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class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"730\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-198-1024x730.png\" alt=\"\" class=\"wp-image-17142\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-198-1024x730.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-198-300x214.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-198-768x548.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-198.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p><strong>\u65b0\u8f68\u8ff9\u89c6\u9891\u751f\u6210<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"664\" height=\"243\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/10\/102201.png\" alt=\"\" class=\"wp-image-17143\" style=\"width:891px;height:auto\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/102201.png 664w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/102201-300x110.png 300w\" sizes=\"(max-width: 664px) 100vw, 664px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"458\" height=\"44\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-199.png\" alt=\"\" class=\"wp-image-17144\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-199.png 458w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-199-300x29.png 300w\" sizes=\"(max-width: 458px) 100vw, 458px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"554\" height=\"578\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-200.png\" alt=\"\" class=\"wp-image-17145\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-200.png 554w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-200-288x300.png 288w\" sizes=\"(max-width: 554px) 100vw, 554px\" 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src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-201.png\" alt=\"\" class=\"wp-image-17146\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-201.png 528w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-201-300x52.png 300w\" sizes=\"(max-width: 528px) 100vw, 528px\" \/><\/figure>\n\n\n\n<p>\u4e00\u65e6\u751f\u6210\u4e86\u7b26\u5408\u4ea4\u901a\u89c4\u5219\u7684\u65b0\u8f68\u8ff9\uff0c\u9053\u8def\u7ed3\u6784\u548c3D\u8fb9\u754c\u6846\u5c31\u53ef\u4ee5\u4ece\u65b0\u8f68\u8ff9\u7684\u89d2\u5ea6\u6295\u5f71\u5230\u76f8\u673a\u89c6\u56fe\u4e0a\uff0c\u4ece\u800c\u751f\u6210\u4e0e\u66f4\u65b0\u8f68\u8ff9\u76f8\u5173\u7684\u7ed3\u6784\u5316\u4fe1\u606f\u3002\u8fd9\u79cd\u7ed3\u6784\u5316\u4fe1\u606f\uff0c\u8fde\u540c\u521d\u59cb\u5e27\u548c\u6587\u672c\uff0c\u88ab\u8f93\u5165\u5230\u4e16\u754c\u6a21\u578b\u4e2d\uff0c\u4ee5\u751f\u6210\u9075\u5faa\u65b0\u8f68\u8ff9\u7684\u89c6\u9891\u3002<\/p>\n\n\n\n<p><strong>\u57fa\u4e8e\u89c6\u9891\u6269\u6563\u5148\u9a8c\u76844D\u91cd\u5efa<\/strong><\/p>\n\n\n\n<p>\u57fa\u4e8e\