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  - plans/PRISM/.research/readmes/3d-llm.md
  - plans/PRISM/.research/readmes/openmask3d.md
  - plans/PRISM/.research/readmes/openscene.md
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gaojie
2026-05-20 22:42:22 +08:00
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plans/PRISM/05_pipeline_B_relocalization.md
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---
title: "Chapter 05 — 管线 B：ZED 2i 重定位握手"
date: 2026-05-20
draft: false
tags: ["PRISM", "世界模型", "空间记忆", "VIO", "点云", "机器人"]
categories: ["worldmodel"]
---
# Chapter 05 — 管线 B：ZED 2i 重定位握手
> 本章目标：机器人上电后，**用 ZED 2i 当前观测把自己"安放"到 iPhone 先验地图的 `map` 坐标系里**——这是两个方案能合体的"握手时刻"。