017euj\u00fa spo\u013eahlivos\u0165 slu\u010diek a mapovej konzistencie.<\/li>\n<\/ul>\n<h2>Senzorick\u00e9 modality a ich robustnos\u0165 vo\u010di dynamike<\/h2>\n<ul>\n<li><strong>Monokul\u00e1rna kamera:<\/strong> n\u00edzka n\u00e1kladnos\u0165 a hmotnos\u0165, ale vysok\u00e1 citlivos\u0165 na pohybuj\u00face sa text\u00fary a zmeny osvetlenia.<\/li>\n<li><strong>Stereo\/viackamerov\u00e9 syst\u00e9my:<\/strong> priamy odhad h\u013abky pom\u00e1ha oddeli\u0165 bl\u00edzke r\u00fdchlo sa h\u00fdbaj\u00face objekty od vzdialen\u00e9ho \u201estatick\u00e9ho\u201c pozadia.<\/li>\n<li><strong>RGB-D (Time-of-Flight\/Structured Light):<\/strong> vhodn\u00e9 v interi\u00e9ri; vonku trp\u00ed dosahom a slnkom.<\/li>\n<li><strong>2D\/3D lidar:<\/strong> geometricky presn\u00fd a menej n\u00e1chyln\u00fd na vizu\u00e1lne klamy; v dave v\u0161ak vracia mnoho \u201e\u017eiv\u00fdch\u201c odrazov.<\/li>\n<li><strong>Radar:<\/strong> robustn\u00fd vo\u010di po\u010dasiu, dok\u00e1\u017ee mera\u0165 dopplerovsk\u00fa r\u00fdchlos\u0165 objektov a pom\u00f4c\u0165 pri detekcii dynamiky.<\/li>\n<li><strong>IMU:<\/strong> kr\u00e1tkodob\u00e1 stabiliz\u00e1cia odhadu pohybu dronu; kritick\u00e1 pre filtrovanie parazitn\u00fdch vizu\u00e1lnych pohybov.<\/li>\n<\/ul>\n<h2>Architekt\u00fary: VIO, Lidar SLAM, multi-senzorov\u00e1 f\u00fazia<\/h2>\n<p>Odolnos\u0165 vo\u010di dynamike sa dosahuje v\u00fdberom architekt\u00fary, ktor\u00e1 kombinuje komplement\u00e1rne senzory a explicitne modeluje od\u013eahl\u00e9 merania.<\/p>\n<ul>\n<li><strong>VIO (Visual-Inertial Odometry):<\/strong> IMU stabilizuje kr\u00e1tkodob\u00fd odhad, vizu\u00e1lne prvky poskytuj\u00fa observabilitu mierky a orient\u00e1cie.<\/li>\n<li><strong>Lidar-inerci\u00e1lny SLAM:<\/strong> robustn\u00fd v \u0161ere alebo proti slnku; dynamiku potl\u00e1\u010da scan-to-map registr\u00e1cia s odhadom pohybliv\u00fdch bodov.<\/li>\n<li><strong>Tri-senzorov\u00e9 f\u00fazie (kamera + lidar + IMU):<\/strong> lidar poskytne geometriu, kamera semantiku a IMU kontinuitu \u2013 kombin\u00e1cia je mimoriadne odoln\u00e1.<\/li>\n<\/ul>\n<h2>Geometrick\u00e9 strat\u00e9gie: od\u013eahl\u00e9 merania a robustn\u00e9 n\u00e1klady<\/h2>\n<ul>\n<li><strong>RANSAC a jeho varianty:<\/strong> robustn\u00e1 epipol\u00e1rna\/triangula\u010dn\u00e1 geometria s vysok\u00fdm inlier thresholdom pre kr\u00e1tke okno.<\/li>\n<li><strong>Robustn\u00e9 straty:<\/strong> Huber, Cauchy alebo Tukey v optimaliz\u00e1cii grafu zabra\u0148uj\u00fa dominancii nespr\u00e1vnych v\u00e4zieb.<\/li>\n<li><strong>Viacn\u00e1sobn\u00e9 hypot\u00e9zy:<\/strong> udr\u017eiavanie viacer\u00fdch kandid\u00e1tskych asocia\u010dn\u00fdch grafov a sp\u00e4tn\u00fd v\u00fdber pod\u013ea konsenzu (multi-hypothesis data association).<\/li>\n<li><strong>Konzistencia v \u010dase:<\/strong> penaliz\u00e1cia prechodn\u00fdch kore\u0161pondenci\u00ed a zv\u00fdhodnenie dlh\u0161ie pre\u017e\u00edvaj\u00facich trackov.