u89c6\u9891\u6269\u6563\u5148\u9a8c\uff0c\u6211\u4eec\u53ef\u4ee5\u751f\u6210\u5177\u6709\u4e0d\u540c\u8f68\u8ff9\u7684\u65b0\u9896\u89c6\u9891\uff0c\u589e\u5f3a\u8de8\u4e0d\u540c\u57fa\u7ebf\u76844D\u91cd\u5efa\u80fd\u529b\u3002\u5177\u4f53\u6765\u8bf4\uff0c\u4e3a\u4e86\u4f7f\u7528\u89c6\u9891\u6269\u6563\u5148\u9a8c\u8bad\u7ec34DGS\uff0c\u5fc5\u987b\u6784\u5efa\u4e00\u4e2a\u6df7\u5408\u6570\u636e\u96c6Dhybrid\uff0c\u8be5\u6570\u636e\u96c6\u5c06\u539f\u59cb\u8f68\u8ff9\u6570\u636e\u96c6Dori\u4e0e\u65b0\u7684\u8f68\u8ff9\u6570\u636e\u96c6Dnovel\u76f8\u7ed3\u5408\u3002\u8fd9\u4e9b\u6570\u636e\u96c6\u4e4b\u95f4\u7684\u5e73\u8861\u53ef\u4ee5\u901a\u8fc7\u8d85\u53c2\u6570\u03b2\u8fdb\u884c\u8c03\u6574\uff0c\u4f7f\u6211\u4eec\u80fd\u591f\u63a7\u5236\u539f\u59cb\u548c\u65b0\u8f68\u8ff9\u76844DGS\u573a\u666f\u91cd\u5efa\u6027\u80fd\u3002\u8fd9\u79cd\u5173\u7cfb\u88ab\u8868\u8ff0\u4e3aDhybrid\u3002<\/p>\n\n\n\n<p>\u4f7f\u7528\u751f\u6210\u7684\u6570\u636e\u4f18\u53164DGS\u7684\u635f\u5931\u51fd\u6570Lnovel\uff0c\u5b9a\u4e49\u5982\u4e0b\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"540\" height=\"104\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-202.png\" alt=\"\" class=\"wp-image-17147\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-202.png 540w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-202-300x58.png 300w\" sizes=\"(max-width: 540px) 100vw, 540px\" \/><\/figure>\n\n\n\n<p>\u503c\u5f97\u6ce8\u610f\u7684\u662f\uff0c\u5728\u4f7f\u7528\u751f\u6210\u7684\u6570\u636e\u96c6Dnovel\u65f6\uff0c\u6df1\u5ea6\u56fe\u4e0d\u4f5c\u4e3a4DGS\u4f18\u5316\u7684\u7ea6\u675f\u3002\u9650\u5236\u6e90\u4e8eLiDAR\u70b9\u4e91\u6570\u636e\u4ec5\u9488\u5bf9\u539f\u59cb\u8f68\u8ff9\u6536\u96c6\u3002\u5f53\u8fd9\u4e9b\u6fc0\u5149\u96f7\u8fbe\u70b9\u6295\u5f71\u5230\u65b0\u7684\u8f68\u8ff9\u4e0a\u65f6\uff0c\u5b83\u65e0\u6cd5\u4e3a\u65b0\u7684\u89c6\u89d2\u751f\u6210\u5b8c\u6574\u7684\u6df1\u5ea6\u56fe\uff0c\u56e0\u4e3a\u65b0\u8f68\u8ff9\u4e2d\u53ef\u89c1\u7684\u4e1c\u897f\u53ef\u80fd\u5728\u539f\u59cb\u89c6\u56fe\u4e2d\u88ab\u906e\u6321\u4e86\u3002\u56e0\u6b64\uff0c\u5408\u5e76\u8fd9\u6837\u7684\u6df1\u5ea6\u56fe\u4e0d\u5229\u4e8e4DGS\u6a21\u578b\u7684\u4f18\u5316\u3002\u6df7\u5408\u8bad\u7ec3\u7684\u603b\u4f53\u635f\u5931\u51fd\u6570\u5b9a\u4e49\u5982\u4e0b\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"478\" height=\"52\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-203.png\" alt=\"\" class=\"wp-image-17148\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-203.png 478w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-203-300x33.png 300w\" sizes=\"(max-width: 478px) 100vw, 