{"id":16544,"date":"2024-10-09T17:18:48","date_gmt":"2024-10-09T09:18:48","guid":{"rendered":"http:\/\/192.168.10.115\/?p=16544"},"modified":"2024-10-09T17:18:48","modified_gmt":"2024-10-09T09:18:48","slug":"2024-10-09%e5%a4%9a%e6%a8%a1%e6%80%81%e5%9c%b0%e7%82%b9%e8%af%86%e5%88%ab%e6%96%b0sota%ef%bc%81gspr%ef%bc%9a%e5%9f%ba%e4%ba%8e3dgs%e6%89%93%e9%80%a0%e6%97%b6%e7%a9%ba%e7%bb%9f%e4%b8%80%e7%9a%84","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2024\/10\/09\/16544\/","title":{"rendered":"2024-10-09\u591a\u6a21\u6001\u5730\u70b9\u8bc6\u522b\u65b0SOTA\uff01GSPR\uff1a\u57fa\u4e8e3DGS\u6253\u9020\u65f6\u7a7a\u7edf\u4e00\u7684\u573a\u666f\u8868\u793a"},"content":{"rendered":"\n<p><strong>\u6709\u6548\u5229\u7528\u65f6\u7a7a\u76f8\u5173\u6027<\/strong><\/p>\n\n\n\n<p>\u5730\u70b9\u8bc6\u522b\u7684\u4efb\u52a1\u662f\u901a\u8fc7\u4fee\u6b63SLAM\u7b97\u6cd5\u4e2d\u7684\u7d2f\u8ba1\u6f02\u79fb\u6765\u63d0\u4f9b\u5168\u7403\u5b9a\u4f4d\u4fe1\u606f\u3002\u5728\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u4e2d\uff0c\u6444\u50cf\u5934\u5e38\u7528\u4e8e\u57fa\u4e8e\u89c6\u89c9\u7684\u5730\u70b9\u8bc6\u522b\uff08VPR\uff09\uff0c\u63d0\u4f9b\u4e30\u5bcc\u7684\u8bed\u4e49\u548c\u7eb9\u7406\u4fe1\u606f\u3002\u7136\u800c\uff0c<strong>\u7531\u4e8e\u5149\u7167\u3001\u5b63\u8282\u548c\u5929\u6c14\u7684\u53d8\u5316\uff0c\u7279\u522b\u662f\u5728\u5927\u89c4\u6a21\u7684\u5ba4\u5916\u73af\u5883\u4e2d\uff0c\u4ece\u6444\u50cf\u5934\u56fe\u50cf\u4e2d\u63d0\u53d6\u7684\u89c6\u89c9\u7279\u5f81\u5f80\u5f80\u4e0d\u591f\u7a33\u5b9a<\/strong>\uff0c\u5bfc\u81f4\u8bc6\u522b\u7cbe\u5ea6\u8f83\u4f4e\u3002\u76f8\u6bd4\u4e4b\u4e0b\uff0c\u6fc0\u5149\u96f7\u8fbe\u4f20\u611f\u5668\u5728\u8fd9\u4e9b\u56e0\u7d20\u4e0b\u8868\u73b0\u51fa\u66f4\u9ad8\u7684\u7a33\u5b9a\u6027\uff0c\u56e0\u6b64\u5728\u5927\u89c4\u6a21\u5ba4\u5916\u573a\u666f\u4e2d\uff0c\u57fa\u4e8e\u6fc0\u5149\u96f7\u8fbe\u7684\u5730\u70b9\u8bc6\u522b\uff08LPR\uff09\u66f4\u4e3a\u7a33\u5065\u3002\u7136\u800c\uff0cLPR\u7684\u8bc6\u522b\u6027\u80fd\u4ecd\u7136<strong>\u53d7\u5230\u6fc0\u5149\u96f7\u8fbe\u70b9\u4e91\u81ea\u7136\u7a00\u758f\u6027\u4ee5\u53ca\u7f3a\u4e4f\u7eb9\u7406\u548c\u8bed\u4e49\u4fe1\u606f\u7684\u9650\u5236<\/strong>\u3002<\/p>\n\n\n\n<p>\u5927\u591a\u6570\u591a\u6a21\u6001\u5730\u70b9\u8bc6\u522b\uff08MPR\uff09\u65b9\u6cd5\u4ece\u573a\u666f\u7684\u539f\u59cb\u8868\u793a\uff08\u4f8b\u5982\u539f\u59cb\u56fe\u50cf\u548c\u70b9\u4e91\uff09\u4e2d\u72ec\u7acb\u63d0\u53d6\u7279\u5f81\uff0c\u5e76\u6267\u884c\u4e0d\u53ef\u89e3\u91ca\u7684\u7279\u5f81\u7ea7\u878d\u5408\uff0c<strong>\u5bfc\u81f4\u672a\u80fd\u5145\u5206\u5229\u7528\u4e0d\u540c\u6a21\u6001\u4e4b\u95f4\u7684\u65f6\u7a7a\u76f8\u5173\u6027<\/strong>\u3002\u56e0\u