{"id":16735,"date":"2024-10-12T15:00:41","date_gmt":"2024-10-12T07:00:41","guid":{"rendered":"http:\/\/192.168.10.115\/?p=16735"},"modified":"2024-10-12T16:13:09","modified_gmt":"2024-10-12T08:13:09","slug":"mit%e5%a4%9a%e5%8a%9f%e8%83%bd%e5%bc%80%e6%ba%90%e7%82%b9%e4%ba%91%e9%85%8d%e5%87%86%e5%ba%93kiss-matcher%ef%bc%9a%e4%bf%9d%e6%8c%81%e7%b2%be%e5%ba%a6%e7%9a%84%e5%90%8c%e6%97%b6%ef%bc%8c%e9%80%9f","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2024\/10\/12\/16735\/","title":{"rendered":"2024-10-12 MIT\u591a\u529f\u80fd\u5f00\u6e90\u70b9\u4e91\u914d\u51c6\u5e93KISS-Matcher\uff1a\u4fdd\u6301\u7cbe\u5ea6\u7684\u540c\u65f6\uff0c\u901f\u5ea6\u8fdc\u5feb\u4e8eSOTA"},"content":{"rendered":"\n

\u201c\u4fdd\u6301\u7b80\u5355\u548c\u53ef\u6269\u5c55\u201d\u7684\u5168\u5c40\u914d\u51c6<\/strong><\/p>\n\n\n\n

3D\u70b9\u4e91\u914d\u51c6\u662f\u4e00\u9879\u4f30\u8ba1\u4e24\u4e2a\u90e8\u5206\u91cd\u53e0\u7684\u70b9\u4e91\u4e4b\u95f4\u76f8\u5bf9\u4f4d\u59ff\u7684\u57fa\u672c\u95ee\u9898\uff0c\u4e0e\u57fa\u4e8e\u8fed\u4ee3\u6700\u8fd1\u70b9\uff08ICP\uff09\u7684\u65b9\u6cd5\u4e0d\u540c\uff0c\u8fd9\u7c7b\u65b9\u6cd5\u5177\u6709\u8f83\u5c0f\u7684\u6536\u655b\u533a\u57df\uff0c\u4e14\u4ec5\u5f53\u521d\u59cb\u4f30\u8ba1\u8f83\u597d\u7684\u60c5\u51b5\u4e0b\u624d\u4f1a\u6536\u655b\u5230\u7406\u60f3\u89e3<\/strong>\u3002\u800c\u5168\u5c40\u914d\u51c6\u65e8\u5728\u65e0\u9700\u521d\u59cb\u4f30\u8ba1\u7684\u524d\u63d0\u4e0b\u4f30\u8ba1\u76f8\u5bf9\u4f4d\u59ff\u3002\u56e0\u6b64\uff0c\u5168\u5c40\u914d\u51c6\u5e7f\u6cdb\u7528\u4e8e\u5e94\u7528\u573a\u666f\uff0c\u901a\u5e38\u63d0\u4f9b\u521d\u59cb\u5bf9\u9f50\uff0c\u4ee5\u4f7fICP\u65b9\u6cd5\u6536\u655b\u5230\u66f4\u4f18\u7684\u89e3\u3002<\/p>\n\n\n\n

