{"id":19530,"date":"2024-11-20T17:17:45","date_gmt":"2024-11-20T09:17:45","guid":{"rendered":"http:\/\/192.168.10.115\/?p=19530"},"modified":"2024-11-20T17:17:45","modified_gmt":"2024-11-20T09:17:45","slug":"2024-11-20-%e5%a4%8d%e6%97%a6%e8%94%9a%e6%9d%a5%e5%bc%80%e6%ba%90dg-slam%ef%bc%9a%e7%ac%ac%e4%b8%80%e4%b8%aa%e5%8a%a8%e6%80%81%e7%8e%af%e5%a2%83%e4%b8%8b%e7%9a%84%e9%b2%81%e6%a3%92gs-slam","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2024\/11\/20\/19530\/","title":{"rendered":"2024-11-20 \u590d\u65e6&\u851a\u6765\u5f00\u6e90DG-SLAM\uff1a\u7b2c\u4e00\u4e2a\u52a8\u6001\u73af\u5883\u4e0b\u7684\u9c81\u68d2GS SLAM"},"content":{"rendered":"\n

0. \u8bba\u6587\u4fe1\u606f<\/strong><\/p>\n\n\n\n

\u6807\u9898\uff1aDG-SLAM: Robust Dynamic Gaussian Splatting SLAM with Hybrid Pose Optimization<\/p>\n\n\n\n

\u4f5c\u8005\uff1aYueming Xu, Haochen Jiang, Zhongyang Xiao, Jianfeng Feng, Li Zhang<\/p>\n\n\n\n

\u673a\u6784\uff1aFudan University\u3001Autonomous Driving Division, NIO<\/p>\n\n\n\n

\u539f\u6587\u94fe\u63a5\uff1ahttps:\/\/arxiv.org\/abs\/2411.08373<\/p>\n\n\n\n

\u4ee3\u7801\u94fe\u63a5\uff1ahttps:\/\/github.com\/fudan-zvg\/DG-SLAM<\/p>\n\n\n\n

1. \u5bfc\u8bfb<\/strong><\/p>\n\n\n\n

\u5728\u52a8\u6001\u573a\u666f\u4e2d\u5b9e\u73b0\u9c81\u68d2\u800c\u7cbe\u786e\u7684\u59ff\u6001\u4f30\u8ba1\u662f\u89c6\u89c9\u540c\u6b65\u5b9a\u4f4d\u4e0e\u5730\u56fe\u521b\u5efa(SLAM)\u4e2d\u7684\u4e00\u4e2a\u91cd\u8981\u7814\u7a76\u6311\u6218\u3002\u6700\u8fd1\u7684\u8fdb\u5c55\u5c06\u9ad8\u65afSplatting\u96c6\u6210\u5230SLAM\u7cfb\u7edf\u4e2d\uff0c\u5df2\u88ab\u8bc1\u660e\u5728\u4f7f\u7528\u663e\u5f0f3D\u9ad8\u65af\u6a21\u578b\u521b\u5efa\u9ad8\u8d28\u91cf\u6e32\u67d3\u65b9\u9762\u662f\u6709\u6548\u7684\uff0c\u663e\u8457\u63d0\u9ad8\u4e86\u73af\u5883\u91cd\u5efa\u4fdd\u771f\u5ea6\u3002\u7136\u800c\uff0c\u8fd9\u4e9b\u65b9\u6cd5\u4f9d\u8d56\u4e8e\u9759\u6001\u73af\u5883\u5047\u8bbe\uff0c\u5e76\u4e14\u7531\u4e8e\u51e0\u4f55\u548c\u5149\u5ea6\u5b66\u7684\u4e0d\u4e00\u81f4\u89c2\u5bdf\u800c\u5728\u52a8\u6001\u73af\u5883\u4e2d\u9762\u4e34\u6311\u6218\u3002\u4e3a\u4e86\u89e3\u51b3\u8fd9\u4e2a\u95ee\u9898\uff0c\u6211\u4eec\u63d0\u51fa\u4e86DG-SLAM\uff0c\u8fd9\u662f\u7b2c\u4e00\u4e2a\u57fa\u4e8e3D\u9ad8\u65af\u6a21\u578b\u7684\u9c81\u68d2\u52a8\u6001\u89c6\u89c9SLAM\u7cfb\u7edf\uff0c\u5b83\u63d0\u4f9b\u4e86\u7cbe\u786e\u7684\u76f8\u673a\u59ff\u6001\u4f30\u8ba1\u548c\u9ad8\u4fdd\u771f\u91cd\u5efa\u3002\u5177\u4f53\u800c\u8a00\uff0c\u6211\u4eec\u63d0\u51fa\u4e86\u6709\u6548\u7684\u7b56\u7565\uff0c\u5305\u62ec\u8fd0\u52a8\u6a21\u677f\u751f\u6210\u3001\u81ea\u9002\u5e94\u9ad8\u65af\u70b9\u7ba1\u7406\u548c\u6df7\u5408\u6444\u50cf\u673a\u8ddf\u8e2a\u7b97\u6cd5\uff0c\u4ee5\u63d0\u9ad8\u59ff\u6001\u4f30\u8ba1\u7684\u51c6\u786e\u6027\u548c\u9c81\u68d2\u6027\u3002\u5927\u91cf\u5b9e\u9a8c\u8868\u660e\uff0cDG-SLAM\u5728\u52a8\u6001\u573a\u666f\u4e2d\u7684\u76f8\u673a\u59ff\u6001\u4f30\u8ba1\u3001\u5730\u56fe\u91cd\u5efa\u548c\u65b0\u89c6\u56fe\u5408\u6210\u65b9\u9762\u63d0\u4f9b\u4e86\u6700\u5148\u8fdb\u7684\u6027\u80fd\uff0c\u4f18\u4e8e\u73b0\u6709\u65b9\u6cd5\uff0c\u540c\u65f6\u4fdd\u7559\u4e86\u5b9e\u65f6\u6e32\u67d3\u80fd\u529b\u3002<\/p>\n\n\n\n

