{"id":18838,"date":"2024-11-08T15:14:10","date_gmt":"2024-11-08T07:14:10","guid":{"rendered":"http:\/\/192.168.10.115\/?p=18838"},"modified":"2024-11-08T15:14:10","modified_gmt":"2024-11-08T07:14:10","slug":"2024-11-08-%e5%85%a5%e9%80%89cvpr2024%ef%bc%9asni-slam%ef%bc%8c%e8%9e%8d%e5%90%88%e5%a4%96%e8%a7%82%e3%80%81%e5%87%a0%e4%bd%95%e5%92%8c%e8%af%ad%e4%b9%89%e7%9a%84%e7%a5%9e%e7%bb%8f%e9%9a%90%e5%bc%8fsl","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2024\/11\/08\/18838\/","title":{"rendered":"2024-11-08 \u5165\u9009CVPR2024\uff1aSNI-SLAM\uff0c\u878d\u5408\u5916\u89c2\u3001\u51e0\u4f55\u548c\u8bed\u4e49\u7684\u795e\u7ecf\u9690\u5f0fSLAM"},"content":{"rendered":"\n<p>\u8bba\u6587\u9898\u76ee\uff1a<\/p>\n\n\n\n<p>SNI-SLAM: Semantic Neural Implicit SLAM<\/p>\n\n\n\n<p>\u8bba\u6587\u4f5c\u8005\uff1a<\/p>\n\n\n\n<p>Siting Zhu, Guangming Wang, Hermann Blum, Jiuming Liu, Liang Song,Marc Pollefey, Hesheng Wang<\/p>\n\n\n\n<p>1. \u6458\u8981<\/p>\n\n\n\n<p>\u672c\u6587\u63d0\u51fa\u4e86SNI-SLAM\uff0c\u4e00\u4e2a\u5229\u7528\u795e\u7ecf\u9690\u5f0f\u8868\u793a\u7684\u8bed\u4e49SLAM\u7cfb\u7edf\uff0c\u5b83\u80fd\u591f\u540c\u65f6\u6267\u884c\u51c6\u786e\u7684\u8bed\u4e49\u5efa\u56fe\u3001\u9ad8\u8d28\u91cf\u7684\u8868\u9762\u91cd\u5efa\u548c\u7a33\u5065\u7684\u76f8\u673a\u8ddf\u8e2a\u3002\u5728\u8fd9\u4e2a\u7cfb\u7edf\u4e2d\uff0c\u672c\u6587\u5f15\u5165\u4e86\u5c42\u6b21\u5316\u8bed\u4e49\u8868\u793a\uff0c\u4ee5\u652f\u6301\u5bf9\u573a\u666f\u7684\u81ea\u4e0a\u800c\u4e0b\u7ed3\u6784\u5316\u8bed\u4e49\u5efa\u56fe\u7684\u591a\u7ea7\u8bed\u4e49\u7406\u89e3\u3002\u6b64\u5916\uff0c\u4e3a\u4e86\u5145\u5206\u5229\u7528\u73af\u5883\u4e2d\u591a\u4e2a\u5c5e\u6027\u4e4b\u95f4\u7684\u76f8\u5173\u6027\uff0c\u672c\u6587\u901a\u8fc7\u4ea4\u53c9\u6ce8\u610f\u529b\u5c06\u5916\u89c2\u3001\u51e0\u4f55\u548c\u8bed\u4e49\u7279\u5f81\u6574\u5408\u8d77\u6765\u4ee5\u5b9e\u73b0\u7279\u5f81\u534f\u4f5c\u3002\u8fd9\u79cd\u7b56\u7565\u4f7f\u7b97\u6cd5\u80fd\u591f\u66f4\u5168\u9762\u5730\u7406\u89e3\u73af\u5883\uff0c\u4ece\u800c\u4f7fSNI-SLAM\u5373\u4f7f\u5728\u5355\u4e2a\u5c5e\u6027\u6709\u7f3a\u9677\u65f6\u4e5f\u80fd\u4fdd\u6301\u7a33\u5065\u3002\u63a5\u7740\uff0c\u672c\u6587\u8bbe\u8ba1\u4e86\u4e00\u4e2a\u57fa\u4e8e\u5185\u90e8\u878d\u5408\u7684\u89e3\u7801\u5668\uff0c\u4ee5\u4fbf\u4ece\u591a\u7ea7\u7279\u5f81\u4e2d\u83b7\u53d6\u8bed\u4e49\u3001RGB\u548c\u622a\u65ad\u7b26\u53f7\u8ddd\u79bb\u573a\uff08TSDF\uff09\u503c\uff0c\u7ee7\u800c\u5b9e\u73b0\u51c6\u786e\u89e3\u7801\u3002\u6b64\u5916\uff0c\u672c\u6587\u63d0\u51fa\u4e86\u4e00\u4e2a\u7279\u5f81\u635f\u5931\u6765\u66f4\u65b0\u7279\u5f81\u7ea7\u522b\u7684\u573a\u666f\u8868\u793a\u3002\u4e0eRGB\u635f\u5931\u548c\u6df1\u5ea6\u635f\u5931\u7b49\u4f4e\u7ea7\u635f\u5931\u76f8\u6bd4\uff0c\u672c\u6587\u7684\u7279\u5f81\u635f\u5931\u80fd\u591f\u5728\u66f4\u9ad8\u5c42\u6b21\u4e0a\u6307\u5bfc\u7f51\u7edc\u4f18\u5316\u3002\u672c\u6587\u7684SNI-SLAM\u65b9\u6cd5\u5728Replica\u548cScanNet\u6570\u636e\u96c6\u4e0a\u7684\u5efa\u56fe\u548c\u8ddf\u8e2a\u7cbe\u5ea6\u65b9\u9762\u4f18\u4e8e\u6240\u6709\u6700\u8fd1\u7684\u57fa\u4e8eNeRF\uff08\u795e\u7ecf\u8f90\u5c04\u573a\uff09\u7684SLAM\u65b9\u6cd5\uff0c\u540c\u65f6\u8fd8\u5c55\u793a\u4e86\u5728\u51c6\u786e\u8bed\u4e49\u5206\u5272\u548c\u5b9e\u65f6\u8bed\u4e49\u5efa\u56fe\u65b9\u9762\u7684\u51fa\u8272\u80fd\u529b\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"472\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/11\/\u56fe\u7247-275-1024x472.png\" alt=\"\" class=\"wp-image-18839\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/11\/\u56fe\u7247-275-1024x472.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/11\/\u56fe\u7247-275-300x138.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/11\/\u56fe\u7247-275-768x354.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/11\/\u56fe\u7247-275.