{"id":13239,"date":"2024-07-22T16:33:45","date_gmt":"2024-07-22T08:33:45","guid":{"rendered":"http:\/\/192.168.10.115\/?p=13239"},"modified":"2024-07-22T16:33:45","modified_gmt":"2024-07-22T08:33:45","slug":"2024-07-22-gv-bench%e5%a1%ab%e8%a1%a5%e7%a9%ba%e7%99%bd%ef%bc%9a%e5%9b%9e%e7%8e%af%e6%a3%80%e6%b5%8b%e5%87%a0%e4%bd%95%e9%aa%8c%e8%af%81%e7%9a%84%e5%9f%ba%e5%87%86%ef%bc%88iros24%ef%bc%89","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2024\/07\/22\/13239\/","title":{"rendered":"2024-07-22 GV-Bench\u586b\u8865\u7a7a\u767d\uff1a\u56de\u73af\u68c0\u6d4b\u51e0\u4f55\u9a8c\u8bc1\u7684\u57fa\u51c6\uff08IROS&#8217;24\uff09"},"content":{"rendered":"\n<p><strong>\u56de\u73af\u68c0\u6d4b\u7684\u9a8c\u8bc1\u8fdc\u672a\u89e3\u51b3<\/strong><\/p>\n\n\n\n<p>\u56de\u73af\u68c0\u6d4b\u7684\u4e3b\u8981\u76ee\u6807\u662f\u4fc3\u8fdb\u957f\u671f\u548c\u5927\u89c4\u6a21\u81ea\u4e3b\u5bfc\u822a\u7684\u9c81\u68d2\u6027\uff0c\u4e3b\u8981\u89e3\u51b3<strong>\u8de8\u8d8a\u4e0d\u540c\u7684\u65e5\u95f4\u3001\u5929\u6c14\u6761\u4ef6\u548c\u5b63\u8282<\/strong>\u7684\u5339\u914d\u95ee\u9898\u3002\u5728\u5177\u6709\u6311\u6218\u6027\u7684\u6761\u4ef6\u53d8\u5316\u4e0b\u5c06\u4e24\u5e45\u56fe\u50cf\u5173\u8054\u53d8\u5f97\u8d8a\u6765\u8d8a\u56f0\u96be\u3002\u89c6\u89c9\u56de\u73af\u68c0\u6d4b\u9996\u5148\u4ece\u56fe\u50cf\u4e2d\u63d0\u53d6\u7d27\u51d1\u7684\u5168\u5c40\u63cf\u8ff0\u7b26\uff0c\u7136\u540e\u8ba1\u7b97\u76f8\u4f3c\u5ea6\uff0c\u5e76\u901a\u8fc7\u6700\u8fd1\u90bb\u641c\u7d22\u68c0\u7d22\u7ed3\u679c\u3002\u5927\u91cf\u5de5\u4f5c\u4e13\u6ce8\u4e8e<strong>\u5728\u53d8\u5316\u73af\u5883\u4e0b\u5b66\u4e60\u6761\u4ef6\u4e0d\u53d8\u7684\u5168\u5c40\u7279\u5f81<\/strong>\u3002\u6f5c\u5728\u7684\u56de\u73af\u5bf9\u7531\u5f53\u524d\u67e5\u8be2\u56fe\u50cf\u4e0e\u68c0\u7d22\u5230\u7684\u6570\u636e\u5e93\u56fe\u50cf\u5f62\u6210\uff0c\u5982\u56fe2\u4e2d\u7684\u68c0\u7d22\u9636\u6bb5\u6240\u793a\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"930\" height=\"860\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-242.png\" alt=\"\" class=\"wp-image-13240\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-242.png 930w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-242-300x277.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-242-768x710.png 768w\" sizes=\"(max-width: 930px) 100vw, 930px\" \/><\/figure>\n\n\n\n<p>\u5728\u68c0\u6d4b\u8fd9\u79cd\u6f5c\u5728\u5bf9\u65f6\uff0c<strong>\u4ec5\u4f7f\u7528\u56fe\u50cf\u4e4b\u95f4\u7684\u5916\u89c2\u76f8\u4f3c\u6027\uff0c\u800c\u4e0d\u8003\u8651\u56fe\u50cf\u4e4b\u95f4\u7684\u51e0\u4f55\u5173\u7cfb<\/strong>\u3002\u7136\u800c\uff0c\u7531\u4e8e\u5404\u79cd\u6761\u4ef6\uff0c\u573a\u6240\u7684\u5916\u89c2\u5728\u957f\u671f\u5185\u53ef\u80fd\u4f1a\u53d1\u751f\u5de8\u5927\u53d8\u5316\u3002\u540c\u65f6\uff0c\u7531\u4e8e\u91cd\u590d\u7684\u7eb9\u7406\u548c\u76f8\u4f3c\u7684\u7ed3\u6784\uff0c\u5916\u89c2\u53ef\u80fd\u4f1a\u4ea7\u751f\u522b\u540d\u3002\u56e0\u6b64\uff0c\u4e3b\u8981\u6311\u6218\u662f\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u6f0f\u68c0\u6b63\u786e\u7684\u56de\u73af<\/strong>\uff08\u5373\u4f4e\u53ec\u56de\u7387\uff09<\/li>\n\n\n\n<li><strong>\u9519\u8bef\u68c0\u6d4b\u56de\u73af<\/strong>\uff08\u5373\u4f4e\u7cbe\u5ea6\uff09<\/li>\n<\/ul>\n\n\n\n<p>\u4e3a\u4e86\u51cf\u8f7b\u7b2c\u4e8c\u4e2a\u6311\u6218\uff0c\u91c7\u7528\u4e86<strong>\u51e0\u4f55\u9a8c\u8bc1<