2. \u5f15\u8a00<\/strong><\/p>\n\n\n\n

\u89c6\u89c9\u540c\u6b65\u5b9a\u4f4d\u4e0e\u5730\u56fe\u6784\u5efa\uff08SLAM\uff09\u4efb\u52a1\u662f\u5728\u672a\u77e5\u73af\u5883\u4e2d\u91cd\u5efa3D\u5730\u56fe\u7684\u540c\u65f6\u4f30\u8ba1\u76f8\u673a\u4f4d\u59ff\uff0c\u5b83\u88ab\u8ba4\u4e3a\u662f\u5b9e\u73b0\u79fb\u52a8\u673a\u5668\u4eba\u5728\u65b0\u578b3D\u73af\u5883\u4e2d\u81ea\u4e3b\u5bfc\u822a\u7684\u5173\u952e\u7ec4\u6210\u90e8\u5206\u3002<\/p>\n\n\n\n

\u8be5\u6280\u672f\u5728\u673a\u5668\u4eba\u6280\u672f\u3001\u81ea\u52a8\u9a7e\u9a76\u4ee5\u53ca\u589e\u5f3a\/\u865a\u62df\u73b0\u5b9e\uff08AR\/VR\uff09\u7b49\u9886\u57df\u5df2\u5f97\u5230\u5e7f\u6cdb\u5e94\u7528\uff0c\u5e76\u4ee5\u591a\u79cd\u5f62\u5f0f\u5b58\u5728\u3002\u7136\u800c\uff0c\u4ee5\u5f80\u7684\u5927\u591a\u6570\u7814\u7a76\u901a\u5e38\u57fa\u4e8e\u9759\u6001\u73af\u5883\u7684\u5047\u8bbe\uff0c\u8fd9\u9650\u5236\u4e86\u8be5\u6280\u672f\u5728\u65e5\u5e38\u751f\u6d3b\u4e2d\u7684\u5b9e\u9645\u5e94\u7528\u3002\u56e0\u6b64\uff0c\u5982\u4f55\u5728\u52a8\u6001\u573a\u666f\u4e2d\u5b9e\u73b0\u51c6\u786e\u4e14\u7a33\u5065\u7684\u4f4d\u59ff\u4f30\u8ba1\uff0c\u4ecd\u662f\u79fb\u52a8\u673a\u5668\u4eba\u9886\u57df\u4e9f\u5f85\u89e3\u51b3\u7684\u4e00\u4e2a\u7d27\u8feb\u95ee\u9898\u3002<\/p>\n\n\n\n