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u56fe1\uff5cSNI-SLAM\u7cfb\u7edf\u5229\u7528\u73af\u5883\u4e2d\u591a\u6a21\u6001\u7279\u5f81\u4e4b\u95f4\u7684\u76f8\u5173\u6027\uff0c\u57fa\u4e8eNeRF\u8fdb\u884c\u8bed\u4e49SLAM\u3002\u8fd9\u79cd\u5efa\u6a21\u7b56\u7565\u4e0d\u4ec5\u4e0e\u73b0\u6709\u7684\u57fa\u4e8eNeRF\u7684SLAM\u76f8\u6bd4\u5b9e\u73b0\u4e86\u66f4\u9ad8\u7684\u7cbe\u5ea6\uff0c\u800c\u4e14\u80fd\u591f\u5b9e\u73b0\u5b9e\u65f6\u8bed\u4e49\u5efa\u56fe\u3002\u672c\u6587\u63d0\u51fa\u4e86\u4e00\u79cd\u5916\u89c2\u3001\u51e0\u4f55\u548c\u8bed\u4e49\u4e4b\u95f4\u7684\u7279\u5f81\u534f\u4f5c\u65b9\u6cd5\uff0c\u663e\u8457\u589e\u5f3a\u4e86\u7279\u5f81\u7684\u8868\u793a\u80fd\u529b\u3002\u878d\u5408\u5916\u89c2\uff08\u6a59\u8272\u6846\uff09\uff1a\u6d88\u9664\u4e86\u6905\u5b50\u56e0\u5149\u7ebf\u9020\u6210\u7684\u9634\u5f71\u3002\u878d\u5408\u51e0\u4f55\uff08\u84dd\u8272\u6846\uff09\uff1a\u6539\u5584\u4e86\u67dc\u5b50\u5e95\u90e8\u8fb9\u7f18\u7684\u4e0d\u4e00\u81f4\u6027\u3002\u878d\u5408\u8bed\u4e49\uff08\u7ea2\u8272\u6846\uff09\uff1a\u589e\u5f3a\u4e86\u684c\u5b50\u817f\u548c\u5730\u677f\u4e4b\u95f4\u7684\u533a\u5206\u5ea6\u3002<\/p>\n\n\n\n<p>2. \u4ecb\u7ecd<\/p>\n\n\n\n<p>\u8bed\u4e49SLAM\u5728\u673a\u5668\u4eba\u548c\u81ea\u52a8\u9a7e\u9a76\u4e2d\u53ef\u4ee5\u6784\u5efa\u5305\u542b\u73af\u5883\u8bed\u4e49\u4fe1\u606f\u7684\u9ad8\u7cbe\u5ea6\u5730\u56fe\u3002\u4f20\u7edf\u8bed\u4e49SLAM\u65b9\u6cd5\u5728\u5904\u7406\u672a\u77e5\u533a\u57df\u9884\u6d4b\u548c\u5b58\u50a8\u9700\u6c42\u4e0a\u5b58\u5728\u5c40\u9650\uff0c\u800cNeRF\u4f5c\u4e3a\u573a\u666f\u8868\u793a\u7684\u65b0\u65b9\u5f0f\u663e\u793a\u51fa\u89e3\u51b3\u8fd9\u4e9b\u95ee\u9898\u7684\u6f5c\u529b\u3002<\/p>\n\n\n\n<p>\u57fa\u4e8eNeRF\u7684SLAM\u7814\u7a76\u867d\u5df2\u53d6\u5f97\u8fdb\u5c55\uff0c\u4f46\u73b0\u6709\u5927\u591a\u7cfb\u7edf\u4ec5\u80fd\u751f\u6210RGB\u56fe\u50cf\u800c\u975e\u76f4\u63a5\u652f\u6301\u4e0b\u6e38\u4efb\u52a1\u6240\u9700\u7684\u8bed\u4e49\u4fe1\u606f\u3002\u6709\u7814\u7a76\u5c55\u793a\u4e86NeRF\u540c\u65f6\u5b66\u4e60\u51e0\u4f55\u4e0e\u8bed\u4e49\u8868\u5f81\u7684\u80fd\u529b\uff0c\u7136\u800c\u79bb\u7ebf\u8bad\u7ec3\u8017\u65f6\u8f83\u957f\uff0c\u4e0d\u9002\u7528\u4e8e\u5b9e\u65f6\u8bed\u4e49SLAM\u5e94\u7528\u3002<\/p>\n\n\n\n<p>\u56e0\u6b64\uff0c\u672c\u7814\u7a76\u63d0\u51fa\u4e86\u4e00\u79cd\u65b0\u7684\u57fa\u4e8eNeRF\u7684\u8bed\u4e49SLAM\u6846\u67b6\u2014\u2014SNI-SLAM\uff0c\u5b83\u5229\u7528\u8de8\u6ce8\u610f\u529b\u673a\u5236\u878d\u5408\u591a\u6a21\u6001\u7279\u5f81\uff0c\u5e76\u91c7\u7528\u5c42\u6b21\u5316\u7684\u7c97\u5230\u7ec6\u8bed\u4e49\u5efa\u56fe\u7b56\u7565\uff0c\u4ee5\u589e\u5f3a\u5bf9\u590d\u6742\u573a\u666f\u7684\u5efa\u6a21\u80fd\u529b\u3002\u901a\u8fc7\u8bbe\u8ba1\u878d\u5408\u89e3\u7801\u5668\u4ece\u4e0d\u540c\u5206\u8fa8\u7387\u5c42\u7ea7\u63d0\u53d6\u8bed\u4e49\u3001\u989c\u8272\u548c\u6df1\u5ea6\u4fe1\u606f\uff0cSNI-SLAM\u80fd\u591f\u5b9e\u73b0\u66f4\u52a0\u51c6\u786e\u4e14\u4e30\u5bcc\u7684\u8bed\u4e49\u7406\u89e3\uff0c\u5e76\u5b9e\u73b0\u5b9e\u65f6\u9ad8\u6548\u7684\u76f8\u673a\u5b9a\u4f4d\u548c\u8bed\u4e49\u5730\u56fe\u6784\u5efa\u3002<\/p>\n\n\n\n<p>3. \u65b9\u6cd5<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"340\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/11\/\u56fe\u7247-276-1024x340.png\" alt=\"\" class=\"wp-image-18840\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/11\/\u56fe\u7247-276-1024x340.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/11\/\u56fe\u7247-276-300x100.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/11\/\u56fe\u7247-276-768x255.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/11\/\u56fe\u7247-276.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u56fe2\uff5cSNI-SLAM\u7cfb\u7edf\u6982\u8ff0\u3002RGB\u56fe\u50cf\u88ab\u9001\u5165\u8bed\u4e49\u7279\u5f81\u63d0\u53d6\u5668\u4ee5\u83b7\u5f97\u8bed\u4e49\u7279\u5f81\u3002\u8fd9\u4e9b\u7279\u5f81\u968f\u540e\u901a\u8fc7\u5916\u89c2\u591a\u5c42\u611f\u77e5\u673a\uff08MLP\uff09H\u03b8\u8f6c\u6362\u4e3a\u5916\u89c2\u7279\u5f81\u3002\u51e0\u4f55\u7279\u5f81\u901a\u8fc7\u5c04\u7ebf\u91c7\u6837\u5f97\u5230\uff0c\u7136\u540e\u7ecf\u8fc7\u51e0\u4f55MLP E\u03b8\u5904\u7406\u3002\u63a5\u4e0b\u6765\uff0c\u4f7f\u7528\u57fa\u4e8e\u4ea4\u53c9\u6ce8\u610f\u529b\u7684\u7279\u5f81\u878d\u5408\u65b9\u6cd5\u5c06\u8fd9\u4e09\u79cd\u7279\u5f81\u878d\u5408\uff0c\u751f\u6210\u7279\u5f81\u56fe\u3002\u8fd9\u4e2a\u7279\u5f81\u56fe\u3001\u8f93\u5165\u7684RGB-D\u4ee5\u53ca\u4ece\u5206\u5272\u7f51\u7edc\u83b7\u5f97\u7684\u5206\u5272\u7ed3\u679c\u4f5c\u4e3a\u76d1\u7763\u4fe1\u53f7\u3002\u901a\u8fc7\u63d2\u503c\u5f97\u5230\u573a\u666f\u8868\u793a\u751f\u6210\u7684\u7279\u5f81\uff0c\u8fd9\u4e9b\u7279\u5f81\u7528\u4e8e\u6784\u5efa\u7279\u5f81\u635f\u5931\uff0c\u5e76\u901a\u8fc7\u89e3\u7801\u548c\u6e32\u67d3\u8fc7\u7a0b\u83b7\u5f97\u751f\u6210\u7684RGB\u3001\u6df1\u5ea6\u548c\u8bed\u4e49\u4fe1\u606f\u3002\u76d1\u7763\u4fe1\u606f\u548c\u751f\u6210\u7684\u4fe1\u606f\u7528\u4e8e\u6784\u5efa\u635f\u5931\u4ee5\u66f4\u65b0\u573a\u666f\u8868\u793a\u548cMLP\u7f51\u7edc\u3002\u91c7\u7528\u5206\u5c42\u8bed\u4e49\u8868\u793a\u8fdb\u884c\u8bed\u4e49\u5efa\u56fe\u3002\u5bf9\u4e8e\u76f8\u673a\u8ddf\u8e2a\uff0c\u5229\u7528\u635f\u5931\u51fd\u6570\u6765\u4f18\u5316\u76f8\u673a\u59ff\u6001\u3002<\/p>\n\n\n\n<p><strong>3.1 \u57fa\u4e8e\u4ea4\u53c9\u6ce8\u610f\u529b\u7684\u7279\u5f81\u878d\u5408<\/strong><\/p>\n\n\n\n<p>\u9996\u5148\uff0c\u51e0\u4f55\u7279\u5f81\uff08fg\uff09\u3001\u8bed\u4e49\u7279\u5f81\uff08fs\uff09\u548c\u5916\u89c2\u7279\u5f81\uff08fa\uff09\u662f\u76f8\u4e92\u5173\u8054\u4e14\u4e92\u8865\u7684\u3002\u4f8b\u5982\uff0c\u8bed\u4e49\u7279\u5f81\u5bf9\u4e8e\u8bc6\u522b\u548c\u7406\u89e3\u7269\u4f53\u5177\u6709\u7a33\u5b9a\u6027\uff0c\u4e0d\u53d7\u5149\u7167\u6216\u89c6\u89d2\u53d8\u5316\u7684\u5f71\u54cd\uff1b\u800c\u5916\u89c2\u7279\u5f81\u53ef\u4ee5\u8865\u5145\u8bed\u4e49\u4fe1\u606f\uff0c\u901a\u8fc7\u89c2\u5bdf\u989c\u8272\u3001\u4eae\u5ea6\u548c\u7eb9\u7406\u7b49\u5c5e\u6027\u6765\u63a8\u6d4b\u7269\u4f53\u7c7b\u522b\u3002\u540c\u65f6\uff0c\u51e0\u4f55\u7279\u5f81\u5728\u673a\u5668\u4eba\u5e94\u7528\u4e2d\u5bf9\u5b9a\u4f4d\u548c\u91cf\u5316\u7269\u4f53\u7684\u4f4d\u7f6e\u548c\u5f62\u72b6\u81f3\u5173\u91cd\u8981\uff0c\u8fd9\u79cd\u4fe1\u606f\u4e0e\u8bed\u4e49\u4fe1\u606f\u76f8\u7ed3\u5408\uff0c\u53ef\u8fdb\u4e00\u6b65\u63a8\u65ad\u7269\u4f53\u53ef\u80fd\u7684\u6027\u8d28\u6216\u8eab\u4efd\u3002\u4e3a\u4e86\u5145\u5206\u5229\u7528\u8fd9\u4e9b\u7279\u5f81\u95f4\u7684\u76f8\u5173\u6027\uff0c\u7814\u7a76\u63d0\u51fa\u4e86\u4f7f\u7528\u4ea4\u53c9\u6ce8\u610f\u529b\u6765\u878d\u5408\u4e0a\u8ff0\u4e09\u79cd\u7279\u5f81\uff1a\u8f93\u5165RGB\u56fe\u50cf\u9996\u5148\u7ecf\u8fc7\u9884\u8bad\u7ec3\u7684\u8bed\u4e49\u5206\u5272\u7f51\u7edc\u63d0\u53d6\u8bed\u4e49\u7279\u5f81\uff0c\u7136\u540e\u5229\u7528\u5b9e\u65f6\u66f4\u65b0\u7684\u73af\u5883\u7279\u5b9a\u5916\u89c2MLP\u7f51\u7edcH\u03b8\u5c06\u8bed\u4e49\u7279\u5f81\u8f6c\u6362\u4e3a\u5916\u89c2\u7279\u5f81\u3002\u6b64\u5916\uff0c\u8fd8\u53ef\u901a\u8fc7\u57fa\u4e8eNeRF\u9891\u7387\u7f16\u7801\u83b7\u53d6\u4e09\u7ef4\u70b9\u7684\u51e0\u4f55\u7279\u5f81\u5411\u91cf\uff0c\u5982\u4e0b\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"1015\" height=\"52\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/11\/110801.png\" alt=\"\" class=\"wp-image-18841\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/11\/110801.png 1015w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/11\/110801-300x15.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/11\/110801-768x39.png 768w\" sizes=\"(max-width: 1015px) 100vw, 1015px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"1017\" height=\"124\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/11\/110802.png\" alt=\"\" class=\"wp-image-18842\" style=\"width:896px;height:auto\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/11\/110802.png 1017w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/11\/110802-300x37.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/11\/110802-768x94.png 768w\" sizes=\"(max-width: 1017px) 100vw, 1017px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"1010\" height=\"67\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/11\/110803.png\" alt=\"\" class=\"wp-image-18843\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/11\/110803.png 1010w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/11\/110803-300x20.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/11\/110803-768x51.png 768w\" sizes=\"(max-width: 1010px) 100vw, 1010px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"1010\" height=\"83\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/11\/110804.png\" alt=\"\" class=\"wp-image-18844\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/11\/110804.png 1010w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/11\/110804-300x25.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/11\/110804-768x63.png 768w\" sizes=\"(max-width: 1010px) 100vw, 1010px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"1008\" height=\"65\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/11\/110805.png\" alt=\"\" class=\"wp-image-18845\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/11\/110805.png 1008w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/11\/110805-300x19.