6b64\uff0c\u5982\u4f55\u6709\u6548\u5730\u5c06\u591a\u6a21\u6001\u4f20\u611f\u5668\u6570\u636e\u878d\u5408\u4e3a\u7edf\u4e00\u7684\u573a\u666f\u8868\u793a\uff0c\u5e76\u5145\u5206\u63d0\u53d6\u591a\u6a21\u6001\u7684\u65f6\u7a7a\u76f8\u5173\u6027\uff0c\u4ecd\u662f\u4e00\u4e2a\u503c\u5f97\u8fdb\u4e00\u6b65\u7814\u7a76\u7684\u8bdd\u9898\u30023D-GS\u65b9\u6cd5\u901a\u8fc73D\u9ad8\u65af\u5efa\u6a21\u6784\u5efa\u4e86\u663e\u5f0f\u7684\u573a\u666f\u8868\u793a\uff0c\u80fd\u591f\u5feb\u901f\u6e32\u67d3\u65b0\u89c6\u89d2\uff0c\u540c\u65f6\u6709\u6548\u6355\u6349\u7cbe\u786e\u7684\u51e0\u4f55\u4fe1\u606f\u3002\u901a\u8fc7\u805a\u5408\u591a\u4e2a\u89c6\u89d2\u7684\u8fde\u7eed\u89c2\u6d4b\uff0c3D-GS\u5168\u9762\u6784\u5efa\u4e86\u7a7a\u95f4\u7ed3\u6784\u8868\u793a\uff0c\u4e3a\u591a\u6a21\u6001\u5730\u70b9\u8bc6\u522b\u7684\u65f6\u7a7a\u878d\u5408\u63d0\u4f9b\u4e86\u53ef\u80fd\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"782\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-50-1024x782.png\" alt=\"\" class=\"wp-image-16545\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-50-1024x782.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-50-300x229.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-50-768x587.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-50.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u672c\u6587\u4ecb\u7ecd\u7684<strong>GSPR<\/strong>[1]\u662f\u4e00\u79cd\u57fa\u4e8e3D\u9ad8\u65af\u55b7\u6e85\u7684\u591a\u6a21\u6001\u5730\u70b9\u8bc6\u522b\u65b9\u6cd5\uff0c\u5982\u56fe1\u6240\u793a\u3002\u9996\u5148\u8bbe\u8ba1\u4e86\u4e00\u4e2a\u591a\u6a21\u6001\u9ad8\u65af\u55b7\u6e85\uff08MGS\uff09\u65b9\u6cd5\u6765\u8868\u793a\u81ea\u52a8\u9a7e\u9a76\u573a\u666f\u3002\u5229\u7528LiDAR\u70b9\u4e91\u4f5c\u4e3a\u521d\u59cb\u5316\u9ad8\u65af\u5206\u5e03\u7684\u5148\u9a8c\u4fe1\u606f\uff0c\u8fd9\u6709\u52a9\u4e8e\u89e3\u51b3\u5728\u6b64\u7c7b\u73af\u5883\u4e2d\u7ed3\u6784\u81ea\u8fd0\u52a8\uff08SfM\uff09\u5931\u8d25\u7684\u95ee\u9898\u3002\u6b64\u5916\uff0c\u91c7\u7528\u4e86\u6df7\u5408\u63a9\u7801\u673a\u5236\u6765\u53bb\u9664\u5bf9\u5730\u70b9\u8bc6\u522b\u4e0d\u592a\u6709\u4ef7\u503c\u7684\u4e0d\u7a33\u5b9a\u7279\u5f81\u3002\u901a\u8fc7\u8fd9\u79cd\u65b9\u5f0f\uff0c\u5c06\u591a\u6a21\u6001\u6570\u636e\u878d\u5408\u4e3a\u4e00\u4e2a\u65f6\u7a7a\u7edf\u4e00\u7684\u9ad8\u65af\u573a\u666f\u8868\u793a\u3002\u7136\u540e\uff0c\u901a\u8fc7\u4f53\u7d20\u5206\u533a\u5c06\u6bcf\u4e2a\u573a\u666f\u4e2d\u65e0\u5e8f\u7684\u9ad8\u65af\u70b9\u4e0b\u91c7\u6837\u4e3a\u4e00\u7ec4\u4f53\u7d20\uff0c\u5e76\u5f00\u53d1\u4e86\u4e00\u4e2a\u57fa\u4e8e3D\u56fe\u5377\u79ef\u548c\u53d8\u6362\u5668\u7684\u7f51\u7edc\uff0c\u7528\u4e8e\u63d0\u53d6\u9ad8\u7ea7\u65f6\u7a7a