478px\" \/><\/figure>\n\n\n\n<p><strong>\u5b9e\u9a8c<\/strong><\/p>\n\n\n\n<p>\u6570\u636e\u96c6\u3002\u6211\u4eec\u4f7f\u7528Waymo\u6570\u636e\u96c6\u8fdb\u884c\u5b9e\u9a8c\uff0c\u8be5\u6570\u636e\u96c6\u4ee5\u5176\u5168\u9762\u7684\u771f\u5b9e\u4e16\u754c\u9a7e\u9a76\u65e5\u5fd7\u800c\u95fb\u540d\u3002\u7136\u800c\uff0c\u5927\u591a\u6570\u65e5\u5fd7\u6355\u6349\u7684\u573a\u666f\u5177\u6709\u76f8\u5bf9\u76f4\u63a5\u7684\u52a8\u6001\uff0c\u7f3a\u4e4f\u5bf9\u5bc6\u96c6\u3001\u590d\u6742\u7684\u8f66\u8f86\u4ea4\u4e92\u573a\u666f\u7684\u5173\u6ce8\u3002\u4e3a\u4e86\u89e3\u51b3\u8fd9\u4e00\u5dee\u8ddd\uff0c\u6211\u4eec\u7279\u522b\u9009\u62e9\u4e86\u516b\u4e2a\u4ee5\u9ad8\u5ea6\u52a8\u6001\u4ea4\u4e92\u4e3a\u7279\u5f81\u7684\u573a\u666f\uff0c\u5176\u4e2d\u5305\u62ec\u8bb8\u591a\u5177\u6709\u4e0d\u540c\u76f8\u5bf9\u4f4d\u7f6e\u548c\u590d\u6742\u9a7e\u9a76\u8f68\u8ff9\u7684\u8f66\u8f86\u3002\u6bcf\u4e2a\u9009\u5b9a\u7684\u7247\u6bb5\u5305\u542b\u5927\u7ea640\u5e27\uff0c\u7247\u6bb5ID\u5728\u8865\u5145\u4e2d\u6709\u8be6\u7ec6\u8bf4\u660e\u3002<\/p>\n\n\n\n<p>\u5b9e\u65bd\u7ec6\u8282\u3002\u4e3a\u4e86\u8bc1\u660eDriveDreamer4D\u7684\u591a\u529f\u80fd\u6027\u548c\u9c81\u68d2\u6027\uff0c\u6211\u4eec\u5c06\u5404\u79cd4DGS\u57fa\u7ebf\u7eb3\u5165\u6211\u4eec\u7684\u7ba1\u9053\uff0c\u5305\u62ec\u53ef\u53d8\u5f62GS\u3001S3Gaussian\u548cPVG\u3002\u4e3a\u4e86\u8fdb\u884c\u516c\u5e73\u7684\u6bd4\u8f83\uff0cLiDAR\u76d1\u63a7\u88ab\u5f15\u5165\u5230Deformable GS\u4e2d\u3002\u5728\u8bad\u7ec3\u8fc7\u7a0b\u4e2d\uff0c\u573a\u666f\u88ab\u5206\u5272\u6210\u591a\u4e2a\u7247\u6bb5\uff0c\u6bcf\u4e2a\u7247\u6bb5\u5305\u542b40\u5e27\uff0c\u4e0e\u751f\u6210\u6a21\u578b\u7684\u8f93\u51fa\u957f\u5ea6\u5bf9\u9f50\u3002\u6211\u4eec\u53ea\u4f7f\u7528\u524d\u7f6e\u6444\u50cf\u5934\u6570\u636e\uff0c\u5e76\u5c06\u4e0d\u540c\u65b9\u6cd5\u7684\u5206\u8fa8\u7387\u6807\u51c6\u5316\u4e3a640\u00d7960\u3002\u6211\u4eec\u7684\u6a21\u578b\u4f7f\u7528Adam\u4f18\u5316\u5668\u8fdb\u884c\u4e8650000\u6b21\u8fed\u4ee3\u8bad\u7ec3\uff0c\u9075\u5faa\u7528\u4e8e3D\u9ad8\u65af\u6563\u6591\u7684\u5b66\u4e60\u7387\u8ba1\u5212\u3002\u8bad\u7ec3\u7b56\u7565\u548c\u8d85\u53c2\u6570\u4e0e\u6bcf\u4e2a\u57fa\u7ebf\u7684\u539f\u59cb\u8bbe\u7f6e\u4fdd\u6301\u4e00\u81f4\uff0c\u6bcf\u4e2a\u6a21\u578b\u8bad\u7ec3\u4e8650000\u6b21\u8fed\u4ee3\u3002<\/p>\n\n\n\n<p>\u6307\u6807\u3002\u4f20\u7edf\u76843D\u91cd\u5efa\u4efb\u52a1\u901a\u5e38\u91c7\u7528PSNR\u548cSSIM\u6307\u6807\u8fdb\u884c\u8bc4\u4f30\uff0c\u9a8c\u8bc1\u96c6\u4e0e\u8bad\u7ec3\u6570\u636e\u5206\u5e03\u975e\u5e38\u5339\u914d\uff08\u5373\uff0c\u4ece\u89c6\u9891\u5e8f\u5217\u4e2d\u5747\u5300\u91c7\u6837\u5e27\u8fdb\u884c\u9a8c\u8bc1\uff0c\u5176\u4f59\u7528\u4e8e\u8bad\u7ec3\uff09\u3002\u7136\u800c\uff0c\u5728\u95ed\u73af\u9a7e\u9a76\u4eff\u771f\u4e2d\uff0c\u91cd\u70b9\u8f6c\u79fb\u5230\u8bc4\u4f30\u65b0\u8f68\u8ff9\u4e0b\u7684\u6a21\u578b\u6e32\u67d3\u6027\u80fd\uff0c\u5728\