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/11\/110805-768x50.png 768w\" sizes=\"(max-width: 1008px) 100vw, 1008px\" \/><\/figure>\n\n\n\n<p>\u901a\u8fc7\u4ea4\u53c9\u6ce8\u610f\u529b\u673a\u5236\uff0c\u878d\u5408\u540e\u7684\u5916\u89c2\u7279\u5f81Ta\u5f97\u5230\u4e86\u589e\u5f3a\uff0c\u4f46\u5b83\u53ef\u80fd\u4f1a\u4e22\u5931\u539f\u59cb\u5916\u89c2\u7279\u5f81fa\u4e2d\u7684\u4e00\u4e9b\u7ec6\u7c92\u5ea6\u7ec6\u8282\u3002\u56e0\u6b64\uff0c\u5c06fa\u548cTa\u8fdb\u884c\u62fc\u63a5\uff0c\u7136\u540e\u5c06\u62fc\u63a5\u540e\u7684\u7279\u5f81\u901a\u8fc7\u878d\u5408\u591a\u5c42\u611f\u77e5\u673aF\u03b8\u8fdb\u884c\u5904\u7406\u3002\u8fd9\u79cd\u878d\u5408\u65b9\u5f0f\u65e2\u4fdd\u7559\u4e86\u6765\u81eaTa\u7684\u589e\u5f3a\u4fe1\u606f\uff0c\u53c8\u96c6\u6210\u4e86\u6765\u81eafa\u7684\u66f4\u7cbe\u7ec6\u7684\u7ec6\u8282\uff0c\u4ece\u800c\u5b9e\u73b0\u4e86\u66f4\u4e30\u5bcc\u7684\u5916\u89c2\u8868\u793a\u3002\u63a5\u7740\uff0c\u5c06\u7ed3\u679c\u4e0efg\u548cTs\u8fdb\u884c\u62fc\u63a5\uff0c\u5f97\u5230\u7279\u5f81\u56feFM = {fg, T\u2019a, Ts}\u3002\u8fd9\u79cd\u57fa\u4e8e\u4ea4\u53c9\u6ce8\u610f\u529b\u7684\u591a\u6a21\u6001\u7279\u5f81\u878d\u5408\u65b9\u6cd5\u4fc3\u8fdb\u4e86\u4e0d\u540c\u6a21\u6001\u7279\u5f81\u4e4b\u95f4\u7684\u4ea4\u4e92\u548c\u76f8\u4e92\u5b66\u4e60\uff0c\u4ece\u800c\u5f97\u5230\u4e86\u66f4\u51c6\u786e\u7684\u7279\u5f81\u8868\u793a\u3002<\/p>\n\n\n\n<p><strong>3.2 \u5c42\u6b21\u5316\u8bed\u4e49\u5efa\u56fe<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"525\" height=\"181\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/11\/\u56fe\u7247-277.png\" alt=\"\" class=\"wp-image-18847\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/11\/\u56fe\u7247-277.png 525w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/11\/\u56fe\u7247-277-300x103.png 300w\" sizes=\"(max-width: 525px) 100vw, 525px\" \/><\/figure>\n\n\n\n<p>\u56fe3\uff5c\u7c97\u7c92\u5ea6\u7279\u5f81\u4e0e\u7ec6\u7c92\u5ea6\u7279\u5f81\u7684\u53ef\u89c6\u5316\u3002\u7c97\u7c92\u5ea6\u7279\u5f81\u6355\u83b7\u4e86\u7ec4\u4ef6\u7684\u4e00\u822c\u7ed3\u6784\u548c\u5e03\u5c40\u3002\u7ec6\u7c92\u5ea6\u7279\u5f81\u63d0\u4f9b\u4e86\u66f4\u7cbe\u7ec6\u7684\u7ec6\u8282\u3002<\/p>\n\n\n\n<p>\u9488\u5bf9\u73b0\u6709\u57fa\u4e8eNeRF\u65b9\u6cd5\u5728\u5904\u7406\u590d\u6742\u573a\u666f\u65f6\u6027\u80fd\u53d7\u9650\u7684\u95ee\u9898\uff0c\u672c\u7814\u7a76\u91c7\u7528\u4e86\u4e00\u79cd\u4ece\u7c97\u5230\u7ec6\u7684\u5206\u5c42\u8bed\u4e49\u5efa\u6a21\u7b56\u7565\u6765\u589e\u5f3a\u73af\u5883\u7684\u8bed\u4e49\u8868\u793a\u80fd\u529b\u3002<\/p>\n\n\n\n<p>\u5177\u4f53\u5b9e\u73b0\u4e0a\uff0c\u4f7f\u7528\u7279\u5f81\u5e73\u9762\u5b58\u50a8\u7a7a\u95f4\u6548\u7387\u8f83\u9ad8\u7684\u7279\u5f81\uff0c\u5e76\u8fdb\u884c\u591a\u7ea7\u8bed\u4e49\u5efa\u56fe\u3002\u6bcf\u4e00\u7279\u5f81\u5e73\u9762\u4e0a\u8bbe\u7f6e\u4e86\u4e24\u79cd\u4e0d\u540c\u7a7a\u95f4\u5206\u8fa8\u7387\u5c42\u7ea7\u7684\u7279\u5f81\uff1a\u7c97\u7565\u7ea7\u522b\u7279\u5f81\uff08F coarse s-xy, F coarse s-xz, F coarse s-yz\uff09\u548c\u7cbe\u7ec6\u7ea7\u522b\u7279\u5f81\uff08F fine s-xy, F fine s-xz, F fine s-yz\uff09\uff0c\u5b83\u4eec\u5206\u522b\u5bf9\u5e94\u7740\u573a\u666f\u7684\u4e0d\u540c\u7ec6\u8282\u5c42\u6b21\u3002\u5bf9\u4e8e\u7ed9\u5b9a\u5750\u6807\u70b9\uff0c\u5c06\u5bf9\u5e94\u7684\u7c97\u7c92\u5ea6\u548c\u7ec6\u7c92\u5ea6\u7279\u5f81\u8fdb\u884c\u62fc\u63a5\u4ee5\u83b7\u5f97\u66f4\u4e30\u5bcc\u5168\u9762\u7684\u7279\u5f81\u4fe1\u606f\u3002<\/p>\n\n\n\n<p>\u540c\u65f6\uff0c\u5728\u89e3\u7801\u5668\u8bbe\u8ba1\u65b9\u9762\uff0cSNI-SLAM\u6452\u5f03\u4e86\u4f20\u7edf\u72ec\u7acb\u4f18\u5316\u5404\u7279\u5f81\u7684\u65b9\u6cd5\uff0c\u800c\u662f\u91c7\u53d6\u878d\u5408\u65b9\u5f0f\u3002\u89e3\u7801\u5668\u5c06\u51e0\u4f55\u3001\u5916\u89c2\u4ee5\u53ca\u7ecf\u8fc7\u8de8\u6ce8\u610f\u529b\u673a\u5236\u878d\u5408\u540e\u7684\u7279\u5f81\u8fdb\u884c\u8fde\u63a5\u5e76\u8f93\u5165\u81f3MLP\u7f51\u7edc\uff0c\u4ece\u800c\u5f97\u5230\u989c\u8272\u3001Signed Distance Field (SDF)\u503c\u7b49\u8f93\u51fa\u4fe1\u606f\u3002\u8fd9\u79cd\u7ed3\u6784\u786e\u4fdd\u4e86\u7279\u5f81\u4e4b\u95f4\u7684\u534f\u540c\u5de5\u4f5c\uff0c\u4f7f\u5f97\u6a21\u578b\u80fd\u591f\u6839\u636e\u878d\u5408\u7279\u5f81\u751f\u6210\u7cbe\u786e\u7684\u989c\u8272\u3001\u6df1\u5ea6\u56fe\u50cf\u53ca\u8bed\u4e49\u5206\u5272\u7ed3\u679c\uff0c\u8fdb\u800c\u63d0\u5347\u6574\u4e2aSLAM\u7cfb\u7edf\u7684\u6027\u80fd\u8868\u73b0\u3002<\/p>\n\n\n\n<p><strong>3.3 \u635f\u5931\u51fd\u6570<\/strong><\/p>\n\n\n\n<p>\u672c\u6587\u4ece\u8f93\u5165\u56fe\u50cf\u4e2d\u91c7\u6837M\u4e2a\u50cf\u7d20\uff0c\u5b9a\u4e49\u81ea\u7531\u7a7a\u95f4\u635f\u5931\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"1011\" height=\"77\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/11\/110806-1.png\" alt=\"\" class=\"wp-image-18852\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/11\/110806-1.png 1011w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/11\/110806-1-300x23.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/11\/110806-1-768x58.png 768w\" sizes=\"(max-width: 1011px) 100vw, 1011px\" \/><\/figure>\n\n\n\n<p>\u5bf9\u4e8e\u4f4d\u4e8e\u622a\u65ad\u533a\u57df\u5185\u4e14\u9760\u8fd1\u8868\u9762\u7684\u70b9\uff0c\u635f\u5931\u51fd\u6570\u5982\u4e0b\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"1014\" height=\"72\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/11\/110807-1.png\" alt=\"\" class=\"wp-image-18853\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/11\/110807-1.png 1014w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/11\/110807-1-300x21.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/11\/110807-1-768x55.png 768w\" sizes=\"(max-width: 1014px) 100vw, 1014px\" \/><\/figure>\n\n\n\n<p><strong>\u8bed\u4e49\u635f\u5931\uff1a<\/strong> \u5bf9\u4e8e\u8bed\u4e49\u4fe1\u606f\u7684\u76d1\u7763\uff0c\u672c\u6587\u91c7\u7528\u4ea4\u53c9\u71b5\u635f\u5931\u3002\u503c\u5f97\u6ce8\u610f\u7684\u662f\uff0c\u5728\u6e32\u67d3\u8bed\u4e49\u4fe1\u606f\u7684\u8fc7\u7a0b\u4e2d\uff0c\u672c\u6587\u65ad\u5f00\u4e86\u68af\u5ea6\uff0c\u4ee5\u9632\u6b62\u8bed\u4e49\u635f\u5931\u5e72\u6270\u51e0\u4f55\u548c\u5916\u89c2\u7279\u5f81\u7684\u4f18\u5316\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"1005\" height=\"74\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/11\/110808-1.png\" alt=\"\" class=\"wp-image-18854\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/11\/110808-1.png 1005w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/11\/110808-1-300x22.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/11\/110808-1-768x57.png 768w\" sizes=\"(max-width: 1005px) 100vw, 1005px\" \/><\/figure>\n\n\n\n<p><strong>\u7279\u5f81\u635f\u5931\uff1a<\/strong> \u5f53\u4ec5\u4f7f\u7528\u989c\u8272\u3001\u6df1\u5ea6\u548c\u8bed\u4e49\u503c\u4f5c\u4e3a\u76d1\u7763\u4fe1\u53f7\u65f6\uff0cMLP\u7f51\u7edc\u4f1a\u8fc7\u4e8e\u5173\u6ce8\u4e0d\u592a\u91cd\u8981\u7684\u7ec6\u8282\uff0c\u800c\u5ffd\u7565\u4e00\u4e9b\u66f4\u663e\u8457\u7684\u7279\u5f81\u3002\u4e3a\u4e86\u89e3\u51b3\u8fd9\u4e2a\u95ee\u9898\uff0c\u672c\u6587\u6784\u5efa\u4e86\u7279\u5f81\u635f\u5931\uff0c\u5e76\u5229\u7528\u5b83\u6765\u4e3a\u66f4\u65b0\u7279\u5f81\u5e73\u9762\u548cMLP\u7f51\u7edc\u63d0\u4f9b\u989d\u5916\u7684\u6307\u5bfc\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"1007\" height=\"45\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/11\/110809-1.png\" alt=\"\" class=\"wp-image-18855\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/11\/110809-1.png 1007w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/11\/110809-1-300x13.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/11\/110809-1-768x34.png 768w\" sizes=\"(max-width: 1007px) 100vw, 1007px\" \/><\/figure>\n\n\n\n<p><strong>\u989c\u8272\u548c\u6df1\u5ea6\u635f\u5931\uff1a<\/strong> \u8f93\u5165\u662f\u5305\u542b\u771f\u5b9eRGB\u548c\u6df1\u5ea6\u503c\u7684RGB-D\u5e27\u3002\u672c\u6587\u901a\u8fc7\u5c06\u6e32\u67d3\u7684RGB\u548c\u6df1\u5ea6\u503c\u4e0e\u771f\u5b9e\u503c\u8fdb\u884c\u6bd4\u8f83\uff0c\u6784\u5efa\u989c\u8272\u548c\u6df1\u5ea6\u635f\u5931\u3002\u7136\u540e\uff0c\u8fd9\u4e9b\u635f\u5931\u51fd\u6570\u7528\u4e8e\u66f4\u65b0\u7f51\u7edc\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"1010\" height=\"207\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/11\/110810-1.png\" alt=\"\" class=\"wp-image-18856\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/11\/110810-1.png 1010w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/11\/110810-1-300x61.