\u8fd1\u5e74\u6765\uff0c\u8bb8\u591a\u7814\u7a76\u4eba\u5458\u81f4\u529b\u4e8e\u7528\u795e\u7ecf\u8f90\u5c04\u573a\uff08NeRF\uff09\u65b9\u6cd5\u66ff\u4ee3\u89c6\u89c9SLAM\u4e2d\u4f20\u7edf\u7684\u663e\u5f0f\u8868\u793a\uff08\u5982\u6709\u7b26\u53f7\u8ddd\u79bb\u51fd\u6570\uff08SDF\uff09\u3001\u4f53\u7d20\u7f51\u683c\u3001\u7f51\u683c\u548c\u66f2\u9762\u5143\u4e91\uff09\uff0c\u4ee5\u91cd\u5efa\u795e\u7ecf\u9690\u5f0f\u5730\u56fe\u3002\u8fd9\u79cd\u65b0\u9896\u7684\u5730\u56fe\u8868\u793a\u65b9\u5f0f\u66f4\u52a0\u8fde\u7eed\u3001\u9ad8\u6548\uff0c\u4e14\u80fd\u591f\u901a\u8fc7\u53ef\u5fae\u6e32\u67d3\u8fdb\u884c\u4f18\u5316\uff0c\u6709\u671b\u4e3a\u5bfc\u822a\u548c\u91cd\u5efa\u7b49\u5e94\u7528\u5e26\u6765\u76ca\u5904\u3002\u7136\u800c\uff0c\u8fd9\u4e9b\u65b9\u6cd5\u5b58\u5728\u4e24\u4e2a\u4e3b\u8981\u95ee\u9898\uff1a\u4e00\u662f\u9700\u8981\u9884\u5148\u5b9a\u4e49\u573a\u666f\u7684\u8fb9\u754c\u4ee5\u521d\u59cb\u5316\u795e\u7ecf\u4f53\u7d20\u7f51\u683c\uff1b\u4e8c\u662f\u9690\u5f0f\u8868\u793a\u5728\u4fe1\u606f\u878d\u5408\u548c\u7f16\u8f91\u65b9\u9762\u9887\u5177\u6311\u6218\u6027\u3002\u4e3a\u89e3\u51b3\u8fd9\u4e9b\u95ee\u9898\uff0c\u8fd1\u671f\u7684\u5de5\u4f5c\u5982GS-SLAM\u3001SplaTam\u548c\u9ad8\u65af\u6e85\u5c04SLAM\u5229\u75283D-GS\u6765\u663e\u5f0f\u8868\u793a\u573a\u666f\u5730\u56fe\u3002\u8fd9\u79cd\u663e\u5f0f\u7684\u51e0\u4f55\u8868\u793a\u540c\u6837\u5e73\u6ed1\u3001\u8fde\u7eed\u4e14\u53ef\u5fae\u3002\u6b64\u5916\uff0c\u901a\u8fc7\u6e85\u5c04\u5149\u6805\u5316\u6280\u672f\u53ef\u4ee5\u9ad8\u6548\u5730\u6e32\u67d3\u5927\u91cf\u9ad8\u65af\u4f53\uff0c\u57281080p\u5206\u8fa8\u7387\u4e0b\u8fbe\u5230\u6bcf\u79d2300\u5e27\uff08FPS\uff09\u7684\u901f\u5ea6\u3002\u7136\u800c\uff0c\u4e0a\u8ff0\u6240\u6709\u795e\u7ecfSLAM\u65b9\u6cd5\u5728\u52a8\u6001\u573a\u666f\u4e2d\u8868\u73b0\u4e0d\u4f73\u3002\u5f53\u73af\u5883\u4e2d\u51fa\u73b0\u52a8\u6001\u7269\u4f53\u65f6\uff0c\u8fd9\u4e9b\u7cfb\u7edf\u7684\u9c81\u68d2\u6027\u663e\u8457\u964d\u4f4e\uff0c\u751a\u81f3\u5bfc\u81f4\u8ddf\u8e2a\u5931\u8d25\u3002<\/p>\n\n\n\n