\u5148\u524d\u7684\u7814\u7a76\u5f80\u5f80\u4e13\u6ce8\u4e8e\u63d0\u5347\u7279\u5b9a\u7ec4\u4ef6\u7684\u6027\u80fd\uff08\u4f8b\u5982\uff0c\u7279\u5f81\u63d0\u53d6\u3001\u57fa\u4e8e\u56fe\u8bba\u7684\u4fee\u526a\u6216\u59ff\u6001\u6c42\u89e3\u5668\uff09\uff0c\u800c\u5ffd\u7565\u4e86\u6574\u4e2a\u914d\u51c6\u6d41\u7a0b\u7684\u5b9e\u65f6\u6027\u548c\u66f4\u5e7f\u6cdb\u7684\u9002\u7528\u6027<\/strong>\u3002\u5c24\u5176\u662f\uff0c\u5c3d\u7ba1\u8fd1\u671f\u57fa\u4e8e\u6df1\u5ea6\u5b66\u4e60\u7684\u65b9\u6cd5\u5728\u672a\u8bad\u7ec3\u7684\u573a\u666f\u4e2d\u5c55\u73b0\u4e86\u8f83\u597d\u7684\u6cdb\u5316\u80fd\u529b\uff0c\u4e00\u4e9b\u57fa\u4e8e\u5b66\u4e60\u7684\u65b9\u6cd5\u5ffd\u7565\u4e86\u6570\u636e\u9884\u5904\u7406\u6240\u9700\u7684\u65f6\u95f4\uff0c\u6216\u4f9d\u8d56\u4e8e\u5927\u91cf\u7684\u968f\u673a\u91c7\u6837\u4e00\u81f4\u6027\uff08RANSAC\uff09\u8fed\u4ee3\uff0c\u8fd9\u4e9b\u8fed\u4ee3\u53ef\u80fd\u8017\u65f6\u6570\u79d2\u751a\u81f3\u6570\u5341\u79d2\u3002\u6b64\u5916\uff0c\u4e0d\u4ec5\u6df1\u5ea6\u5b66\u4e60\u65b9\u6cd5\uff0c\u4e00\u4e9b\u4f20\u7edf\u65b9\u6cd5\u4e5f\u4ec5\u9650\u4e8e\u626b\u63cf\u7ea7\u522b\u7684\u914d\u51c6\uff0c\u65e0\u6cd5\u6269\u5c55\u5230\u5b50\u5730\u56fe\u6216\u5730\u56fe\u7ea7\u522b\uff0c\u8fd9\u9650\u5236\u4e86\u5b83\u4eec\u7684\u5e94\u7528\u8303\u56f4\uff1b\u56e0\u6b64\uff0c\u5f00\u53d1\u9002\u7528\u4e8e\u626b\u63cf\u7ea7\u522b\u548c\u5927\u89c4\u6a21\u5730\u56fe\u7ea7\u522b\u7684\u53ef\u6269\u5c55\u914d\u51c6\u65b9\u6cd5\u5c24\u4e3a\u91cd\u8981\uff0c\u5982\u56fe1(a)\u6240\u793a\u3002<\/p>\n\n\n\n

\"\"<\/figure>\n\n\n\n

\u672c\u6587\u4ecb\u7ecd\u7684KISS-Matcher<\/strong>[1]\u662f\u4e00\u79cd\u5feb\u901f\u4e14\u53ef\u6269\u5c55\u7684\u914d\u51c6\u7cfb\u7edf\uff0c\u5c06\u6bcf\u4e2a\u914d\u51c6\u7ba1\u9053\u7ec4\u4ef6\u7684\u6700\u65b0\u8fdb\u5c55\u7ed3\u5408\u5230\u4e00\u4e2a\u591a\u529f\u80fd\u4e14\u53ef\u968f\u65f6\u4f7f\u7528\u7684C++\u5e93\u4e2d\u3002\u9075\u5faaKISS-ICP\u7684\u7406\u5ff5\uff0c\u91cd\u70b9\u63d0\u5347\u7cfb\u7edf\u7684\u9002\u7528\u6027\uff0c\u51cf\u5c11\u5bf9\u4f20\u611f\u5668\u7279\u5b9a\u5047\u8bbe\u6216\u7e41\u7410\u53c2\u6570\u8c03\u6574\u7684\u4f9d\u8d56\u3002<\/p>\n\n\n\n

\u4ece\u6574\u4f53\u89d2\u5ea6\u5904\u7406\u914d\u51c6\u95ee\u9898\uff0c\u7279\u522b\u9488\u5bf9TEASER++\u7ba1\u9053[2]\u4e2d\u7684\u95ee\u9898\u8fdb\u884c\u4e86\u6539\u8fdb\uff0c\u5c24\u5176\u662f\u5176\u5728\u5730\u56fe\u7ea7\u5339\u914d\u573a\u666f\u4e0b\u65e0\u6cd5\u5904\u7406\u5927\u91cf\u5bf9\u5e94\u5173\u7cfb\u7684\u60c5\u51b5\u3002\u4e3a\u4e86\u89e3\u51b3\u8fd9\u4e00\u95ee\u9898\uff1a<\/p>\n\n\n\n