<\/li>\n<\/ul>\n<h2>Segment\u00e1cia pohybuj\u00facich sa objektov: bez a so semantikou<\/h2>\n<ul>\n<li><strong>Bezsemantick\u00e1 (geometrick\u00e1) detekcia:<\/strong> parallax a odhad vlastn\u00e9ho pohybu; body\/feature s reziduom mimo model kamery\/lidaru sa ozna\u010dia ako dynamick\u00e9.<\/li>\n<li><strong>Optical flow s odhadom egomotion:<\/strong> porovnanie predikovan\u00e9ho a nameran\u00e9ho toku; ve\u013ek\u00e9 odch\u00fdlky indikuj\u00fa nez\u00e1visl\u00fd pohyb objektu.<\/li>\n<li><strong>Semantick\u00e1 segment\u00e1cia (DNN):<\/strong> masky pre triedy \u201e\u010dlovek\u201c, \u201eauto\u201c, \u201ezvierat\u00e1\u201c; pri akcelerovanom inferencovan\u00ed (GPU\/NPU) umo\u017e\u0148uje r\u00fdchle maskovanie.<\/li>\n<li><strong>F\u00fazia semantiky a geometrie:<\/strong> semantika sl\u00fa\u017ei ako prior (pravdepodobnos\u0165 dynamiky), geometria ako d\u00f4kaz; v\u00fdsledok je pravdepodobnostn\u00e1 maska.<\/li>\n<\/ul>\n<h2>Mapovanie s dynamikou: od masiek po multi-layer mapy<\/h2>\n<ul>\n<li><strong>Maskovanie meran\u00ed:<\/strong> dynamick\u00e9 pixely\/ody sa neinkorporuj\u00fa do mapy ani do slu\u010diek.<\/li>\n<li><strong>Viacvrstvov\u00e9 mapy:<\/strong> oddelenie \u201estatickej\u201c \u010dasti mapy od \u201ekr\u00e1tkodobo obsadenej\u201c (napr. Dynamic Occupancy Grid \u2013 DOGMa).<\/li>\n<li><strong>Mapy s \u010dasov\u00fdm rozpadom (decay):<\/strong> pravdepodobnos\u0165 obsadenia kles\u00e1, ak nie je dlh\u0161ie potvrden\u00e1.<\/li>\n<li><strong>Semantick\u00e9 mapy:<\/strong> ukladanie tried a ich pravdepodobnost\u00ed umo\u017e\u0148uje adapt\u00edvne pl\u00e1novanie tr\u00e1s (vyh\u00fdbanie sa davom).<\/li>\n<\/ul>\n<h2>Odhad pohybu objektov a koexistencia s SLAM<\/h2>\n<p>Aby SLAM neignoroval pohybuj\u00face sa entity len ako \u201e\u0161um\u201c, vyplat\u00ed sa paralelne be\u017ea\u0165 <em>MODT<\/em> (Multi-Object Detection and Tracking):<\/p>\n<ul>\n<li><strong>Detekcia:<\/strong> 2D\/3D bounding boxy z kamery\/lidaru.<\/li>\n<li><strong>Asoci\u00e1cia v \u010dase:<\/strong> Kalman\/UKF alebo JPDA\/GM-PHD filtr\u00e1cia pre sledovanie viacer\u00fdch cie\u013eov.<\/li>\n<li><strong>Odhad r\u00fdchlosti:<\/strong> zmeny polohy v mapovom r\u00e1mci; radar d\u00e1va doppler priamo.<\/li>\n<li><strong>Vplyv na pl\u00e1novanie:<\/strong> predikcia trajekt\u00f3ri\u00ed cie\u013eov (kon\u0161tantn\u00e1 r\u00fdchlos\u0165, soci\u00e1lne sily) a generovanie bezpe\u010dn\u00fdch trajekt\u00f3ri\u00ed dronu.<\/li>\n<\/ul>\n<h2>Loop closure a place recognition v meniacich sa sc\u00e9nach<\/h2>\n<ul>\n<li><strong>Geometrick\u00e9 podpisy nez\u00e1visl\u00e9 od objektov:<\/strong> hranov\u00e9 a rohov\u00e9 prvky na fas\u00e1dach, statick\u00e1 infra\u0161trukt\u00fara.<\/li>\n<li><strong>Semanticky filtr\u00e1cia kandid\u00e1tov:<\/strong> ignorovanie oblast\u00ed s vysokou dynamikou (cesty, chodn\u00edky) pri porovn\u00e1van\u00ed obrazov\u00fdch slovn\u00edkov.