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/11\/110810-1-768x157.png 768w\" sizes=\"(max-width: 1010px) 100vw, 1010px\" \/><\/figure>\n\n\n\n<p>\u5b8c\u6574\u7684\u635f\u5931\u51fd\u6570 L L L\u662f\u4e0a\u8ff0\u635f\u5931\u7684\u52a0\u6743\u548c\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"1015\" height=\"41\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/11\/110811.png\" alt=\"\" class=\"wp-image-18857\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/11\/110811.png 1015w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/11\/110811-300x12.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/11\/110811-768x31.png 768w\" sizes=\"(max-width: 1015px) 100vw, 1015px\" \/><\/figure>\n\n\n\n<p>\u5176\u4e2d\u7684 \u03bb \u5c31\u662f\u6743\u91cd\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\">4. \u5b9e\u9a8c<\/h3>\n\n\n\n<p><strong>4.1 \u6570\u636e\u96c6<\/strong><\/p>\n\n\n\n<p>\u672c\u6587\u5728\u4e24\u4e2a\u5e26\u6709\u8bed\u4e49\u771f\u5b9e\u6807\u6ce8\u7684\u6570\u636e\u96c6\u4e0a\u8bc4\u4f30SNI-SLAM\u7684\u6027\u80fd\uff0c\u5305\u62ec\u6a21\u62df\u6570\u636e\u96c6Replica\u4e0a\u76848\u4e2a\u5408\u6210\u573a\u666f\u548c\u771f\u5b9e\u4e16\u754c\u6570\u636e\u96c6ScanNet\u4e0a\u76844\u4e2a\u573a\u666f\u3002<\/p>\n\n\n\n<p>\u8bc4\u4f30\u6307\u6807\uff1a\u4e3a\u4e86\u8bc4\u4f30SLAM\u7cfb\u7edf\uff0c\u672c\u6587\u4f7f\u7528\u4e86NICE-SLAM\u4e2d\u7684\u6307\u6807\u3002\u5bf9\u4e8e\u7f51\u683c\u91cd\u5efa\u6307\u6807\uff0c\u672c\u6587\u4f7f\u7528\u4e86\u6df1\u5ea6L1\uff08\u5398\u7c73\uff09\u3001\u7cbe\u5ea6\uff08\u5398\u7c73\uff09\u3001\u5b8c\u6210\u5ea6\uff08\u5398\u7c73\uff09\u548c\u5b8c\u6210\u5ea6\u6bd4\u7387\uff08%\uff09\uff0c\u9608\u503c\u4e3a5\u5398\u7c73\u3002\u672c\u6587\u79fb\u9664\u4e86\u4efb\u4f55\u76f8\u673a\u534a\u5f84\u5916\u7684\u672a\u89c2\u5bdf\u533a\u57df\uff0c\u4ee5\u53ca\u6309\u7167Co-SLAM\u8fdb\u884c\u7684\u989d\u5916\u7f51\u683c\u4fee\u526a\u4ee5\u53bb\u9664\u566a\u58f0\u70b9\u3002\u6b64\u5916\uff0c\u672c\u6587\u8fd8\u4f7f\u7528ATE\u6765\u8bc4\u4f30\u8ddf\u8e2a\u7cbe\u5ea6\u3002\u8bed\u4e49\u5206\u5272\u7684\u8bc4\u4f30\u662f\u57fa\u4e8emIoU\u548c\u6bcf\u50cf\u7d20\u7cbe\u5ea6\u3002<\/p>\n\n\n\n<p><strong>4.2 \u57fa\u7ebf\u65b9\u6cd5<\/strong><\/p>\n\n\n\n<p>\u672c\u6587\u5c06\u8bed\u4e49\u5206\u5272\u51c6\u786e\u6027\u7684\u6307\u6807\u4e0eNIDS-SLAM\u8fdb\u884c\u4e86\u6bd4\u8f83NIDS-SLAM\u662f\u552f\u4e00\u4e00\u79cd\u57fa\u4e8eNeRF\u7684\u8bed\u4e49SLAM\u65b9\u6cd5\u3002\u5bf9\u4e8eSLAM\u7684\u7cbe\u5ea6\uff0c\u672c\u6587\u4e0e\u6700\u5148\u8fdb\u7684\u57fa\u4e8eNeRF\u7684\u5bc6\u96c6\u89c6\u89c9SLAM\u65b9\u6cd5\u8fdb\u884c\u4e86\u6bd4\u8f83\u3002<\/p>\n\n\n\n<p><strong>4.3 \u5b9e\u73b0\u7ec6\u8282<\/strong><\/p>\n\n\n\n<p>\u672c\u6587\u4f7f\u752816\u901a\u9053\u7684\u7279\u5f81\u5411\u91cf\u6765\u8868\u793a\u8bed\u4e49\u3001\u51e0\u4f55\u548c\u5916\u89c2\u7279\u5f81\u3002\u89e3\u7801\u5668MLP\u6709\u4e24\u5c42\uff0c\u9690\u85cf\u5c42\u7684\u7ef4\u5ea6\u4e3a32\uff0c\u5728NVIDIA RTX 4090 GPU\u4e0a\u8fd0\u884cSNI-SLAM\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"227\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/11\/\u56fe\u7247-278-1024x227.png\" alt=\"\" class=\"wp-image-18858\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/11\/\u56fe\u7247-278-1024x227.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/11\/\u56fe\u7247-278-300x66.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/11\/\u56fe\u7247-278-768x170.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/11\/\u56fe\u7247-278.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u88681\uff5cSNI-SLAM\u4e0e\u5176\u4ed6\u57fa\u4e8eNeRF\u7684\u5bc6\u96c6SLAM\u65b9\u6cd5\u5728\u5730\u56fe\u91cd\u5efa\u548c\u5b9a\u4f4d\u7cbe\u5ea6\u65b9\u9762\u7684\u5b9a\u91cf\u6bd4\u8f83\u3002\u7ed3\u679c\u662f\u5728Replica\u6570\u636e\u96c6\u4e0a\u76848\u4e2a\u573a\u666f\u7684\u5e73\u5747\u503c\u3002\u4e3a\u786e\u4fdd\u7ed3\u679c\u66f4\u5177\u5ba2\u89c2\u6027\uff0c\u6bcf\u4e2a\u573a\u666f\u90fd\u8fdb\u884c\u4e86\u4e94\u6b21\u72ec\u7acb\u8fd0\u884c\u5e76\u53d6\u5e73\u5747\u503c\u3002\u672c\u6587\u7684\u5de5\u4f5c\u8d85\u8fc7\u4e86\u4ee5\u524d\u7684\u5de5\u4f5c\uff0c\u8868\u660e\u672c\u7b97\u6cd5\u6709\u51fa\u8272\u7684SLAM\u6027\u80fd\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"775\" height=\"634\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/11\/\u56fe\u7247-279.png\" alt=\"\" class=\"wp-image-18859\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/11\/\u56fe\u7247-279.png 775w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/11\/\u56fe\u7247-279-300x245.