\/strong>\u7684\u9644\u52a0\u6b65\u9aa4\u6765\u786e\u5b9a\u6bcf\u4e2a\u6f5c\u5728\u56de\u73af\u5bf9\u7684\u6b63\u786e\u6027\uff0c\u56e0\u4e3a\u9519\u8bef\u7684\u56de\u73af\u68c0\u6d4b\u53ef\u80fd\u5bfc\u81f4\u5b9a\u4f4d\u4e0d\u51c6\u786e\u3002<\/p>\n\n\n\n<p>\u51e0\u4f55\u9a8c\u8bc1\u662f\u6307\u68c0\u67e5\u56fe\u50cf\u5bf9\u4e4b\u95f4\u5c40\u90e8\u7279\u5f81\u5bf9\u5e94\u7684\u7a7a\u95f4\u4e00\u81f4\u6027\u3002\u5982\u56fe2\u6240\u793a\uff0c\u9996\u5148\u63d0\u53d6\u5e76\u5339\u914d\u5c40\u90e8\u7279\u5f81\uff0c\u7136\u540e\u901a\u8fc7\u4f8b\u5982RANSAC\u7684\u79bb\u7fa4\u70b9\u62d2\u7edd\u65b9\u6cd5\uff0c\u5728\u56fe\u50cf\u5bf9\u4e4b\u95f4\u65bd\u52a0\u5bf9\u6781\u7ea6\u675f\u3002\u5e38\u7528\u7684\u4e8c\u5143\u5206\u7c7b\u5668\u662f\u4f7f\u7528\u5185\u70b9\u6570\u91cf\u6216\u5185\u70b9\u6bd4\u4f8b\u6765\u9a8c\u8bc1\u6f5c\u5728\u56de\u73af\u5bf9\u3002\u5982\u679c\u5c40\u90e8\u7279\u5f81\u5339\u914d\u7684\u5185\u70b9\u6570\u91cf\u8d85\u8fc7\u9884\u5b9a\u4e49\u9608\u503c\uff0c\u5219\u5c06\u8be5\u5bf9\u89c6\u4e3a\u6b63\u786e\u3002\u56e0\u6b64\uff0c\u6761\u4ef6\u4e0d\u53d8\u7684\u5339\u914d\u662f\u6b63\u786e\u9a8c\u8bc1\u6f5c\u5728\u56de\u73af\u5bf9\u7684\u5173\u952e\u3002\u957f\u671f\u89c6\u89c9\u5b9a\u4f4d\u57fa\u51c6\u4e3a\u9009\u62e9\u5728\u59ff\u6001\u4f30\u8ba1\u4e2d\u5bf9\u5916\u89c2\u548c\u89c6\u70b9\u53d8\u5316\u5177\u6709\u9c81\u68d2\u6027\u7684\u5c40\u90e8\u7279\u5f81\u63d0\u4f9b\u4e86\u53c2\u8003\u3002<strong>\u7136\u800c\uff0c\u6ca1\u6709\u8bc4\u4f30\u5176\u5728\u51e0\u4f55\u9a8c\u8bc1\u6027\u80fd\u65b9\u9762\u7684\u57fa\u51c6<\/strong>\u3002<\/p>\n\n\n\n<p>\u4e3a\u586b\u8865\u8fd9\u4e00\u7a7a\u767d\uff0c<strong>GV-Bench[1]\u662f\u7528\u4e8e\u8bc4\u4f30\u5c40\u90e8\u7279\u5f81\u5339\u914d\u65b9\u6cd5\u5728\u957f\u671f\u56de\u73af\u68c0\u6d4b\u51e0\u4f55\u9a8c\u8bc1\u4e2d\u8868\u73b0\u7684\u7edf\u4e00\u57fa\u51c6<\/strong>\u3002\u65e8\u5728\u4e3a\u957f\u671f\u81ea\u4e3b\u6027\u4e2d\u7684\u51e0\u4f55\u9a8c\u8bc1\u9009\u62e9\u7279\u5f81\u5339\u914d\u65b9\u6cd5\u63d0\u4f9b\u53c2\u8003\u3002\u8fdb\u884c\u4e86\u5927\u91cf\u5b9e\u9a8c\u6765\u6bd4\u8f83\u516d\u79cd\u5177\u6709\u4ee3\u8868\u6027\u7684\u5c40\u90e8\u7279\u5f81\u5339\u914d\u65b9\u6cd5\uff0c\u603b\u7ed3\u5982\u8868I\u6240\u793a\u3002\u5176\u8bbe\u8ba1\u4e86\u4e00\u4e2a\u6613\u4e8e\u6269\u5c55\u7684\u57fa\u51c6\u6846\u67b6\uff0c\u57fa\u4e8e\u4e09\u4e2a\u6570\u636e\u96c6\uff0c\u65e8\u5728\u957f\u671f\u89c6\u89c9\u56de\u73af\u68c0\u6d4b\u548c\u5730\u70b9\u8bc6\u522b\u3002\u4e3a\u4e86\u8fdb\u884c\u6bd4\u8f83\u7814\u7a76\uff0c\u91cd\u70b9\u5173\u6ce8\u4e09\u79cd\u7c7b\u578b\u7684\u6761\u4ef6\u53d8\u5316\uff1a<strong>\u5149\u7167<\/strong>\u3001<strong>\u5b63\u8282<\/strong>\u548c<strong>\u5929\u6c14\u53d8\u5316<\/strong>\uff0c\u5982\u56fe1\u6240\u793a\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"910\" height=\"468\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-243.png\" alt=\"\" class=\"wp-image-13241\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-243.png 910w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-243-300x154.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-243-768x395.png 768w\" sizes=\"(max-width: 910px) 100vw, 910px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"595\" height=\"1024\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-244-595x1024.png\" alt=\"\" class=\"wp-image-13242\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-244-595x1024.png 595w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-244-174x300.png 174w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-244-768x1322.