\u7279\u5f81\uff0c\u751f\u6210\u533a\u5206\u6027\u63cf\u8ff0\u7b26\u4ee5\u8fdb\u884c\u5730\u70b9\u8bc6\u522b\u3002\u901a\u8fc7\u63d0\u51fa\u7684\u591a\u6a21\u6001\u9ad8\u65af\u55b7\u6e85\u65b9\u6cd5\uff0c\u5c06\u591a\u6a21\u6001\u6570\u636e\u878d\u5408\u4e3a\u7edf\u4e00\u7684\u663e\u5f0f\u573a\u666f\u8868\u793a\uff0c\u4e3a\u591a\u6a21\u6001\u5730\u70b9\u8bc6\u522b\u7684\u65f6\u7a7a\u878d\u5408\u63d0\u4f9b\u4e86\u57fa\u7840\u3002<\/p>\n\n\n\n<p><strong>\u9879\u76ee\u94fe\u63a5<\/strong>\uff1ahttps:\/\/github.com\/QiZS-BIT\/GSPR<\/p>\n\n\n\n<p><strong>\u4e3b\u8981\u8d21\u732e<\/strong>\u5982\u4e0b\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u63d0\u51fa\u4e86\u591a\u6a21\u6001\u9ad8\u65af\u55b7\u6e85\u65b9\u6cd5\uff0c\u5c06\u591a\u89c6\u89d2\u76f8\u673a\u548cLiDAR\u6570\u636e\u534f\u8c03\u4e3a\u65f6\u7a7a\u7edf\u4e00\u7684\u663e\u5f0f\u573a\u666f\u8868\u793a\u3002<\/li>\n\n\n\n<li>\u63d0\u51fa\u4e86GSPR\uff0c\u8fd9\u662f\u4e00\u79cd\u65b0\u9896\u7684\u591a\u6a21\u6001\u5730\u70b9\u8bc6\u522b\uff08MPR\uff09\u7f51\u7edc\uff0c\u914d\u5907\u4e863D\u56fe\u5377\u79ef\u548c\u53d8\u6362\u5668\uff0c\u7528\u4e8e\u805a\u5408MGS\u573a\u666f\u8868\u793a\u4e2d\u56fa\u6709\u7684\u9ad8\u7ea7\u5c40\u90e8\u548c\u5168\u5c40\u65f6\u7a7a\u4fe1\u606f\u3002<\/li>\n\n\n\n<li>\u5e7f\u6cdb\u7684\u5b9e\u9a8c\u7ed3\u679c\u8868\u660e\uff0c\u5728\u5730\u70b9\u8bc6\u522b\u6027\u80fd\u4e0a\u4f18\u4e8e\u6700\u65b0\u7684\u5355\u6a21\u6001\u548c\u591a\u6a21\u6001\u65b9\u6cd5\uff0c\u540c\u65f6\u5728\u672a\u89c1\u8fc7\u7684\u9a7e\u9a76\u573a\u666f\u4e0a\u8868\u73b0\u51fa\u826f\u597d\u7684\u6cdb\u5316\u80fd\u529b\u3002<\/li>\n<\/ul>\n\n\n\n<p><strong>\u5177\u4f53\u65b9\u6cd5<\/strong><\/p>\n\n\n\n<p>\u5982\u56fe2\u6240\u793a\uff0cGSPR\u7531\u4e24\u4e2a\u7ec4\u6210\u90e8\u5206\u6784\u6210\uff1a<strong>\u591a\u6a21\u6001\u9ad8\u65af\u55b7\u6e85\uff08MGS\uff09<\/strong>\u548c<strong>\u5168\u5c40\u63cf\u8ff0\u7b26\u751f\u6210\u5668\uff08GDG\uff09<\/strong>\u3002<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u591a\u6a21\u6001\u9ad8\u65af\u55b7\u6e85\u5c06\u591a\u89c6\u89d2\u76f8\u673a\u548cLiDAR\u6570\u636e\u878d\u5408\u4e3a\u65f6\u7a7a\u7edf\u4e00\u7684\u9ad8\u65af\u573a\u666f\u8868\u793a\u3002<\/li>\n\n\n\n<li>\u5168\u5c40\u63cf\u8ff0\u7b26\u751f\u6210\u5668\u901a\u8fc73D\u56fe\u5377\u79ef\u548c\u53d8\u6362\u5668\u6a21\u5757\u4ece\u573a\u666f\u4e2d\u63d0\u53d6\u9ad8\u7ea7\u65f6\u7a7a\u7279\u5f81\uff0c\u5e76\u5c06\u8fd9\u4e9b\u7279\u5f81\u805a\u5408\u4e3a\u533a\u5206\u6027\u5168\u5c40\u63cf\u8ff0\u7b26\uff0c\u4ee5\u7528\u4e8e\u5730\u70b9\u8bc6\u522b\u3002<\/li>\n<\/ul>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"435\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-51-1024x435.png\" alt=\"\" class=\"wp-image-16547\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-51-1024x435.