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/11\/\u56fe\u7247-279-768x628.png 768w\" sizes=\"(max-width: 775px) 100vw, 775px\" \/><\/figure>\n\n\n\n<p>\u56fe4\uff5c\u672c\u6587\u7684\u65b9\u6cd5\u4e0e\u57fa\u7ebf\u5728\u573a\u666f\u91cd\u5efa\u65b9\u9762\u7684\u5b9a\u6027\u6bd4\u8f83\u3002\u771f\u5b9e\u56fe\u50cf\u548c\u7ec6\u8282\u662f\u4f7f\u7528ReplicaViewer\u8f6f\u4ef6\u6e32\u67d3\u7684\u3002\u672c\u6587\u53ef\u89c6\u5316\u4e86Replica\u6570\u636e\u96c6\u4e2d\u76843\u4e2a\u9009\u5b9a\u573a\u666f\uff0c\u5e76\u5c06\u7ec6\u8282\u7528\u5f69\u8272\u6846\u7a81\u51fa\u663e\u793a\u3002\u672c\u6587\u65b9\u6cd5\u5b9e\u73b0\u4e86\u66f4\u51c6\u786e\u7684\u8be6\u7ec6\u51e0\u4f55\u5f62\u72b6\u548c\u66f4\u9ad8\u7684\u5b8c\u6210\u5ea6\uff0c\u5c24\u5176\u662f\u5728\u89c2\u5bdf\u53d7\u9650\u7684\u5730\u65b9\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"895\" height=\"135\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/11\/\u56fe\u7247-280.png\" alt=\"\" class=\"wp-image-18860\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/11\/\u56fe\u7247-280.png 895w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/11\/\u56fe\u7247-280-300x45.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/11\/\u56fe\u7247-280-768x116.png 768w\" sizes=\"(max-width: 895px) 100vw, 895px\" \/><\/figure>\n\n\n\n<p>\u88682\uff5c\u5728Replica\u6570\u636e\u96c6\u76844\u4e2a\u573a\u666f\u4e0a\uff0cSNI-SLAM\u4e0e\u73b0\u6709\u7684\u57fa\u4e8eNeRF\u7684\u8bed\u4e49SLAM\u65b9\u6cd5NIDS-SLAM\u7684\u5b9a\u91cf\u6bd4\u8f83\uff0c\u56e0\u4e3aNIDS-SLAM\u7684\u7ed3\u679c\u4ec5\u5728\u8fd9\u4e9b\u573a\u666f\u4e0a\u8fdb\u884c\u4e86\u62a5\u544a\u3002\u4e3a\u4e86\u4e0e\u5176\u8fdb\u884c\u516c\u5e73\u7684\u6bd4\u8f83\uff0c\u672c\u6587\u4f7f\u7528\u771f\u5b9e\u7684\u8bed\u4e49\u6807\u7b7e\u4f5c\u4e3a\u76d1\u7763\u6765\u83b7\u5f97\u7ed3\u679c\u3002\u5bf9\u4e8e\u4e00\u4e2a\u573a\u666f\uff0c\u7b97\u6cd5\u6bcf50\u5e27\u8ba1\u7b97\u6e32\u67d3\u548c\u771f\u5b9e\u8bed\u4e49\u5730\u56fe\u4e4b\u95f4\u7684mIoU\u548c\u50cf\u7d20\u7cbe\u5ea6\uff0c\u4ee5\u83b7\u5f97\u5e73\u5747mIoU\u548c\u50cf\u7d20\u7cbe\u5ea6\u3002\u672c\u6587\u7684\u65b9\u6cd5\u4f18\u4e8eNIDS-SLAM\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"499\" height=\"186\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/11\/\u56fe\u7247-281.png\" alt=\"\" class=\"wp-image-18861\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/11\/\u56fe\u7247-281.png 499w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/11\/\u56fe\u7247-281-300x112.png 300w\" sizes=\"(max-width: 499px) 100vw, 499px\" \/><\/figure>\n\n\n\n<p>\u88683\uff5cSNI-SLAM\u4e0e\u5176\u4ed6\u73b0\u6709\u7684\u57fa\u4e8eNeRF\u7684SLAM\u65b9\u6cd5\u5728ScanNet\u6570\u636e\u96c6\u4e0a\u7684\u8ddf\u8e2a\u6307\u6807RMSE\uff08\u5398\u7c73\uff09\u8fdb\u884c\u4e86\u6bd4\u8f83\u3002\u7ed3\u679c\u662f\u4e94\u6b21\u72ec\u7acb\u8fd0\u884c\u7684\u5e73\u5747\u503c\u3002\u672c\u6587\u7684\u65b9\u6cd5\u4f18\u4e8e\u57fa\u7ebf\u65b9\u6cd5\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"529\" height=\"180\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/11\/\u56fe\u7247-282.png\" alt=\"\" class=\"wp-image-18862\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/11\/\u56fe\u7247-282.png 529w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/11\/\u56fe\u7247-282-300x102.png 300w\" sizes=\"(max-width: 529px) 100vw, 529px\" \/><\/figure>\n\n\n\n<p>\u88684\uff5c\u5728Replica\u6570\u636e\u96c6\u4e0a\u7684\u8fd0\u884c\u65f6\u95f4\u548c\u5185\u5b58\u6bd4\u8f83\uff08w\/o sem\uff1a\u65e0\u8bed\u4e49\u5efa\u56fe\uff1bsem\uff1a\u8bed\u4e49\u5efa\u56fe\uff09\u3002\u4e0e\u73b0\u6709\u7684\u57fa\u4e8eNeRF\u7684SLAM\u76f8\u6bd4\uff0c\u672c\u6587\u7684\u57fa\u4e8e\u8bed\u4e49NeRF\u7684SLAM\u5728\u65f6\u95f4\u6d88\u8017\u7565\u6709\u589e\u52a0\u4e14\u53c2\u6570\u6570\u91cf\u51e0\u4e4e\u76f8\u540c\u7684\u60c5\u51b5\u4e0b\uff0c\u80fd\u591f\u5b9e\u73b0\u8bed\u4e49\u5efa\u56fe\u3002\u6b64\u5916\uff0c\u4e0eNIDS-SLAM\u76f8\u6bd4\uff0c\u672c\u6587\u7684\u65b9\u6cd5\u5b9e\u73b0\u4e86\u66f4\u5feb\u7684\u8fd0\u884c\u65f6\u95f4\uff0c\u4e14\u53c2\u6570\u6570\u91cf\u51cf\u534a\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"520\" height=\"160\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/11\/\u56fe\u7247-283.png\" alt=\"\" class=\"wp-image-18863\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/11\/\u56fe\u7247-283.png 