    \n
  • \u901a\u8fc7\u63d0\u51faFaster-PFH\u52a0\u901f\u4e86\u7ecf\u5178\u7684\u624b\u5de5\u8bbe\u8ba1\u63cf\u8ff0\u7b26\u2014\u2014\u5feb\u901f\u70b9\u7279\u5f81\u76f4\u65b9\u56fe(FPFH)<\/li>\n\n\n\n
  • \u91c7\u7528\u57fa\u4e8ek-core\u7684\u56fe\u8bba\u4fee\u526a\u6280\u672f\u6765\u62d2\u7edd\u9519\u8bef\u7684\u5bf9\u5e94\u5173\u7cfb\u3002<\/li>\n<\/ul>\n\n\n\n

    \u7cfb\u7edf\u5728\u901f\u5ea6\u4e0a\u6bd4TEASER++\u5feb\u4e86\u6570\u500d\uff0c\u540c\u65f6\u5b9e\u73b0\u4e86\u7c7b\u4f3c\u7684\u6027\u80fd\uff08\u5982\u56fe1(b)\u6240\u793a\uff09\u3002<\/p>\n\n\n\n

    \"\"<\/figure>\n\n\n\n

    KISS-Matcher\u7684\u914d\u51c6\u7ba1\u9053\u9075\u5faa\u57fa\u4e8e\u7279\u5f81\u7684\u5916\u70b9\u9c81\u68d2\u914d\u51c6\u7684\u5178\u578b\u6d41\u7a0b\uff0c\u5982\u56fe3\u6240\u793a\u3002KISS-Matcher\u7531\u56db\u4e2a\u7ec4\u6210\u90e8\u5206\u6784\u6210\uff1a<\/p>\n\n\n\n

      \n
    1. \u51e0\u4f55\u6291\u5236<\/li>\n\n\n\n
    2. \u57fa\u4e8eFaster-PFH\u7684\u7279\u5f81\u63d0\u53d6\u548c\u521d\u59cb\u5339\u914d<\/li>\n\n\n\n
    3. \u57fa\u4e8ek-core\u7684\u56fe\u8bba\u5916\u70b9\u62d2\u7edd<\/li>\n\n\n\n
    4. \u57fa\u4e8e\u6e10\u8fdb\u975e\u51f8\u6027\uff08GNC\uff09\u7684\u975e\u6700\u5c0f\u89e3\u7b97\u5668\u3002<\/li>\n<\/ol>\n\n\n\n

      \u95ee\u9898\u5b9a\u4e49<\/strong><\/p>\n\n\n\n

      \"\"<\/figure>\n\n\n\n

      \u51e0\u4f55\u6291\u5236\u4f5c\u4e3a\u9884\u5904\u7406\u6b65\u9aa4<\/strong><\/p>\n\n\n\n

      \u7531\u4e8e\u73af\u5883\u4e2d\u91cd\u590d\u56fe\u6848\uff08\u5982\u5730\u9762\u3001\u5929\u82b1\u677f\u6216\u5efa\u7b51\u7269\u5e73\u9762\u5899\u4e0a\u7684\u70b9\uff09\u4ea7\u751f\u4e86\u5927\u91cf\u5916\u70b9\uff08\u4f8b\u5982\uff0c\u5f53\u4e0d\u540c\u5e73\u9762\u4e0a\u7684\u8bb8\u591a\u70b9\u88ab\u9519\u8bef\u5730\u8bc6\u522b\u4e3a\u5339\u914d\u65f6\uff09\uff0c\u8fd9\u4e9b\u5916\u70b9\u4f1a\u4e25\u91cd\u5f71\u54cd\u59ff\u6001\u4f30\u8ba1\u7684\u8d28\u91cf\u3002\u56e0\u6b64\uff0c\u5982\u679c\u8fd9\u4e9b\u70b9\u80fd\u591f\u88ab\u8f7b\u677e\u68c0\u6d4b\u5230\uff0c\u5b83\u4eec\u5e94\u5728\u9884\u5904\u7406\u6b65\u9aa4\u4e2d\u88ab\u8fc7\u6ee4\u6389\uff0c\u4ee5\u4f7f\u914d\u51c6\u8fc7\u7a0b\u66f4\u52a0\u9c81\u68d2\u3002\u6211\u4eec\u5c06\u6b64\u9884\u5904\u7406\u8fc7\u7a0b\u79f0\u4e3a\u51e0\u4f55\u6291\u5236<\/strong>\u3002\u51e0\u4f55\u6291\u5236\u4e0d\u4ec5\u80fd\u9632\u6b62\u540e\u7eed\u6b65\u9aa4\u6536\u655b\u5230\u9519\u8bef\u7684\u89e3\uff0c\u8fd8\u53ef\u4ee5\u901a\u8fc7\u63d0\u524d\u62d2\u7edd\u5197\u4f59\u548c\u4e0d\u5177\u533a\u5206\u6027\u7684\u70b9\u6765\u63d0\u9ad8\u7279\u5f81\u7684\u72ec\u7279\u6027\u3002\u6b64\u5916\uff0c\u5b83\u8fd8\u80fd\u901a\u8fc7\u51cf\u5c11\u70b9\u4e91\u7684\u6570\u91cf\u663e\u8457\u52a0\u901f\u540e\u7eed\u6b65\u9aa4\u3002\u4e3a\u4e86\u4fdd\u6301\u901a\u7528\u6027\uff0c\u7ee7\u7eed\u7528P\u548cQ\u6765\u8868\u793a\u51e0\u4f55\u6291\u5236\u540e\u8fc7\u6ee4\u7684\u70b9\u4e91\u3002<\/p>\n\n\n\n