<\/li>\n<li><strong>\u010casovo podmienen\u00e9 slu\u010dky:<\/strong> zv\u00fdhodnenie miest, ktor\u00e9 sa v podobnom \u010dase d\u0148a nemenia (osvetlenie, parkovacie vzory).<\/li>\n<li><strong>Verifik\u00e1cia viacn\u00e1sobn\u00fdmi modalitami:<\/strong> slu\u010dku treba potvrdi\u0165 minim\u00e1lne dvoma nez\u00e1visl\u00fdmi sign\u00e1lmi (vizu\u00e1l + lidar, vizu\u00e1l + magnetick\u00fd podpis).<\/li>\n<\/ul>\n<h2>Optimaliza\u010dn\u00e9 r\u00e1mce: filtre vs. grafov\u00e1 optimaliz\u00e1cia<\/h2>\n<ul>\n<li><strong>Filtra\u010dn\u00e9 pr\u00edstupy (EKF\/UKF\/MSCKF):<\/strong> vhodn\u00e9 pre n\u00edzku latenciu; dynamiku rie\u0161ia cez robustn\u00e9 inova\u010dn\u00e9 testy a gating.<\/li>\n<li><strong>Grafov\u00e9 met\u00f3dy (Bundle Adjustment\/pose graph):<\/strong> vy\u0161\u0161ia presnos\u0165, mo\u017enos\u0165 relineariz\u00e1cie a retroakt\u00edvnych \u00faprav; dynamiku potl\u00e1\u010daj\u00fa robustn\u00fdmi n\u00e1kladmi a spomenut\u00fdmi maskami.<\/li>\n<li><strong>Faktorov\u00e9 grafy s <em>switchable constraints<\/em>:<\/strong> faktory \u201ezap\u00ednate\u013en\u00e9\u201c pod\u013ea konzistencie \u2013 ak sa v\u00e4zba uk\u00e1\u017ee dynamick\u00e1, jej v\u00e1ha klesne k nule.<\/li>\n<\/ul>\n<h2>V\u00fdpo\u010dtov\u00e9 n\u00e1roky a real-time implement\u00e1cia na dronoch<\/h2>\n<ul>\n<li><strong>Pipeline s pevnou latenciou:<\/strong> priorita pre IMU integr\u00e1ciu a odhady poz\u00edcie, segment\u00e1cia a mapovanie v paraleln\u00fdch vl\u00e1knach.<\/li>\n<li><strong>Akceler\u00e1cia:<\/strong> GPU na dense optical flow\/semantiku, DSP\/NPU na inferenciu, ukladanie mapy v komprimovanej forme (voxel hashing, submapy).<\/li>\n<li><strong>Riadenie rozpo\u010dtu:<\/strong> adapt\u00edvne riedenie prvkov, subsampling lidar bodov, dynamick\u00e1 d\u013a\u017eka \u010dasov\u00e9ho okna pod\u013ea r\u00fdchlosti sc\u00e9ny.<\/li>\n<\/ul>\n<h2>Kalibr\u00e1cia a synchroniz\u00e1cia v dynamickom svete<\/h2>\n<ul>\n<li><strong>\u010casov\u00e1 synchroniz\u00e1cia:<\/strong> hardv\u00e9rov\u00e9 PPS\/trigger pre kamery a IMU minimalizuje \u201erolling\u201c chyby pri r\u00fdchlych pohyboch.<\/li>\n<li><strong>Extrinzick\u00e1 kalibr\u00e1cia multi-senzorov:<\/strong> pravideln\u00e9 overovanie (hand-eye) \u2013 drobn\u00e9 posuny zmenia rozdelenie rez\u00eddu\u00ed a zamie\u0148aj\u00fa sa za dynamiku.<\/li>\n<li><strong>Autokalibra\u010dn\u00e9 faktory:<\/strong> udr\u017eiava\u0165 mal\u00e9, ale sledovate\u013en\u00e9; inak m\u00f4\u017eu absorbova\u0165 dynamiku sc\u00e9ny a naru\u0161i\u0165 observabilitu.