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-51-300x128.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-51-768x326.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-51.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p><strong>\u591a\u6a21\u6001\u9ad8\u65af\u55b7\u6e85<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"798\" height=\"764\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-52.png\" alt=\"\" class=\"wp-image-16548\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-52.png 798w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-52-300x287.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-52-768x735.png 768w\" sizes=\"(max-width: 798px) 100vw, 798px\" 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loading=\"lazy\" decoding=\"async\" width=\"669\" height=\"486\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/10\/100901.png\" alt=\"\" class=\"wp-image-16549\" style=\"width:897px;height:auto\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/100901.png 669w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/100901-300x218.png 300w\" sizes=\"(max-width: 669px) 100vw, 669px\" \/><\/figure>\n\n\n\n<p><strong>\u8fc7\u62df\u5408\u7f13\u89e3<\/strong><\/p>\n\n\n\n<p>\u4e0e\u4f20\u7edf\u76843D\u9ad8\u65af\u55b7\u6e85\u65b9\u6cd5\u80fd\u591f\u8f7b\u677e\u6e32\u67d3\u7684\u6709\u754c\u573a\u666f\u4e0d\u540c\uff0c\u81ea\u52a8\u9a7e\u9a76\u573a\u666f\u7531\u4e8e\u5176\u65e0\u8fb9\u754c\u6027\u548c\u8bad\u7ec3\u89c6\u89d2\u5206\u5e03\u7684\u7a00\u758f\u6027\uff0c\u5e26\u6765\u4e86\u8bb8\u591a\u6311\u6218\u3002\u76d1\u7763\u4fe1\u53f7\u7684\u7a00\u7f3a\u5bfc\u81f4\u8bad\u7ec3\u89c6\u89d2\u7684\u8fc7\u62df\u5408\uff0c\u8fdb\u800c\u5f15\u53d1\u4e86\u6d6e\u52a8\u4f2a\u5f71\u548c\u51e0\u4f55\u7ed3\u6784\u7684\u9519\u4f4d\u3002<\/p>\n\n\n\n<p>\u8fc7\u62df\u5408\u7684\u4e00\u4e2a\u4e3b\u8981\u539f\u56e0\u662f\u8fd1\u8ddd\u79bb\u548c\u8fdc\u8ddd\u79bb\u573a\u666f\u4e4b\u95f4\u7684\u6df7\u6dc6\u3002\u7531\u4e8e\u8fdc\u8ddd\u79bb\u666f\u89c2\u7684\u51e0\u4f55\u4fe1\u606f\u4e0d\u8db3\uff0c\u9ad8\u65af\u5728\u8bad\u7ec3\u8fc7\u7a0b\u4e2d\u5f80\u5f80\u4f1a\u5c06\u8fdc\u8ddd\u79bb\u573a\u666f\u62df\u5408\u4e3a\u8fd1\u8ddd\u79bb\u573a\u666f\u4e2d\u7684\u6d6e\u52a8\u4f2a\u5f71\uff0c\u5bfc\u81f4\u80cc\u666f\u574d\u584c\u3002\u901a\u8fc7\u589e\u52a0\u7403\u5f62\u70b9\u4e91\uff0c\u589e\u5f3a\u4e86\u8d85\u51faLiDAR\u8986\u76d6\u8303\u56f4\u7684\u8fdc\u8ddd\u79bb\u573a\u666f\u7684\u91cd\u5efa\u8d28\u91cf\u3002\u7403\u5f62\u70b9\u4e91\u8fd8\u901a\u8fc7\u591a\u89c6\u89d2RGB\u56fe\u50cf\u8fdb\u884c\u7740\u8272\uff0c\u4f5c\u4e3a\u521