      Faster-PFH: \u63d0\u5347FPFH\u901f\u5ea6<\/strong><\/p>\n\n\n\n

      \u4e3a\u4e86\u5728\u70b9\u4e91P\u548cQ\u4e4b\u95f4\u63d0\u53d6\u5e76\u5339\u914d\u7279\u5f81\uff0c\u63d0\u51fa\u4e86Faster-PFH<\/strong>\uff0c\u5b83\u662fFPFH \u7684\u66f4\u9ad8\u6548\u53d8\u4f53\uff0c\u540c\u65f6\u4fdd\u6301\u4e86\u76f8\u4f3c\u7684\u6027\u80fd\u3002\u5982\u56fe4(a)\u6240\u793a\uff0cFPFH\u7684\u8ba1\u7b97\u8fc7\u7a0b\u4e3b\u8981\u5206\u4e3a\u4e09\u4e2a\u6b65\u9aa4\uff1a<\/p>\n\n\n\n

        \n
      1. \u4f7f\u7528\u90bb\u57df\u70b9\u4f30\u8ba1\u6bcf\u4e2a\u70b9\u7684\u6cd5\u5411\u91cf<\/li>\n\n\n\n
      2. \u63d0\u53d6\u67e5\u8be2\u70b9\u4e0e\u90bb\u57df\u70b9\u4e4b\u95f4\u7684\u89d2\u5ea6\u7279\u5f81\uff0c\u5e76\u8ba1\u7b97\u7b80\u5316\u7684\u70b9\u7279\u5f81\u76f4\u65b9\u56fe\uff08SPFH\uff09\u7b7e\u540d<\/li>\n\n\n\n
      3. \u901a\u8fc7\u52a0\u6743\u5e73\u5747\u90bb\u57df\u70b9\u7684SPFH\u7b7e\u540d\u8ba1\u7b97FPFH\u7279\u5f81\u3002<\/li>\n<\/ol>\n\n\n\n
        \"\"<\/figure>\n\n\n\n

        \u7136\u800c\uff0c\u73b0\u6709\u7684FPFH\u7279\u5f81\u63d0\u53d6\u5728\u5b9e\u65f6\u5e94\u7528\u4e2d\u53ef\u80fd\u4e0d\u9002\u7528\u3002\u4f8b\u5982\uff0c\u5f53FPFH\u5e94\u7528\u4e8e\u4f7f\u752864\u901a\u9053LiDAR\u4f20\u611f\u5668\u6355\u83b7\u7684\u4f53\u7d20\u5316\u6e90\u70b9\u4e91\u548c\u76ee\u6807\u70b9\u4e91\u65f6\uff0c\u70b9\u6570\u8303\u56f4\u572810K\u523030K\uff0c\u5373\u4f7f\u5728Intel(R) Core(TM) i9-13900 CPU\u7684\u591a\u7ebf\u7a0b\u73af\u5883\u4e0b\uff0cFPFH\u7684\u8ba1\u7b97\u4e5f\u9700\u8981\u8d85\u8fc70.1\u79d2\u3002FPFH\u5b58\u5728\u4e24\u4e2a\u4e3b\u8981\u7684\u8ba1\u7b97\u74f6\u9888<\/strong>\uff1a<\/p>\n\n\n\n