<\/li>\n<\/ul>\n<h2>Metodika testovania a metriky kvality<\/h2>\n<table>\n<thead>\n<tr>\n<th>Metrika<\/th>\n<th>Popis<\/th>\n<th>Pozn\u00e1mka k dynamike<\/th>\n<\/tr>\n<\/thead>\n<tbody>\n<tr>\n<td>ATE (Absolute Trajectory Error)<\/td>\n<td>Glob\u00e1lna odch\u00fdlka trajekt\u00f3rie<\/td>\n<td>D\u00f4le\u017eit\u00e1 pri slu\u010dk\u00e1ch a rekonfigur\u00e1cii mapy<\/td>\n<\/tr>\n<tr>\n<td>RPE (Relative Pose Error)<\/td>\n<td>Lok\u00e1lna odch\u00fdlka medzi po sebe id\u00facimi pozami<\/td>\n<td>Citliv\u00e1 na kr\u00e1tkodob\u00e9 zlyhania pri dynamike<\/td>\n<\/tr>\n<tr>\n<td>Precision\/Recall dynamick\u00fdch masiek<\/td>\n<td>Kvalita segment\u00e1cie pohybu<\/td>\n<td>Trade-off: pr\u00edli\u0161 pr\u00edsne masky zni\u017euj\u00fa pokrytie mapy<\/td>\n<\/tr>\n<tr>\n<td>Latency<\/td>\n<td>End-to-end oneskorenie od senzora po poz\u00edciu<\/td>\n<td>Kritick\u00e9 pri auton\u00f3mnom vyh\u00fdban\u00ed pohybu<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<h2>Bezpe\u010dnos\u0165, robustnos\u0165 a \u201efail-operational\u201c spr\u00e1vanie<\/h2>\n<ul>\n<li><strong>Degrad\u00e1cia m\u00f3du:<\/strong> pri strate vizu\u00e1lu alebo pr\u00edli\u0161 dynamickej sc\u00e9ne prejs\u0165 na IMU+barometer+GNSS (ak je dostupn\u00e9) a obmedzi\u0165 man\u00e9vre.<\/li>\n<li><strong>Detekcia anom\u00e1li\u00ed:<\/strong> monitorova\u0165 rast chyby inov\u00e1ci\u00ed a grafov\u00fdch rez\u00eddu\u00ed; spusti\u0165 safe-RTL (Return-To-Launch) pri prekro\u010den\u00ed prahu.<\/li>\n<li><strong>Redundantn\u00e9 cesty:<\/strong> alternat\u00edvny odhad (napr. lidar-ICP) be\u017e\u00ed s n\u00edzkou kadenciou ako z\u00e1loha.<\/li>\n<\/ul>\n<h2>Praktick\u00e9 n\u00e1vrhov\u00e9 vzory pre drony<\/h2>\n<ul>\n<li><strong>Mask-before-match:<\/strong> e\u0161te pred v\u00fdpo\u010dtom features\/ICP vytvori\u0165 masku dynamiky (semantika\/geometria) a pracova\u0165 len so statick\u00fdmi bodmi.<\/li>\n<li><strong>Submapovanie:<\/strong> udr\u017eiava\u0165 lok\u00e1lne submapy s vlastn\u00fdm \u010dasom a v\u00e1hami; dynamika sa \u201erozplynie\u201c pri f\u00fazii s downweightingom.<\/li>\n<li><strong>Priority pod\u013ea vzdialenosti:<\/strong> preferova\u0165 vzdialenej\u0161ie \u0161trukt\u00fary (budovy, steny), ktor\u00e9 maj\u00fa ni\u017e\u0161iu pravdepodobnos\u0165 nez\u00e1visl\u00e9ho pohybu.<\/li>\n<li><strong>Semantick\u00e9 kotvy slu\u010diek:<\/strong> robustn\u00e9, stabiln\u00e9 objekty (roh budovy, sto\u017eiare) s vy\u0161\u0161ou v\u00e1hou v uzatv\u00e1ran\u00ed slu\u010diek.<\/li>\n<\/ul>\n<h2>\u0160pecifik\u00e1 exteri\u00e9ru a interi\u00e9ru<\/h2>\n<ul>\n<li><strong>Exteri\u00e9r:<\/strong> r\u00fdchlo sa meniace osvetlenie a vietor; vhodn\u00e1 je kombin\u00e1cia vizu\u00e1l + lidar + IMU, radar pre d\u00e1\u017e\u010f\/hmlu.<\/li>\n<li><strong>Interi\u00e9r:<\/strong> GPS-denied; d\u00f4le\u017eit\u00e1 je vizu\u00e1lna odometria s dobr\u00fdm osvetlen\u00edm a potla\u010denie pohybuj\u00facich sa \u013eud\u00ed (semantika), pr\u00edpadne UWB maj\u00e1ky pre stabilitu.<\/li>\n<\/ul>\n<h2>Prev\u00e1dzkov\u00e9 odpor\u00fa\u010dania a \u00fadr\u017eba<\/h2>\n<ul>\n<li><strong>\u010cistota optiky a krytov:<\/strong> kvapky a prach \u010dasto \u201esimuluj\u00fa\u201c dynamiku; pravidelne \u010disti\u0165 a kontrolova\u0165 krycie skl\u00e1.