{"id":16247,"date":"2024-09-27T16:01:21","date_gmt":"2024-09-27T08:01:21","guid":{"rendered":"http:\/\/192.168.10.115\/?p=16247"},"modified":"2024-09-27T16:01:37","modified_gmt":"2024-09-27T08:01:37","slug":"2024-09-27-mgso%ef%bc%9a%e4%bb%85%e9%9c%80%e5%8d%95%e7%9b%ae%e7%9b%b8%e6%9c%ba%ef%bc%8c%e7%bb%93%e5%90%88%e5%85%89%e5%ba%a6slam%e5%92%8c3dgs%e7%9a%84%e5%ae%9e%e6%97%b6%e7%a8%a0%e5%af%86slam%e7%b3%bb","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2024\/09\/27\/16247\/","title":{"rendered":"2024-09-27 MGSO\uff1a\u4ec5\u9700\u5355\u76ee\u76f8\u673a\uff0c\u7ed3\u5408\u5149\u5ea6SLAM\u548c3DGS\u7684\u5b9e\u65f6\u7a20\u5bc6SLAM\u7cfb\u7edf"},"content":{"rendered":"\n<p><strong>\u7a20\u5bc6SLAM\u7684\u6311\u6218<\/strong><\/p>\n\n\n\n<p>\u4f20\u7edf\u7684SLAM\u7cfb\u7edf\u901a\u5e38\u63d0\u4f9b\u8bed\u4e49\u8d2b\u4e4f\u7684\u5730\u56fe\u8868\u793a\uff0c\u8fd9\u4e9b\u8868\u793a\u867d\u7136\u5728\u5b9a\u4f4d\u548c\u57fa\u672c\u5bfc\u822a\u65b9\u9762\u6548\u7387\u8f83\u9ad8\uff0c\u4f46\u7f3a\u4e4f\u5b8c\u6210\u590d\u6742\u4efb\u52a1\u6240\u9700\u7684\u7ec6\u8282\u3002\u4f8b\u5982\uff0c\u7a00\u758f\u7684\u70b9\u4e91\u5728\u5b9a\u4f4d\u65b9\u9762\u8868\u73b0\u51fa\u8272\uff0c\u4f46\u7f3a\u4e4f\u6293\u53d6\u4efb\u52a1\u6240\u9700\u7684\u8868\u9762\u7ec6\u8282\u3002\u5bf9\u4e8e\u8fd9\u4e9b\u590d\u6742\u7684\u673a\u5668\u4eba\u4efb\u52a1\uff0c\u7a20\u5bc6\u4e14\u9ad8\u4fdd\u771f\u7684\u7a7a\u95f4\u6570\u636e\u53d8\u5f97\u6108\u52a0\u91cd\u8981\u3002<\/p>\n\n\n\n<p>\u7a20\u5bc6SLAM\u7cfb\u7edf\u53ef\u4ee5\u5206\u4e3a<strong>\u89e3\u8026<\/strong>\u548c<strong>\u8026\u5408<\/strong>\u4e24\u79cd\u65b9\u5f0f\uff1a<\/p>\n\n\n\n<ul 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class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"337\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-322-1024x337.png\" alt=\"\" class=\"wp-image-16248\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-322-1024x337.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-322-300x99.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-322-768x252.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-322.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u672c\u6587\u4ecb\u7ecd\u7684<strong>MGSO[1]\u662f\u4e00\u79cd\u65b0\u578b\u7684\u7a20\u5bc6\u89c6\u89c9SLAM\u7cfb\u7edf\u2014\u2014Monocular-GSO<\/strong>\uff0c\u5b83\u53ef\u4ee5\u4f7f\u7528\u5355\u76ee\u6444\u50cf\u5934\u5728\u5b9e\u65f6\u5728\u7ebf\u60c5\u51b5\u4e0b\u8fdb\u884c\u9ad8\u8d28\u91cf\u7684\u4e09\u7ef4\u91cd\u5efa\u3002MGSO\u662f\u4e00\u4e2a\u89e3\u8026\u7cfb\u7edf\uff0c\u5b83\u5229\u7528\u5149\u5ea6SLAM\u6765\u521d\u59cb\u5316\u5e76\u884c\u8fd0\u884c\u76843DGS\u6a21\u5757\uff0c\u4ece\u800c\u5b9e\u73b0\u5b9e\u65f6\u7a20\u5bc6\u573a\u666f\u91cd\u5efa\u3002MGSO\u7684\u7f29\u5199\u878d\u5408\u4e86\u57fa\u4e8e\u7684\u5149\u5ea6SLAM\u7cfb\u7edfDirect Sparse 