d\u59cb\u9ad8\u65af\u5148\u9a8c\u3002<\/p>\n\n\n\n<p><strong>\u6df7\u5408\u63a9\u7801\u673a\u5236<\/strong><\/p>\n\n\n\n<p>\u5728\u81ea\u52a8\u9a7e\u9a76\u573a\u666f\u4e2d\uff0c\u4e00\u4e9b\u73af\u5883\u7279\u5f81\u968f\u7740\u65f6\u95f4\u7684\u63a8\u79fb\u8868\u73b0\u51fa\u4e0d\u7a33\u5b9a\u6027\uff0c\u5e76\u4e14\u5bf9\u5730\u70b9\u8bc6\u522b\u7684\u8d21\u732e\u8f83\u5c0f\u3002\u56e0\u6b64\u63d0\u51fa\u4e86\u6df7\u5408\u63a9\u7801\u673a\u5236\uff0c\u4e13\u6ce8\u4e8e\u5728\u9ad8\u65af\u4f18\u5316\u8fc7\u7a0b\u4e2d\u4ec5\u91cd\u5efa\u7a33\u5b9a\u7684\u90e8\u5206\u3002<\/p>\n\n\n\n<p>\u6211\u4eec\u4f7f\u7528\u5728Cityscapes\u6570\u636e\u96c6\u4e0a\u9884\u8bad\u7ec3\u7684Mask2Former\u4f5c\u4e3a\u8bed\u4e49\u5206\u5272\u6a21\u5757\uff0c\u7528\u4e8e\u751f\u6210\u8bad\u7ec3\u56fe\u50cf\u7684\u8bed\u4e49\u6807\u7b7e\u3002\u901a\u8fc7\u5c06\u8bed\u4e49\u6807\u7b7e\u4e0e2D\u771f\u5b9e\u6807\u6ce8\u7ed3\u5408\uff0c\u6211\u4eec\u53ef\u4ee5\u83b7\u5f97\u5b9e\u4f8b\u7ea7\u7684\u63a9\u7801\u8868\u793a\u3002\u9274\u4e8e\u4e0d\u7a33\u5b9a\u73af\u5883\u7279\u5f81\u7684\u6027\u8d28\uff0c\u6211\u4eec\u5c06\u63a9\u7801\u533a\u57df\u5206\u4e3a\u9759\u6001\u63a9\u7801\uff08\u4f8b\u5982\u5929\u7a7a\u548c\u9053\u8def\u8868\u9762\uff09\u548c\u52a8\u6001\u63a9\u7801\uff08\u4f8b\u5982\u8f66\u8f86\u548c\u884c\u4eba\uff09\uff0c\u5b83\u4eec\u5728\u9ad8\u65af\u4f18\u5316\u8fc7\u7a0b\u4e2d\u5206\u522b\u626e\u6f14\u4e0d\u540c\u7684\u89d2\u8272\u3002\u9759\u6001\u63a9\u7801\u7528\u4e8e\u8bad\u7ec3\u56fe\u50cf\u7684\u7b5b\u9009\u6807\u51c6\uff0c\u8bad\u7ec3\u56fe\u50cf\u4e2d\u88ab\u9759\u6001\u63a9\u7801\u8986\u76d6\u7684\u533a\u57df\u5c06\u88ab3D-GS\u6e32\u67d3\u5668\u7684\u80cc\u666f\u8272\u8986\u76d6\uff0c\u4ee5\u9650\u5236\u9ad8\u65af\u7684\u751f\u6210\u3002\u76f8\u53cd\uff0c\u52a8\u6001\u63a9\u7801\u6db5\u76d6\u4e86\u573a\u666f\u4e2d\u7684\u52a8\u6001\u7269\u4f53\u3002\u503c\u5f97\u6ce8\u610f\u7684\u662f\uff0c\u76f4\u63a5\u7b5b\u9664\u8fd9\u4e9b\u52a8\u6001\u7269\u4f53\u7684\u9634\u5f71\u533a\u57df\u53ef\u80fd\u4f1a\u5bfc\u81f4\u4e0d\u5fc5\u8981\u7684\u4fe1\u606f\u635f\u5931\u3002\u56e0\u6b64\uff0c\u6211\u4eec\u91c7\u7528\u4e86\u201c\u635f\u5931\u5206\u79bb\u201d\u7b56\u7565\uff0c\u5728\u9ad8\u65af\u4f18\u5316\u8fc7\u7a0b\u4e2d\u5ffd\u7565\u4e86\u63a9\u7801\u533a\u57df\u7684LMGS\u635f\u5931\u3002\u8fd9\u4e00\u7b56\u7565\u51cf\u5c11\u4e86\u52a8\u6001\u7269\u4f53\u7684\u8d1f\u9762\u5f71\u54cd\uff0c\u540c\u65f6\u76f8\u6bd4\u76f4\u63a5\u8fc7\u6ee4\u6389\u542b\u6709\u52a8\u6001\u7269\u4f53\u7684\u5e27\uff0c\u4fdd\u7559\u4e86\u66f4\u591a\u7684\u5927\u89c4\u6a21\u91cd\u5efa\u76d1\u7763\u4fe1\u606f\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"792\" height=\"696\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-53.png\" alt=\"\" class=\"wp-image-16550\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-53.png 792w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-53-300x264.