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-244-892x1536.png 892w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-244-581x1000.png 581w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-244.png 918w\" sizes=\"(max-width: 595px) 100vw, 595px\" \/><\/figure>\n\n\n\n<p>GV-Bench\u7684\u4e3b\u8981\u8d21\u732e\u5982\u4e0b\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u516c\u5e73\u4e14\u53ef\u8bbf\u95ee\u7684\u51e0\u4f55\u9a8c\u8bc1\u8bc4\u4f30<\/strong>\uff1a\u5f00\u6e90\u4e86\u4e00\u4e2a\u5f00\u7bb1\u5373\u7528\u7684\u6846\u67b6\uff0c\u5177\u6709\u6a21\u5757\u5316\u8bbe\u8ba1\u3002\u8fd9\u4f7f\u5f97\u53ef\u4ee5\u5728\u5171\u540c\u5e73\u53f0\u4e0a\u8bc4\u4f30\u65b0\u63d0\u51fa\u7684\u65b9\u6cd5\uff0c\u5e76\u6269\u5c55\u5230\u66f4\u4e3a\u591a\u6837\u7684\u6570\u636e\u96c6\u3002<\/li>\n\n\n\n<li><strong>\u51e0\u4f55\u9a8c\u8bc1\u7684\u7cfb\u7edf\u5206\u6790<\/strong>\uff1a\u901a\u8fc7\u4f7f\u7528\u6240\u63d0\u51fa\u7684\u57fa\u51c6\u548c\u5927\u91cf\u5b9e\u9a8c\u6307\u51fa\u4e86\u53ef\u80fd\u7684\u672a\u6765\u65b9\u5411\uff08\u4f8b\u5982\uff0c\u4f7f\u7528\u6761\u4ef6\u53d8\u5316\u6570\u636e\u8bad\u7ec3\u7279\u5f81\u63d0\u53d6\u5668\u548c\u5339\u914d\u5668\uff09\u3002<\/li>\n<\/ul>\n\n\n\n<p><strong>\u8bc4\u4f30\u65b9\u6cd5<\/strong><\/p>\n\n\n\n<p>\u5982\u56fe2\u6240\u793a\uff0c\u51e0\u4f55\u9a8c\u8bc1\u5904\u7406\u56fe\u50cf\u5bf9\uff0c\u8ba1\u7b97\u7ed9\u5b9a\u5bf9\u662f\u5426\u6b63\u5411\u7684\u6982\u7387\uff08\u8868\u793a\u76f8\u540c\u7684\u7a7a\u95f4\u4f4d\u7f6e\uff09\u3002\u5bf9\u4e8e\u6bcf\u5bf9\u56fe\u50cf\uff0c\u9996\u5148\u4ece\u7279\u5f81\u5339\u914d\u5668\u4e2d\u63d0\u53d6\u5173\u952e\u70b9\u5e76\u8ba1\u7b97\u5bf9\u5e94\u5173\u7cfb\u3002\u7136\u540e\u901a\u8fc7\u8ba1\u7b97\u57fa\u7840\u77e9\u9635\uff08\u5047\u8bbe\u975e\u5e73\u9762\u573a\u666f\uff09\u5e76\u5e94\u7528RANSAC\u6765\u62d2\u7edd\u79bb\u7fa4\u70b9\u6765\u8fdb\u4e00\u6b65\u5904\u7406\u8fd9\u4e9b\u5339\u914d\u3002\u6b64\u5916\uff0c\u4e3a\u4e86\u516c\u5e73\u6bd4\u8f83\uff0c\u5e94\u4f7f\u7528\u4e00\u81f4\u7684\u56fe\u50cf\u5bf9\u5217\u8868\u3002\u63cf\u8ff0\u4e86\u5982\u4f55\u751f\u6210\u4e00\u4e2a\u7edf\u4e00\u7684\u57fa\u51c6\uff0c\u4ee5\u8bc4\u4f30\u5728\u6761\u4ef6\u548c\u89c6\u70b9\u53d8\u5316\u4e0b\u7684\u51e0\u4f55\u9a8c\u8bc1\u3002\u56fe3\u5c55\u793a\u4e86\u57fa\u51c6\u6784\u5efa\u7684\u6d41\u7a0b\uff0c\u8be5\u6d41\u7a0b\u5177\u6709\u6a21\u5757\u5316\u8bbe\u8ba1\uff0c\u6613\u4e8e\u6269\u5c55\u5230\u66f4\u4e3a\u591a\u6837\u7684\u6761\u4ef6\u53d8\u5316\u3001\u5c40\u90e8\u7279\u5f81\u5339\u914d\u65b9\u6cd5\u548c\u68c0\u7d22\u65b9\u6cd5\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"918\" height=\"672\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-245.png\" alt=\"\" class=\"wp-image-13243\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-245.png 918w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-245-300x220.