          \n
        1. \u9996\u5148\uff0c\u7531\u4e8e\u8981\u591a\u6b21\u6267\u884c\u90bb\u57df\u70b9\u641c\u7d22\uff08\u5373\u201cRS with rnormal\u201d\u6216\u201cRS with rFPFH\u201d\uff0c\u89c1\u56fe4(a)\uff09\uff0c\u8ba1\u7b97\u6548\u7387\u4f4e\u4e0b\u3002<\/li>\n\n\n\n
        2. \u5176\u6b21\uff0c\u7531\u4e8e\u73b0\u6709\u65b9\u6848\u662f\u89e3\u8026\u7684\uff0c\u6ca1\u6709\u68c0\u67e5\u6cd5\u5411\u91cf\u4f30\u8ba1\u7684\u53ef\u9760\u6027\uff0cSPFH\u548cFPFH\u7684\u63d0\u53d6\u53ef\u80fd\u4f1a\u5728\u4e0d\u53ef\u9760\u7684\u6cd5\u5411\u91cf\u4e0a\u4e0d\u5fc5\u8981\u5730\u6267\u884c\uff0c\u4ece\u800c\u964d\u4f4e\u4e86\u90bb\u57dfFPFH\u7279\u5f81\u7684\u8868\u73b0\u529b\u3002<\/li>\n<\/ol>\n\n\n\n

          \u4e3a\u4e86\u5e94\u5bf9\u8fd9\u4e9b\u95ee\u9898\uff0c\u91c7\u7528\u4e86\u4e24\u79cd\u7b56\u7565\u3002<\/p>\n\n\n\n

            \n
          1. \u9996\u5148\uff0c\u4e3a\u4e86\u51cf\u5c11\u4e0d\u5fc5\u8981\u7684\u8ba1\u7b97\u5f00\u9500\uff0c\u6211\u4eec\u4e3a\u6bcf\u4e2a\u70b9\u4ec5\u6267\u884c\u4e00\u6b21\u90bb\u57df\u70b9\u641c\u7d22\uff0c\u5e76\u91cd\u7528\u7ed3\u679c\u3002\u63a5\u7740\uff0c\u57fa\u4e8ernormal \u2264 rFPFH\u7684\u4e8b\u5b9e\uff0c\u6211\u4eec\u4ecerFPFH\u7684\u90bb\u57df\u70b9\u641c\u7d22\u7ed3\u679c\u4e2d\u5bf9\u6cd5\u5411\u91cf\u4f30\u8ba1\u8fdb\u884c\u5b50\u91c7\u6837\u3002<\/li>\n\n\n\n
          2. \u5176\u6b21\uff0c\u5bf9\u4e8e\u6bcf\u4e2a\u70b9\uff0c\u5982\u679c\u90bb\u57df\u70b9\u7684\u6570\u91cf\u5c11\u4e8e\u4e00\u4e2a\u9884\u5b9a\u4e49\u7684\u9608\u503c\uff0c\u6216\u6cd5\u5411\u91cf\u7ebf\u6027\u5ea6\u8fc7\u9ad8\uff08\u901a\u8fc7\u4e3b\u6210\u5206\u5206\u6790\u4f30\u8ba1\u6cd5\u5411\u91cf\u65f6\u7684\u4e09\u4e2a\u7279\u5f81\u503c\u8ba1\u7b97\u5f97\u51fa\uff09\uff0c\u5219\u8be5\u70b9\u5c06\u88ab\u6392\u9664\u5728\u89d2\u5ea6\u7279\u5f81\u3001SPFH\u548cFPFH\u7279\u5f81\u7684\u8ba1\u7b97\u4e4b\u5916\u3002\u8fd9\u6837\uff0c\u6211\u4eec\u53ea\u4e3a\u53ef\u9760\u7684\u70b9\u751f\u6210\u63cf\u8ff0\u7b26\u3002<\/li>\n<\/ol>\n\n\n\n