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-53-768x675.png 768w\" sizes=\"(max-width: 792px) 100vw, 792px\" \/><\/figure>\n\n\n\n<p>\u5982\u56fe4\u6240\u793a\uff0c\u63d0\u51fa\u7684\u6df7\u5408\u63a9\u7801\u673a\u5236\u6709\u6548\u5730\u5c4f\u853d\u4e86\u4e0d\u7a33\u5b9a\u7684\u7279\u5f81\u3002\u6b64\u5916\uff0cLiDAR\u5148\u9a8c\u7684\u4f7f\u7528\u548c\u8fc7\u62df\u5408\u7f13\u89e3\u6280\u672f\u7684\u91c7\u7528\uff0c\u6709\u52a9\u4e8e\u4fdd\u6301\u91cd\u5efa\u573a\u666f\u7684\u4e00\u81f4\u5c3a\u5ea6\u548c\u51c6\u786e\u7684\u51e0\u4f55\u7ed3\u6784\u3002\u56e0\u6b64\uff0c\u4e0e\u5728\u81ea\u52a8\u9a7e\u9a76\u573a\u666f\u4e2d\u4f7f\u7528\u7684\u4f20\u7edf3D\u9ad8\u65af\u55b7\u6e85\u76f8\u6bd4\uff0c\u6211\u4eec\u7684MGS\u5c55\u73b0\u4e86\u66f4\u597d\u7684\u65b0\u89c6\u89d2\u5408\u6210\u80fd\u529b\uff0c\u80fd\u591f\u4e3a\u5730\u70b9\u63cf\u8ff0\u63d0\u4f9b\u65f6\u7a7a\u4e00\u81f4\u7684MGS\u573a\u666f\u8868\u793a\u3002<\/p>\n\n\n\n<p><strong>\u5168\u5c40\u63cf\u8ff0\u7b26\u751f\u6210\u5668<\/strong><\/p>\n\n\n\n<p>\u5168\u5c40\u63cf\u8ff0\u7b26\u751f\u6210\u5668\u7528\u4e8e\u4ece\u63d0\u51fa\u7684MGS\uff08\u591a\u6a21\u6001\u9ad8\u65af\u55b7\u6e85\uff09\u8868\u793a\u4e2d\u63d0\u53d6\u533a\u5206\u6027\u5730\u70b9\u8bc6\u522b\u63cf\u8ff0\u7b26\u3002\u4e3a\u4e86\u63d0\u53d6\u9ad8\u7ea7\u65f6\u7a7a\u7279\u5f81\uff0c\u9996\u5148\u5bf9MGS\u573a\u666f\u8fdb\u884c\u4f53\u7d20\u5316\uff08Voxelization\uff09\uff0c\u7136\u540e\u901a\u8fc7\u4e00\u4e2a\u75313D\u56fe\u5377\u79ef\u548c\u53d8\u6362\u5668\u6a21\u5757\u7ec4\u6210\u7684\u4e3b\u5e72\u7f51\u7edc\u6765\u63d0\u53d6\u5c40\u90e8\u548c\u5168\u5c40\u7684\u7279\u5f81\u3002\u6700\u540e\uff0c\u5c06\u8fd9\u4e9b\u65f6\u7a7a\u7279\u5f81\u901a\u8fc7NetVLAD-MLP\u7ec4\u5408\u8fdb\u884c\u805a\u5408\uff0c\u751f\u6210\u533a\u5206\u6027\u7684\u5168\u5c40\u63cf\u8ff0\u7b26\u7528\u4e8e\u5730\u70b9\u8bc6\u522b\u3002<\/p>\n\n\n\n<p><strong>\u4f53\u7d20\u5206\u533a\u4e0e\u7f16\u7801<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"666\" height=\"510\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/10\/100902.png\" alt=\"\" class=\"wp-image-16551\" style=\"width:890px;height:auto\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/100902.png 666w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/100902-300x230.png 300w\" sizes=\"(max-width: 666px) 100vw, 666px\" \/><\/figure>\n\n\n\n<p><strong>3D\u56fe\u5377\u79ef<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"671\" height=\"628\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/10\/100903.png\" alt=\"\" class=\"wp-image-16552\" style=\"width:892px;height:auto\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/100903.png 