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-245-768x562.png 768w\" sizes=\"(max-width: 918px) 100vw, 918px\" \/><\/figure>\n\n\n\n<p><strong>\u57fa\u51c6\u4ecb\u7ecd<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"666\" height=\"104\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/07\/72201.png\" alt=\"\" class=\"wp-image-13244\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/72201.png 666w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/72201-300x47.png 300w\" sizes=\"(max-width: 666px) 100vw, 666px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"880\" height=\"78\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-246.png\" alt=\"\" class=\"wp-image-13245\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-246.png 880w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-246-300x27.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-246-768x68.png 768w\" sizes=\"(max-width: 880px) 100vw, 880px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"668\" height=\"53\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/07\/72202.png\" alt=\"\" class=\"wp-image-13246\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/72202.png 668w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/72202-300x24.png 300w\" sizes=\"(max-width: 668px) 100vw, 668px\" \/><\/figure>\n\n\n\n<p>\u6761\u4ef6\u548c\u89c6\u70b9\u53d8\u5316\u662f\u957f\u671f\u56de\u73af\u68c0\u6d4b\u7684\u4e3b\u8981\u6311\u6218\uff0c\u5176\u4e2d\u673a\u5668\u4eba\u904d\u5386\u53ef\u80fd\u8de8\u8d8a\u767d\u5929\u548c\u591c\u665a\u3001\u4e0d\u540c\u5929\u6c14\u6761\u4ef6\u751a\u81f3\u5b63\u8282\u3002\u7136\u800c\uff0c\u5f88\u96be\u91cf\u5316\u6216\u63a7\u5236\u4efb\u4f55\u53d8\u5316\u3002\u6211\u4eec\u5c3d\u529b\u5229\u7528\u4ee5\u4e0b\u6570\u636e\u96c6\uff1aOxford RobotCar\u6570\u636e\u96c6 [2]\u3001Nordland\u6570\u636e\u96c6 [3] \u548cUAcampus\u6570\u636e\u96c6 [4] \u6765\u63a7\u5236\u53d8\u91cf\u53d8\u5316\u3002\u603b\u4f53\u800c\u8a00\uff0c\u6211\u4eec\u8bbe\u8ba1\u4e86\u4e00\u4e2a\u57fa\u51c6\uff0c\u5305\u542b\u4e09\u79cd\u53d7\u63a7\u53d8\u5316\uff1a\u5149\u7167\uff08\u767d\u5929\u548c\u591c\u665a\uff09\u3001\u5b63\u8282\u548c\u5929\u6c14\u53d8\u5316\uff0c\u5982\u8868II\u6240\u793a\u3002\u9664\u4e86\u6761\u4ef6\u53d8\u5316\u5916\uff0c\u6211\u4eec\u8fd8\u6784\u5efa\u4e86\u4e00\u4e2a\u57fa\u51c6\u5e8f\u5217\u201c\u767d\u5929\u201d\uff0c\u5176\u4e2d\u4ec5\u53d1\u751f\u4e2d\u7b49\u73af\u5883\u53d8\u5316\u3002\u867d\u7136\u8be5\u5e8f\u5217\u9884\u8ba1\u6613\u4e8e\u89e3\u51b3\uff0c\u4f46\u5982\u56fe5\u6240\u793a\uff0c\u7ed3\u679c\u5e76\u4e0d\u7406\u60f3\uff0c\u8868\u660e\u8fd8\u6709\u8fdb\u4e00\u6b65\u6539\u8fdb\u7684\u7a7a\u95f4\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"912\" height=\"624\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-247.png\" alt=\"\" class=\"wp-image-13247\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-247.png 912w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-247-300x205.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-247-768x525.png 768w\" sizes=\"(max-width: 912px) 100vw, 912px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"662\" height=\"188\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/07\/72203.png\" alt=\"\" class=\"wp-image-13248\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/72203.png 662w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/72203-300x85.png 300w\" sizes=\"(max-width: 662px) 100vw, 662px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"589\" height=\"1024\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-248-589x1024.png\" alt=\"\" class=\"wp-image-13249\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-248-589x1024.png 589w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-248-172x300.png 172w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-248-768x1336.