u8fd9\u79cd\u8f68\u8ff9\u4e0b\uff0c\u76f8\u5e94\u7684\u4f20\u611f\u5668\u6570\u636e\u4e0d\u53ef\u7528\uff0c\u4f7f\u5f97PSNR\u548cSSIM\u7b49\u6307\u6807\u4e0d\u9002\u7528\u4e8e\u8bc4\u4f30\u3002\u56e0\u6b64\uff0c\u6211\u4eec\u63d0\u51fa\u4e86\u65b0\u7684\u8f68\u8ff9\u4ee3\u7406IoU\uff08NTA-IoU\uff09\u548c\u65b0\u7684\u8f68\u8ff9\u8f66\u9053IoU\uff08NTL-IoU\uff09\uff0c\u5b83\u4eec\u8bc4\u4f30\u4e86\u65b0\u8f68\u8ff9\u89c6\u70b9\u4e2d\u524d\u666f\u548c\u80cc\u666f\u4ea4\u901a\u5206\u91cf\u7684\u65f6\u7a7a\u4e00\u81f4\u6027\u3002<\/p>\n\n\n\n<p>\u5bf9\u4e8eNTA IoU\uff0c\u6211\u4eec\u4f7f\u7528YOLO11\u5728\u4ece\u65b0\u7684\u8f68\u8ff9\u89c6\u56fe\u6e32\u67d3\u7684\u56fe\u50cf\u4e2d\u8bc6\u522b\u8f66\u8f86\uff0c\u4ece\u800c\u4ea7\u751f2D\u8fb9\u754c\u6846\u3002\u540c\u65f6\uff0c\u5bf9\u539f\u59cb\u76843D\u8fb9\u754c\u6846\u5e94\u7528\u51e0\u4f55\u53d8\u6362\uff0c\u5c06\u5176\u6295\u5f71\u5230\u65b0\u7684\u89c6\u70b9\u4e0a\u4ee5\u751f\u6210\u76f8\u5e94\u76842D\u8fb9\u754c\u6846\u3002\u5bf9\u4e8e\u6bcf\u4e2a\u6295\u5f71\u76842D\u6846\uff0c\u6211\u4eec\u7136\u540e\u8bc6\u522b\u6700\u63a5\u8fd1\u7684\u63a2\u6d4b\u5668\u751f\u6210\u76842D\u6846\u5e76\u8ba1\u7b97\u5b83\u4eec\u7684\u4ea4\u70b9\uff08IoU\uff09\u3002\u4e3a\u4e86\u786e\u4fdd\u7cbe\u786e\u5339\u914d\uff0c\u5f15\u5165\u4e86\u8ddd\u79bb\u9608\u503cdthresh\uff1a\u5f53\u6700\u8fd1\u68c0\u6d4b\u5230\u7684\u6846Bdet\u548c\u6b63\u786e\u6295\u5f71\u7684\u6846Bproj\u4e4b\u95f4\u7684\u4e2d\u5fc3\u5230\u4e2d\u5fc3\u8ddd\u79bb\u8d85\u8fc7\u6b64\u9608\u503c\u65f6\uff0c\u5b83\u4eec\u7684NTA IoU\u88ab\u5206\u914d\u4e3a\u96f6\u503c\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"606\" height=\"126\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-204.png\" alt=\"\" class=\"wp-image-17149\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-204.png 606w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-204-300x62.png 300w\" sizes=\"(max-width: 606px) 100vw, 606px\" \/><\/figure>\n\n\n\n<p>\u5bf9\u4e8eNTL IoU\uff0c\u6211\u4eec\u4f7f\u7528TwinLiteNet\u4ece\u6e32\u67d3\u56fe\u50cf\u4e2d\u63d0\u53d62D\u8f66\u9053\u3002\u5730\u9762\u771f\u5b9e\u8f66\u9053\u4e5f\u88ab\u6295\u5f71\u52302D\u56fe\u50cf\u5e73\u9762\u4e0a\u3002\u7136\u540e\uff0c\u6211\u4eec\u8ba1\u7b97\u6e32\u67d3\u8f66\u9053Ldet\u548cGT\u8f66\u9053Lproj\u4e4b\u95f4\u7684\u5e73\u5747\u4ea4\u70b9\uff08mIoU\uff09\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"486\" height=\"38\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-205.png\" alt=\"\" class=\"wp-image-17150\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-205.png 486w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/10\/\u56fe\u7247-205-300x23.png 300w\" sizes=\"(max-width: 486px) 100vw, 486px\" 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