671w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/100903-300x281.png 300w\" sizes=\"(max-width: 671px) 100vw, 671px\" \/><\/figure>\n\n\n\n<p><strong>\u53d8\u6362\u5668\u6a21\u5757<\/strong><\/p>\n\n\n\n<p>\u91c7\u7528transformers\uff0c\u4ee5\u8fdb\u4e00\u6b65\u63d0\u5347\u5730\u70b9\u8bc6\u522b\u6027\u80fd\u3002\u4e0e\u8fd9\u4e9b\u4e3b\u8981\u4e13\u6ce8\u4e8e\u81ea\u6ce8\u610f\u529b\u673a\u5236\u4f46\u4e0d\u5305\u542b\u4f4d\u7f6e\u7f16\u7801\u7684\u5de5\u4f5c\u4e0d\u540c\uff0c\u63d0\u51fa\u4f7f\u7528\u53ef\u5b66\u4e60\u7684\u4f4d\u7f6e\u7f16\u7801\u5c06\u7279\u5f81\u56fe\u4e2d\u7684\u7a7a\u95f4\u76f8\u5173\u6027\u5f15\u5165\u5230\u53d8\u6362\u5668\u7684\u9690\u7279\u5f81\u7a7a\u95f4\u4e2d\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"796\" height=\"524\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-54.png\" alt=\"\" class=\"wp-image-16553\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-54.png 796w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-54-300x197.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-54-768x506.png 768w\" sizes=\"(max-width: 796px) 100vw, 796px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"663\" height=\"292\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/10\/100904.png\" alt=\"\" class=\"wp-image-16554\" style=\"width:892px;height:auto\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/100904.png 663w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/100904-300x132.png 300w\" sizes=\"(max-width: 663px) 100vw, 663px\" \/><\/figure>\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=\"345\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-55-1024x345.png\" alt=\"\" class=\"wp-image-16555\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-55-1024x345.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-55-300x101.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-55-768x259.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-55.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=\"756\" height=\"310\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-56.png\" alt=\"\" class=\"wp-image-16556\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-56.png 756w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-56-300x123.png 300w\" sizes=\"(max-width: 756px) 100vw, 756px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"792\" height=\"806\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-57.png\" alt=\"\" class=\"wp-image-16557\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-57.png 