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-248-883x1536.png 883w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-248-575x1000.png 575w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-248.png 906w\" sizes=\"(max-width: 589px) 100vw, 589px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"672\" height=\"226\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/07\/72204.png\" alt=\"\" class=\"wp-image-13250\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/72204.png 672w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/72204-300x101.png 300w\" sizes=\"(max-width: 672px) 100vw, 672px\" \/><\/figure>\n\n\n\n<p><strong>B. \u51e0\u4f55\u9a8c\u8bc1<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"667\" height=\"59\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/07\/72205.png\" alt=\"\" class=\"wp-image-13251\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/72205.png 667w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/72205-300x27.png 300w\" sizes=\"(max-width: 667px) 100vw, 667px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"894\" height=\"94\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-249.png\" alt=\"\" class=\"wp-image-13252\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-249.png 894w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-249-300x32.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-249-768x81.png 768w\" sizes=\"(max-width: 894px) 100vw, 894px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"674\" height=\"341\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/07\/72206.png\" alt=\"\" class=\"wp-image-13253\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/72206.png 674w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/72206-300x152.png 300w\" sizes=\"(max-width: 674px) 100vw, 674px\" \/><\/figure>\n\n\n\n<p><strong>\u5b9e\u9a8c\u7ed3\u679c<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"342\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-250-1024x342.png\" alt=\"\" class=\"wp-image-13254\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-250-1024x342.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-250-300x100.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-250-768x257.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-250.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"914\" height=\"706\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-251.png\" alt=\"\" class=\"wp-image-13255\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-251.png 914w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-251-300x232.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-251-768x593.png 768w\" sizes=\"(max-width: 914px) 100vw, 914px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"888\" height=\"1024\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-252-888x1024.png\" alt=\"\" class=\"wp-image-13256\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-252-888x1024.png 888w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-252-260x300.png 260w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-252-768x886.