520w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/11\/\u56fe\u7247-283-300x92.png 300w\" sizes=\"(max-width: 520px) 100vw, 520px\" \/><\/figure>\n\n\n\n<p>\u88685\uff5c\u5728Replica\u6570\u636e\u96c6\u7684office0\u573a\u666f\u4e0a\u7684\u6d88\u878d\u7814\u7a76\uff1a(HSM) \u5206\u5c42\u8bed\u4e49\u5efa\u56fe\uff1b(FL) \u7279\u5f81\u635f\u5931\uff1b(Dec) \u89e3\u7801\u5668\u8bbe\u8ba1\uff1b(FF) \u57fa\u4e8e\u4ea4\u53c9\u6ce8\u610f\u529b\u7684\u7279\u5f81\u878d\u5408\uff1b(SR) \u4ec5\u4f7f\u7528\u7279\u5f81\u5e73\u9762\u4f5c\u4e3a\u573a\u666f\u8868\u793a\u7684\u57fa\u4e8e\u8bed\u4e49NeRF\u7684SLAM\uff1b(HSR) \u6dfb\u52a0\u7531\u7c97\u5230\u7ec6\u7684\u8bed\u4e49\u5efa\u56fe\uff1b(HSR+L)\uff0c(DHSR+L) \u6dfb\u52a0\u76f8\u5e94\u7684\u521b\u65b0\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"520\" height=\"489\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/11\/\u56fe\u7247-284.png\" alt=\"\" class=\"wp-image-18864\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/11\/\u56fe\u7247-284.png 520w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/11\/\u56fe\u7247-284-300x282.png 300w\" sizes=\"(max-width: 520px) 100vw, 520px\" \/><\/figure>\n\n\n\n<p>\u56fe5\uff5c\u5728Replica\u6570\u636e\u96c6\u7684office0\u573a\u666f\u4e0a\u7684\u8bed\u4e49\u6e32\u67d3\u7ed3\u679c\u548c\u771f\u5b9e\u6807\u7b7e\u7684\u6d88\u878d\u7814\u7a76\u3002\u53ef\u89c6\u5316\u4e0d\u540c\u60c5\u51b5\u4e0b\u7684\u6e32\u67d3\u7ed3\u679c\uff1a(w\/o HSM) \u65e0\u5206\u5c42\u8bed\u4e49\u5efa\u56fe\uff1b(w\/o FL) \u65e0\u7279\u5f81\u635f\u5931\uff1b(w\/o FF) \u65e0\u7279\u5f81\u878d\u5408\u3002\u4ece\u6b8b\u5dee\u4e2d\u53ef\u4ee5\u770b\u51fa\uff0c\u6574\u4e2aSNI-SLAM\u7cfb\u7edf\u5b9e\u73b0\u4e86\u6700\u4f73\u7684\u8bed\u4e49\u51c6\u786e\u6027\u3002<\/p>\n\n\n\n<p>5. \u7ed3\u8bba<\/p>\n\n\n\n<p>\u672c\u6587\u63d0\u51fa\u4e86SNI-SLAM\uff0c\u4e00\u4e2a\u57fa\u4e8e\u795e\u7ecf\u9690\u5f0f\u8868\u793a\u7684\u8bed\u4e49SLAM\u7cfb\u7edf\uff0c\u65e8\u5728\u63d0\u9ad8\u5bc6\u96c6\u89c6\u89c9\u5efa\u56fe\u548c\u8ddf\u8e2a\u7cbe\u5ea6\u7684\u540c\u65f6\uff0c\u63d0\u4f9b\u6574\u4e2a\u573a\u666f\u7684\u8bed\u4e49\u5730\u56fe\u3002\u672c\u6587\u63d0\u51fa\u4e86\u4e00\u79cd\u57fa\u4e8e\u4ea4\u53c9\u6ce8\u610f\u529b\u7684\u7279\u5f81\u878d\u5408\u65b9\u6cd5\uff0c\u4f7f\u5916\u89c2\u3001\u51e0\u4f55\u548c\u8bed\u4e49\u7279\u5f81\u80fd\u591f\u76f8\u4e92\u4fc3\u8fdb\u5e76\u8fdb\u884c\u4ea4\u53c9\u5b66\u4e60\u3002\u672c\u6587\u8fd8\u63d0\u51fa\u4e86\u7c97\u5230\u7ec6\u7684\u8bed\u4e49\u8868\u793a\u65b9\u6cd5\uff0c\u4ee5\u5728\u591a\u4e2a\u5c42\u6b21\u4e0a\u5efa\u6a21\u573a\u666f\u4e2d\u7684\u8bed\u4e49\u4fe1\u606f\u3002\u8fd9\u79cd\u8868\u793a\u65b9\u6cd5\u53ef\u4ee5\u5728\u4fdd\u6301\u6574\u4f53\u573a\u666f\u8bed\u4e49\u4fe1\u606f\u7cbe\u5ea6\u7684\u540c\u65f6\uff0c\u8003\u8651\u5230\u590d\u6742\u7684\u8bed\u4e49\u7ec6\u8282\u3002\u6b64\u5916\uff0c\u672c\u6587\u8fd8\u63d0\u51fa\u4e86\u4e00\u79cd\u65b0\u7684\u89e3\u7801\u5668\u8bbe\u8ba1\uff0c\u5b83\u80fd\u591f\u5b9e\u73b0\u7279\u5f81\u5e73\u9762\u4e0a\u63d2\u503c\u7279\u5f81\u7684\u878d\u5408\uff0c\u4ece\u800c\u5f97\u5230\u66f4\u51c6\u786e\u7684\u89e3\u7801\u7ed3\u679c\u3002<\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u8bba\u6587\u9898\u76ee\uff1a SNI-SLAM: Semanti [&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-18838","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\/18838"}],"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=18838"}],"version-history":[{"count":1,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/18838\/revisions"}],"predecessor-version":[{"id":18865,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/18838\/revisions\/18865"}],"wp:attachment":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/media?parent=18838"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/categories?post=18838"},{"taxonomy":"post_tag","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/tags?post=18838"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}