<\/li>\n<li><strong>Kalibr\u00e1cie v ter\u00e9ne:<\/strong> kr\u00e1tky ritu\u00e1l (IMU warm-up, vizu\u00e1lne \u0161achovnice alebo lidar targety) zni\u017euje falo\u0161n\u00e9 od\u013eahl\u00e9 merania.<\/li>\n<li><strong>Proakt\u00edvne ladenie prahov:<\/strong> prahy pre masky a robustn\u00e9 funkcie adaptova\u0165 pod\u013ea \u0161tatist\u00edk zo z\u00e1znamov posledn\u00fdch misi\u00ed.<\/li>\n<\/ul>\n<h2>Checklist implement\u00e1cie odoln\u00e9ho SLAM-u<\/h2>\n<ul>\n<li>Je pipeline rozdelen\u00e1 na r\u00fdchly odhad poz\u00edcie (IMU-first) a pomal\u0161ie mapovanie\/segment\u00e1ciu?<\/li>\n<li>Be\u017e\u00ed geometrick\u00e1 aj semantick\u00e1 detekcia dynamiky a ich v\u00fdsledky sa pravdepodobnostne f\u00fazuj\u00fa?<\/li>\n<li>M\u00e1 graf optimaliz\u00e1cie robustn\u00e9 straty a mechanizmus switchable constraints?<\/li>\n<li>S\u00fa loop-closure kandid\u00e1ti verifikovan\u00ed nez\u00e1vislou modalitou?<\/li>\n<li>Existuje fallback re\u017eim a prahy na bezpe\u010dn\u00e9 preru\u0161enie misie?<\/li>\n<li>Je zabezpe\u010den\u00e1 \u010dasov\u00e1 synchroniz\u00e1cia a pravideln\u00e1 extrinzick\u00e1 rekalibr\u00e1cia?<\/li>\n<\/ul>\n<h2>Od \u201estatick\u00e9ho\u201c SLAM-u k situ\u00e1ciou riaden\u00e9mu vn\u00edmaniu<\/h2>\n<p>Odoln\u00fd SLAM v dynamick\u00fdch sc\u00e9nach si vy\u017eaduje zmenu paradigmy: namiesto slep\u00e9ho predpokladu statick\u00e9ho sveta je potrebn\u00e9 <em>akt\u00edvne odde\u013eova\u0165<\/em> statick\u00e9 od dynamick\u00e9ho, a to na \u00farovni senzorov, modelov aj optimaliz\u00e1cie. Kombin\u00e1cia IMU stabiliz\u00e1cie, geometrick\u00e9ho a semantick\u00e9ho maskovania, multi-senzorovej f\u00fazie a robustn\u00fdch optimaliza\u010dn\u00fdch techn\u00edk vedie k spo\u013eahlivej lokaliz\u00e1cii a mapovaniu, ktor\u00e9 dr\u017eia presnos\u0165 aj v dave \u013eud\u00ed, v prem\u00e1vke \u010di v nepredv\u00eddate\u013en\u00fdch exteri\u00e9roch. Takto navrhnut\u00fd syst\u00e9m poskytne dronom bezpe\u010dn\u00fa auton\u00f3miu a spo\u013eahliv\u00e9 vn\u00edmanie pre pokro\u010dil\u00e9 naviga\u010dn\u00e9 \u00falohy.<\/p>\n","protected":false},"excerpt":{"rendered":"<p>SLAM odoln\u00fd vo\u010di pohybu: od maskovania dynamiky po robustn\u00e9 odhady a f\u00faziu senzorov pre stabiln\u00e9 mapy a spo\u013eahliv\u00fa lokaliz\u00e1ciu v \u017eiv\u00fdch sc\u00e9nach.<\/p>\n","protected":false},"author":46,"featured_media":88639,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[2629],"tags":[2175,2204,2205,2206,2207,2180,2208,2209],"class_list":["post-48639","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-drony","tag-fuzia","tag-maskovanie","tag-moving-objects","tag-multi-body-tracking","tag-outliery","tag-robustnost","tag-slam-v-dynamickych-scenach","tag-vizualna-odometria"],"yoast_head":"<!-- This site is optimized with the Yoast SEO plugin v27.5 - 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