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-252-867x1000.png 867w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-252.png 914w\" sizes=\"(max-width: 888px) 100vw, 888px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"912\" height=\"622\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-253.png\" alt=\"\" class=\"wp-image-13257\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-253.png 912w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-253-300x205.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-253-768x524.png 768w\" sizes=\"(max-width: 912px) 100vw, 912px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"490\" height=\"1024\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-254-490x1024.png\" alt=\"\" class=\"wp-image-13258\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-254-490x1024.png 490w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-254-144x300.png 144w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-254-735x1536.png 735w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-254-479x1000.png 479w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-254.png 762w\" sizes=\"(max-width: 490px) 100vw, 490px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"804\" height=\"904\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-255.png\" alt=\"\" class=\"wp-image-13259\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-255.png 804w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-255-267x300.png 267w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-255-768x864.png 768w\" sizes=\"(max-width: 804px) 100vw, 804px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"241\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-256-1024x241.png\" alt=\"\" class=\"wp-image-13260\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-256-1024x241.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-256-300x71.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-256-768x181.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-256.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"770\" height=\"460\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-257.png\" alt=\"\" class=\"wp-image-13261\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-257.png 770w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-257-300x179.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-257-768x459.png 768w\" sizes=\"(max-width: 770px) 100vw, 770px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"764\" height=\"610\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-258.png\" alt=\"\" class=\"wp-image-13262\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-258.png 764w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/07\/\u56fe\u7247-258-300x240.png 300w\" sizes=\"(max-width: 764px) 100vw, 764px\" \/><\/figure>\n\n\n\n<p><strong>\u603b\u7ed3\u4e00\u4e0b<\/strong><\/p>\n\n\n\n<p><strong>GV-Bench<\/strong>\u662f\u7528\u4e8e\u8bc4\u4f30\u957f\u671f\u89c6\u89c9\u56de\u73af\u68c0\u6d4b\u7684\u51e0\u4f55\u9a8c\u8bc1\u7684\u7edf\u4e00\u57fa\u51c6\u3002\u8be5\u65b9\u6cd5\u91cd\u70b9\u5bf9\u516d\u79cd\u7cbe\u5fc3\u9009\u62e9\u7684\u7279\u5f81\u5339\u914d\u65b9\u6cd5\u8fdb\u884c\u4e86\u6bd4\u8f83\u7814\u7a76\uff0c\u6db5\u76d6\u4e86<strong>\u624b\u5de5\u5236\u4f5c<\/strong>\u548c<strong>\u57fa\u4e8e\u5b66\u4e60<\/strong>\u7684\u7279\u5f81\u3002\u57fa\u51c6\u662f\u5f00\u6e90\u7684\uff0c\u5177\u6709\u6a21\u5757\u5316\u8bbe\u8ba1\uff0c\u8be5\