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DSO\uff09<\/strong>\u7684\u89c6\u89c9SLAM\u65b9\u6cd5\u3002DSO\u7684\u5173\u952e\u521b\u65b0\u5728\u4e8e\uff0c\u5b83\u5c55\u793a\u4e86\u901a\u8fc7\u9009\u62e9\u6027\u50cf\u7d20\u91c7\u6837\u8fdb\u884c\u5149\u5ea6\u8ddf\u8e2a\u76f8\u6bd4\u4f7f\u7528\u56fe\u50cf\u4e2d\u7684\u6240\u6709\u50cf\u7d20\u53ef\u4ee5\u63d0\u9ad8\u5b9a\u4f4d\u7cbe\u5ea6\u3002\u4e4b\u6240\u4ee5\u9009\u62e9\u57fa\u4e8eDSO\u8fdb\u884c\u5f00\u53d1\uff0c\u662f\u56e0\u4e3a\u5b83\u7684\u50cf\u7d20\u9009\u62e9\u7b56\u7565\u4e0e\u521d\u59cb\u53163D\u9ad8\u65af\u5206\u5e03\uff083D Gaussian Splatting, 3DGS\uff09\u975e\u5e38\u5951\u5408\u3002DSO\u901a\u8fc7\u8ddf\u8e2a\u8fde\u7eed\u5e27<strong>i<\/strong>\u548c<strong>j<\/strong>\u4e2d\u7684\u4e00\u7ec4\u50cf\u7d20\uff0c\u4f18\u5316\u76f8\u673a\u59ff\u6001\uff08ppp\uff09\uff0c\u5e76\u901a\u8fc7\u6700\u5c0f\u5316\u4ee5\u4e0b\u5149\u5ea6\u635f\u5931\u65b9\u7a0b\u5b9e\u73b0\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"832\" height=\"118\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-323.png\" alt=\"\" class=\"wp-image-16249\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-323.png 832w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-323-300x43.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-323-768x109.png 768w\" sizes=\"(max-width: 832px) 100vw, 832px\" 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http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-324-300x242.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-324-768x619.png 768w\" sizes=\"(max-width: 856px) 100vw, 856px\" 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class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"866\" height=\"442\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-325.png\" alt=\"\" class=\"wp-image-16251\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-325.png 866w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-325-300x153.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-325-768x392.png 768w\" sizes=\"(max-width: 866px) 100vw, 866px\" 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srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-326-1024x506.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-326-300x148.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-326-768x380.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-326.png 1064w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u8fd9\u4e00\u8fc7\u7a0b\u786e\u4fdd\u4e86SLAM\u6a21\u5757\u80fd\u9ad8\u6548\u5730\u8fdb\u884c\u59ff\u6001\u4f30\u8ba1\uff0c\u540c\u65f6\u63d0\u4f9b\u9ad8\u8d28\u91cf\u7684\u70b9\u4e91\u8f93\u5165\u7528\u4e8e\u7a20\u5bc6\u91cd\u5efa\u3002<\/p>\n\n\n\n<p><strong>\u7a20\u5bc6\u91cd\u5efa<\/strong><\/p>\n\n\n\n<p>MGSO\u91c7\u7528\u4e09\u7ef4\u9ad8\u65af\u5206\u5e03\uff083DGS\uff09\u4f5c\u4e3a\u5176\u7a20\u5bc6\u91cd\u5efa\u65b9\u6cd5\u3002\u6309\u7167\u539f\u59cb3DGS\u7684\u505a\u6cd5\uff0c\u4f7f\u7528\u4e00\u7ec4\u5404\u5411\u5f02\u6027\u7684\u9ad8\u65af\u51fd\u6570<strong>G<\/strong>\u6765\u5bf9\u573a\u666f\u8fdb\u884c\u5efa\u6a21\u3002\u6bcf\u4e2a\u9ad8\u65af\u51fd\u6570<strong>Gi<\/strong>\u7531\u4e0d\u900f\u660e\u5ea6\u3001\u65cb\u8f6c\u3001\u4f4d\u7f6e\u3001\u5c3a\u5ea6\u548c\u989c\u8272\u53c2\u6570\u8868\u793a\u3002\u6211\u4eec\u501f\u9274\u4e86Mono-GS\u7684\u6280\u672f\uff0c\u91c7\u7528RGB\u4ee3\u66ff\u7403\u9762\u8