            \u6700\u7ec8\uff0c\u901a\u8fc7\u8fd9\u79cd\u65b9\u6cd5\uff0c\u6211\u4eec\u5c06FPFH\u7684\u5355\u7ebf\u7a0b\u548c\u591a\u7ebf\u7a0b\u6267\u884c\u901f\u5ea6\u5206\u522b\u63d0\u9ad8\u4e86\u7ea64.5\u500d\u548c2.4\u500d\uff0c\u540c\u65f6\u4fdd\u6301\u4e86\u6027\u80fd\u3002<\/p>\n\n\n\n

            \u57fa\u4e8ek-core\u7684\u56fe\u8bba\u5916\u70b9\u4fee\u526a<\/strong><\/p>\n\n\n\n

            \"\"<\/figure>\n\n\n\n

            \u57fa\u4e8e\u6e10\u8fdb\u975e\u51f8\u6027\uff08GNC\uff09\u7684\u975e\u6700\u5c0f\u89e3\u7b97\u5668<\/strong><\/p>\n\n\n\n

            \"\"<\/figure>\n\n\n\n
            \"\"<\/figure>\n\n\n\n

            \u5b9e\u9a8c\u6548\u679c<\/strong><\/p>\n\n\n\n

            \"\"<\/figure>\n\n\n\n
            \"\"<\/figure>\n\n\n\n
            \"\"<\/figure>\n\n\n\n
            \"\"<\/figure>\n\n\n\n

            \u603b\u7ed3\u4e00\u4e0b<\/strong><\/p>\n\n\n\n

            KISS-Matcher\u662f\u4e00\u4e2a\u591a\u529f\u80fd\u7684\u5f00\u6e90\u914d\u51c6\u6d41\u7a0b\uff0c\u4ece\u5168\u5c40\u89d2\u5ea6\u91cd\u65b0\u5ba1\u89c6\u4e86\u70b9\u4e91\u914d\u51c6\u95ee\u9898\uff0c\u65e8\u5728\u5b9e\u73b0\u4ece\u626b\u63cf\u5230\u5730\u56fe\u7ea7\u522b\u7684\u5feb\u901f\u3001\u9c81\u68d2\u4e14\u53ef\u6269\u5c55\u7684\u914d\u51c6\u3002\u901a\u8fc7\u5728\u5404\u79cd\u573a\u666f\u4e2d\u7684\u5b9e\u9a8c\uff0c\u5c55\u793a\u4e86KISS-Matcher\u5728\u6210\u529f\u7387\u65b9\u9762\u4e0e\u6700\u5148\u8fdb\u7684\u65b9\u6cd5\u76f8\u5f53\uff0c\u4f46\u901f\u5ea6\u8fdc\u8fdc\u5feb\u4e8e\u73b0\u6709\u65b9\u6cd5\u3002<\/p>\n\n\n\n

            \u672a\u6765\u5de5\u4f5c<\/strong>\uff1a\u5c06\u5339\u914d\u6d41\u7a0b\u5e94\u7528\u4e8e\u5efa\u56fe\u548c\u5b9a\u4f4d\u7684\u5b9e\u9645\u5e94\u7528\u4e2d\u3002<\/p>\n\n\n\n

            \u53c2\u8003<\/strong><\/p>\n\n\n\n

            [1] KISS-Matcher: Fast and Robust Point Cloud Registration Revisited<\/p>\n\n\n\n

            [2] TEASER: Fast and Certifiable Point Cloud Registration<\/p>\n","protected":false},"excerpt":{"rendered":"

            \u201c\u4fdd\u6301\u7b80\u5355\u548c\u53ef\u6269\u5c55\u201d\u7684\u5168\u5c40\u914d\u51c6 3D\u70b9\u4e91\u914d\u51c6\u662f […]<\/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-16735","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\/16735"}],"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=16735"}],"version-history":[{"count":2,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/16735\/revisions"}],"predecessor-version":[{"id":16780,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/16735\/revisions\/16780"}],"wp:attachment":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/media?parent=16735"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/categories?post=16735"},{"taxonomy":"post_tag","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/tags?post=16735"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}