792w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-57-295x300.png 295w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-57-768x782.png 768w\" sizes=\"(max-width: 792px) 100vw, 792px\" \/><\/figure>\n\n\n\n<p><strong>\u603b\u7ed3\u4e00\u4e0b<\/strong><\/p>\n\n\n\n<p>GSPR\u662f\u4e00\u79cd\u57fa\u4e8e3D\u9ad8\u65af\u55b7\u6e85\u7684\u591a\u6a21\u6001\u5730\u70b9\u8bc6\u522b\u7f51\u7edc\u3002\u901a\u8fc7\u591a\u6a21\u6001\u9ad8\u65af\u55b7\u6e85\u878d\u5408\u591a\u89c6\u89d2RGB\u56fe\u50cf\u548cLiDAR\u70b9\u4e91\uff0c\u521b\u5efa\u4e86\u4e00\u4e2a\u65f6\u7a7a\u7edf\u4e00\u7684MGS\u573a\u666f\u8868\u793a\uff0c\u9002\u7528\u4e8e\u81ea\u52a8\u9a7e\u9a76\u573a\u666f\u3002\u4e3a\u4e86\u5904\u7406\u65e0\u5e8f\u7684\u9ad8\u65af\u6570\u636e\uff0c\u5b9e\u73b0\u4e86\u4f53\u7d20\u964d\u91c7\u6837\uff0c\u4ee5\u6709\u6548\u7ec4\u7ec7\u6570\u636e\u3002\u8fdb\u4e00\u6b65\u63d0\u51fa\u4f7f\u75283D\u56fe\u5377\u79ef\u7f51\u7edc\u548c\u53d8\u6362\u5668\u6a21\u5757\uff0c\u4ece\u9ad8\u65af\u56fe\u4e2d\u63d0\u53d6\u5c40\u90e8\u548c\u5168\u5c40\u7684\u65f6\u7a7a\u7279\u5f81\uff0c\u751f\u6210\u533a\u5206\u6027\u63cf\u8ff0\u7b26\u7528\u4e8e\u5730\u70b9\u8bc6\u522b\u3002\u5b9e\u9a8c\u7ed3\u679c\u8868\u660e\uff0c\u5728\u5904\u7406\u5177\u6709\u6311\u6218\u6027\u7684\u5730\u70b9\u8bc6\u522b\u4efb\u52a1\u65f6\uff0c\u4f18\u4e8e\u6700\u65b0\u7684\u5355\u6a21\u6001\u3001\u591a\u6a21\u6001\u4ee5\u53ca\u5e8f\u5217\u589e\u5f3a\u7684\u65b9\u6cd5\uff0c\u8868\u73b0\u51fa\u663e\u8457\u7684\u6cdb\u5316\u80fd\u529b\u3002<\/p>\n\n\n\n<p><strong>\u53c2\u8003<\/strong><\/p>\n\n\n\n<p>[1] GSPR: Multimodal Place Recognition Using 3D Gaussian Splatting for Autonomous Driving<\/p>\n\n\n\n<p><\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u6709\u6548\u5229\u7528\u65f6\u7a7a\u76f8\u5173\u6027 \u5730\u70b9\u8bc6\u522b\u7684\u4efb\u52a1\u662f\u901a\u8fc7\u4fee\u6b63S [&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-16544","post","type-post","status-publish","format-standard","hentry","category-technology-frontier","category-home"],"views":1,"_links":{"self":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/16544"}],"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=16544"}],"version-history":[{"count":1,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/16544\/revisions"}],"predecessor-version":[{"id":16558,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/16544\/revisions\/16558"}],"wp:attachment":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/media?parent=16544"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/categories?post=16544"},{"taxonomy":"post_tag","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/tags?post=16544"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}