c03\u548c\u6765\u8868\u793a\u989c\u8272\uff0c\u56e0\u4e3a\u7814\u7a76\u8868\u660e\uff0c\u8fd9\u6837\u53ef\u4ee5\u5728\u51e0\u4e4e\u4e0d\u5f71\u54cd\u91cd\u5efa\u8d28\u91cf\u7684\u60c5\u51b5\u4e0b\u63d0\u9ad8\u901f\u5ea6\u3002\u4f7f\u7528\u539f\u59cb3DGS\u4e2d\u5f15\u5165\u7684\u53ef\u5fae\u74e6\u7247\u5f0f\u5149\u6805\u5316\u65b9\u6cd5\u6765\u6e32\u67d3\u5730\u56fe\u7684RGB\u56fe\u50cf\u3002<\/p>\n\n\n\n<p>\u6bcf\u4e2a\u9ad8\u65af\u7684\u53c2\u6570\u901a\u8fc7\u68af\u5ea6\u4e0b\u964d\u6cd5\u4f18\u5316\uff0c\u4ee5\u6700\u5c0f\u5316\u5149\u5ea6\u635f\u5931\u51fd\u6570<strong>L<\/strong>\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"117\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-327-1024x117.png\" alt=\"\" class=\"wp-image-16254\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-327-1024x117.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-327-300x34.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-327-768x88.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-327.png 1032w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u5176\u4e2d\uff0c<strong>I_r<\/strong>\u8868\u793a\u6e32\u67d3\u56fe\u50cf\uff0c<strong>I_{gt}\u6307\u6355\u83b7\u7684\u771f\u5b9e\u56fe\u50cf\uff0c\u03bb<\/strong>\u662f\u4e00\u4e2a\u52a0\u6743\u56e0\u5b50\uff0c<strong>SSIM<\/strong>\u8868\u793a\u7ed3\u6784\u76f8\u4f3c\u6027\u5ea6\u91cf\u3002<\/p>\n\n\n\n<p>\u4e3a\u4e86\u63d0\u9ad8\u7cfb\u7edf\u7684\u901f\u5ea6\uff0c\u91c7\u7528\u4e86Photo-SLAM\u4e2d\u5f15\u5165\u7684\u57fa\u4e8e\u9ad8\u65af\u91d1\u5b57\u5854\u7684\u5b66\u4e60\u65b9\u6cd5\uff0c\u9010\u6b65\u8bad\u7ec3\u9ad8\u65af\u5730\u56fe\u3002\u9ad8\u65af\u91d1\u5b57\u5854\u901a\u8fc7\u53cd\u590d\u5e73\u6ed1\u548c\u4e0b\u91c7\u6837\u7531\u76f8\u673a\u6355\u83b7\u7684\u771f\u5b9e\u56fe\u50cf\u6765\u52a0\u901f\u5b9e\u65f6\u89c6\u9891\u573a\u666f\u7684\u8bad\u7ec3\u3002\u5149\u5ea6\u635f\u5931\u7684\u8ba1\u7b97\u4ece\u521d\u59cb\u8fed\u4ee3\u4e2d\u7684\u6700\u9ad8\u91d1\u5b57\u5854\u5c42\u7ea7\u5f00\u59cb\uff0c\u968f\u7740\u8bad\u7ec3\u7684\u6df1\u5165\uff0c\u9010\u6e10\u4f7f\u7528\u8f83\u4f4e\u7684\u5c42\u7ea7\u3002\u6b64\u5916\uff0c\u8fd8\u4f7f\u7528\u4e86\u4e00\u4e2a\u4f18\u5316\u7248\u76843DGS CUDA\u540e\u7aef\uff0c\u4f7f\u5f97\u5176\u8fd0\u884c\u901f\u5ea6\u6bd4\u539f\u7248\u66f4\u5feb\u3002<\/p>\n\n\n\n<p>\u81ea\u9002\u5e94\u63a7\u5236\u7b56\u7565\u6bcf1000\u6b21\u8bad\u7ec3\u8fed\u4ee3\u5bf9\u9ad8\u65af\u51fd\u6570\u8fdb\u884c\u5b9a\u671f\u5bc6\u5316\u548c\u4fee\u526a\uff0c\u4ee5\u968f\u7740\u65f6\u95f4\u63a8\u79fb\u63d0\u9ad8\u5730\u56fe\u8d28\u91cf\u3002\u8be5\u7b56\u7565\u57fa\u4e8eSLAM\u6a21\u5757\u751f\u6210\u7684\u70b9\u4e91\u8bbe\u8ba1\uff0c\u7c7b\u4f3c\u4e8ePhoto-SLAM\u6839\u636eORBSLAM3\u8c03\u6574\u7b56\u7565\u7684\u65b9\u5f0f\u3002SLAM\u7cfb\u7edf\u751f\u6210\u7684\u70b9\u4e91\u5177\u6709\u9ad8\u5bc6\u5ea6\u548c\u5747\u5300\u8986\u76d6\u7684\u7279\u70b9\uff0c\u80fd\u591f\u81ea\u9002\u5e94\u5730\u6839\u636e\u573a\u666f\u7684\u590d\u6742\u6027\uff0c\u5728\u590d\u6742\u533a\u57df\u96c6\u4e2d\u66f4\u591a\u70b9\uff0c\u800c\u5728\u8f83\u7b80\u5355\u533a\u57df\u7ef4\u6301\u57fa\u672c\u7684\u4ee3\u8868\u6