u5de5\u4f5c\u5f97\u51fa\u4ee5\u4e0b\u51e0\u8f6e\uff1a<\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li>\u7a00\u758f\u5173\u952e\u70b9\u68c0\u6d4b\u5668SuperPoint\u548c\u7279\u5f81\u5339\u914d\u5668SuperGlue\u7684\u7ec4\u5408\u603b\u4f53\u4e0a\u8868\u73b0\u4f18\u4e8e\u5176\u4ed6\u65b9\u6cd5<\/li>\n\n\n\n<li>\u5728\u9762\u4e34\u6311\u6218\u6027\u6761\u4ef6\u65f6\uff0c\u57fa\u4e8e\u5b66\u4e60\u7684\u5173\u952e\u70b9\u63cf\u8ff0\u7b26\u6bd4\u624b\u5de5\u5236\u4f5c\u7684\u63cf\u8ff0\u7b26\u66f4\u5177\u8fa8\u8bc6\u5ea6\u3002\u8fd9\u4e00\u7ed3\u679c\u4e0e\u5148\u524d\u5728\u5355\u5e94\u6027\u548c\u59ff\u6001\u4f30\u8ba1\u4e0a\u7684\u8bc4\u4f30\u4e00\u81f4\u3002<\/li>\n\n\n\n<li>\u56de\u73af\u68c0\u6d4b\u7684\u9a8c\u8bc1\u8fdc\u672a\u89e3\u51b3\u3002\u8fdb\u4e00\u6b65\u8ba8\u8bba\u63d0\u51fa\u4e86\u53ef\u80fd\u7684\u672a\u6765\u65b9\u5411\uff0c\u5305\u62ec\u4f7f\u7528\u6761\u4ef6\u53d8\u5316\u6570\u636e\u8bad\u7ec3\u5173\u952e\u70b9\u68c0\u6d4b\u5668\u3001\u6269\u5c55\u6570\u636e\u96c6\u4ee5\u6db5\u76d6\u4e0d\u540c\u6761\u4ef6\u4e0b\u7684\u56fe\u50cf\u3001\u63a2\u7d22\u66f4\u5f3a\u5927\u7684\u79bb\u7fa4\u70b9\u62d2\u7edd\u65b9\u6cd5\u3002<\/li>\n<\/ol>\n\n\n\n<p><strong>\u672a\u6765\u7684\u5de5\u4f5c<\/strong>\uff1a<\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li>\u5c06\u6269\u5c55\u57fa\u51c6\uff0c\u4ee5\u652f\u6301\u63d0\u5230\u7684\u5176\u4ed6\u56de\u73af\u9a8c\u8bc1\u65b9\u6cd5\u3002\u5c3d\u7ba1\u8bbe\u8ba1\u4e86\u8fd9\u4e2a\u57fa\u51c6\u4e3b\u8981\u5173\u6ce8\u51e0\u4f55\u9a8c\u8bc1\uff0c\u4f46\u5b83\u81ea\u7136\u652f\u6301\u8bc4\u4f30\u5176\u4ed6\u9a8c\u8bc1\u65b9\u6cd5\u3002\u901a\u8fc7\u8fd9\u79cd\u6269\u5c55\u53ef\u4ee5\u5168\u9762\u7406\u89e3\u5e76\u8d85\u8d8a\u51e0\u4f55\u9a8c\u8bc1\u3002<\/li>\n\n\n\n<li>\u5c06\u91cd\u70b9\u5173\u6ce8\u5f00\u53d1\u4e00\u79cd\u65b0\u9896\u4e14\u6709\u6548\u7684\u51e0\u4f55\u9a8c\u8bc1\u65b9\u6cd5\u3002<\/li>\n<\/ol>\n\n\n\n<p><strong>\u53c2\u8003<\/strong><\/p>\n\n\n\n<p>[1] GV-Bench: Benchmarking Local Feature Matching for Geometric Verification of Long-term Loop Closure Detection<\/p>\n\n\n\n<p>[2] 1 year, 1000 km: The oxford robotcar dataset<\/p>\n\n\n\n<p>[3] Nordland dataset<\/p>\n\n\n\n<p>[4] Keypoint matching by outlier pruning with consensus constraint<\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u56de\u73af\u68c0\u6d4b\u7684\u9a8c\u8bc1\u8fdc\u672a\u89e3\u51b3 \u56de\u73af\u68c0\u6d4b\u7684\u4e3b\u8981\u76ee\u6807\u662f\u4fc3 [&hellip;]<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[3,1],"tags":[],"class_list":["post-13239","post","type-post","status-publish","format-standard","hentry","category-technology-frontier","category-home"],"views":2,"_links":{"self":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/13239"}],"collection":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/comments?post=13239"}],"version-history":[{"count":1,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/13239\/revisions"}],"predecessor-version":[{"id":13263,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/13239\/revisions\/13263"}],"wp:attachment":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/media?parent=13239"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/categories?post=13239"},{"taxonomy":"post_tag","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/tags?post=13239"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}