027\u3002\u5f53\u5904\u7406\u65b0\u7684\u5173\u952e\u5e27\u65f6\uff0c\u57fa\u4e8eSLAM\u7cfb\u7edf\u751f\u6210\u7684\u70b9\u4e91\uff0c\u521d\u59cb\u5316\u65b0\u7684\u9ad8\u65af\uff0c\u4f7f\u7528\u8fd9\u4e9b\u70b9\u4e91\u7684\u4f4d\u7f6e\u548c\u989c\u8272\u3002<\/p>\n\n\n\n<p>\u7136\u800c\uff0c\u6ce8\u610f\u5230\u5728\u4f7f\u75283DGS\u7684\u5bc6\u5316\u548c\u4fee\u526a\u7b56\u7565\u65f6\uff0c\u51fa\u73b0\u4e86\u201c\u6d6e\u52a8\u7269\u4f53\u201d\uff08floaters\uff09\u7684\u73b0\u8c61\u3002\u4e3a\u4e86\u51cf\u5c11\u8fd9\u79cd\u6d6e\u52a8\u7269\u4f53\u7684\u51fa\u73b0\uff0c\u91c7\u7528\u4e86AbsGS\u4e2d\u7684\u81ea\u9002\u5e94\u63a7\u5236\u7b56\u7565\u3002\u5728\u81ea\u9002\u5e94\u63a7\u5236\u7b56\u7565\u4e2d\uff0c\u5b9a\u671f\u5bf9\u89c6\u57df\u4f4d\u7f6e\u68af\u5ea6\u8f83\u9ad8\u7684\u9ad8\u65af\u8fdb\u884c\u5bc6\u5316\uff0c\u901a\u8fc7\u5206\u88c2\u6216\u514b\u9686\u5b83\u4eec\u6765\u5bc6\u5316\u3002\u5927\u800c\u9ad8\u65b9\u5dee\u7684\u9ad8\u65af\u5c06\u4f1a\u88ab\u5206\u88c2\uff0c\u800c\u5728\u6b20\u91cd\u5efa\u533a\u57df\u7684\u5c0f\u9ad8\u65af\u5219\u4f1a\u88ab\u514b\u9686\u3002\u6b64\u5916\uff0c\u5b9a\u671f\u4fee\u526a\u4f4e\u4e0d\u900f\u660e\u5ea6\u7684\u9ad8\u65af\uff0c\u4ee5\u53bb\u9664\u900f\u660e\u7684\u6d6e\u52a8\u7269\u4f53\u3002\u4f7f\u7528\u4e86\u4e0e\u539f\u59cb3DGS\u76f8\u540c\u7684\u5206\u88c2\u548c\u514b\u9686\u53c2\u6570\u3002<\/p>\n\n\n\n<p>\u8fd9\u4e9b\u8c03\u6574\u4e0d\u4ec5\u63d0\u9ad8\u4e86\u7cfb\u7edf\u7684\u901f\u5ea6\uff0c\u8fd8\u51cf\u5c11\u4e86\u91cd\u5efa\u8fc7\u7a0b\u4e2d\u51fa\u73b0\u7684\u4f2a\u5f71\uff08artifact\uff09\u548c\u5197\u4f59\uff0c\u786e\u4fdd\u4e86\u9ad8\u6548\u4e14\u7d27\u51d1\u7684\u4e09\u7ef4\u573a\u666f\u91cd\u5efa\u3002<\/p>\n\n\n\n<p><strong>\u5b9e\u9a8c\u6548\u679c<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"291\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-328-1024x291.png\" alt=\"\" class=\"wp-image-16255\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-328-1024x291.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-328-300x85.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-328-768x218.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-328.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=\"860\" height=\"262\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-329.png\" alt=\"\" class=\"wp-image-16256\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-329.png 860w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-329-300x91.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-329-768x234.png 768w\" sizes=\"(max-width: 860px) 100vw, 860px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"860\" height=\"396\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-330.png\" alt=\"\" class=\"wp-image-16257\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-330.png 860w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-330-300x138.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-330-768x354.png 768w\" sizes=\"(max-width: 860px) 100vw, 860px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"800\" height=\"360\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-331.png\" alt=\"\" class=\"wp-image-16258\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-331.png 800w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-331-300x135.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-331-768x346.png 768w\" sizes=\"(max-width: 800px) 100vw, 800px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"428\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-332-1024x428.png\" alt=\"\" class=\"wp-image-16259\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-332-1024x428.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-332-300x125.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-332-768x321.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-332.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=\"856\" height=\"400\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-333.png\" alt=\"\" class=\"wp-image-16260\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-333.png 856w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-333-300x140.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-333-768x359.png 768w\" sizes=\"(max-width: 856px) 100vw, 856px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"872\" height=\"516\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-334.png\" alt=\"\" class=\"wp-image-16261\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-334.png 872w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-334-300x178.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-334-768x454.png 768w\" sizes=\"(max-width: 872px) 100vw, 872px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"864\" height=\"700\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-335.png\" alt=\"\" class=\"wp-image-16262\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-335.png 864w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-335-300x243.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/09\/\u56fe\u7247-335-768x622.png 768w\" sizes=\"(max-width: 864px) 100vw, 864px\" 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MGSO: Monocular Real-time Photometric SLAM with Efficient 3D Gaussian Splatting<\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u7a20\u5bc6SLAM\u7684\u6311\u6218 \u4f20\u7edf\u7684SLAM\u7cfb\u7edf\u901a\u5e38\u63d0\u4f9b [&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-16247","post","type-post","status-publish","format-standard","hentry","category-technology-frontier","category-home"],"views":0,"_links":{"self":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/16247"}],"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=16247"}],"version-history":[{"count":1,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/16247\/revisions"}],"predecessor-version":[{"id":16263,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/16247\/revisions\/16263"}],"wp:attachment":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/media?parent=16247"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/categories?post=16247"},{"taxonomy":"post_tag","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/tags?post=16247"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}