\u4e3a\u89e3\u51b3\u8fd9\u4e9b\u95ee\u9898\uff0c\u6211\u4eec\u63d0\u51fa\u4e86\u4e00\u79cd\u65b0\u9896\u7684\u57fa\u4e8e3D\u9ad8\u65af\u7684\u89c6\u89c9SLAM\u65b9\u6cd5\uff0c\u8be5\u65b9\u6cd5\u80fd\u591f\u5728\u52a8\u6001\u5ba4\u5185\u73af\u5883\u4e2d\u53ef\u9760\u5730\u8ddf\u8e2a\u76f8\u673a\u8fd0\u52a8\u3002\u7531\u4e8e3D-GS\u80fd\u591f\u5b9e\u65f6\u5b8c\u6210\u9ad8\u8d28\u91cf\u6e32\u67d3\uff0cSLAM\u7cfb\u7edf\u5728\u4f4d\u59ff\u4f18\u5316\u8fc7\u7a0b\u4e2d\u66f4\u5bb9\u6613\u6536\u655b\u5230\u5168\u5c40\u6700\u4f18\u89e3\uff0c\u4ece\u800c\u83b7\u5f97\u66f4\u597d\u4e14\u66f4\u7a33\u5b9a\u7684\u4f4d\u59ff\u4f18\u5316\u7ed3\u679c\u3002\u6211\u4eec\u5b9e\u73b0\u7a33\u5065\u4f4d\u59ff\u4f30\u8ba1\u7684\u57fa\u77f3\u5728\u4e8e\u521b\u65b0\u7684\u8fd0\u52a8\u63a9\u7801\u751f\u6210\u7b97\u6cd5\u3002\u8be5\u7b97\u6cd5\u8fc7\u6ee4\u6389\u4f4d\u4e8e\u65e0\u6548\u533a\u57df\u5185\u7684\u91c7\u6837\u50cf\u7d20\uff0c\u4ece\u800c\u4f18\u5316\u4f30\u8ba1\u8fc7\u7a0b\u3002\u9664\u4e86\u6df1\u5ea6\u6b8b\u5dee\u7ea6\u675f\u5916\uff0c\u6211\u4eec\u8fd8\u5728\u89c2\u6d4b\u7a97\u53e3\u5185\u91c7\u7528\u65f6\u7a7a\u4e00\u81f4\u6027\u7b56\u7565\u6765\u751f\u6210\u6df1\u5ea6\u626d\u66f2\u63a9\u7801\u3002\u901a\u8fc7\u9010\u6b65\u878d\u5408\u6df1\u5ea6\u626d\u66f2\u63a9\u7801\u548c\u8bed\u4e49\u63a9\u7801\uff0c\u8fd0\u52a8\u63a9\u7801\u5c06\u53d8\u5f97\u66f4\u52a0\u7cbe\u786e\uff0c\u4ee5\u53cd\u6620\u7269\u4f53\u7684\u771f\u5b9e\u8fd0\u52a8\u72b6\u6001\u3002\u4e3a\u63d0\u9ad8\u4f4d\u59ff\u4f30\u8ba1\u7684\u51c6\u786e\u6027\u548c\u7a33\u5b9a\u6027\uff0c\u6211\u4eec\u5229\u7528DROID-SLAM\u91cc\u7a0b\u8ba1\uff08DROID-VO\uff09\u63d0\u4f9b\u521d\u59cb\u4f4d\u59ff\u4f30\u8ba1\uff0c\u5e76\u8bbe\u8ba1\u4e86\u4e00\u79cd\u57fa\u4e8e\u521d\u59cb\u4f30\u8ba1\u76f8\u673a\u4f4d\u59ff\u7684\u7531\u7c97\u5230\u7cbe\u7684\u4f18\u5316\u7b97\u6cd5\u3002\u8be5\u7b97\u6cd5\u65e8\u5728\u901a\u8fc7\u9ad8\u65af\u6e85\u5c04\u7684\u5149\u771f\u5b9e\u611f\u5bf9\u9f50\u4f18\u5316\uff0c\u6700\u5c0f\u5316\u4f4d\u59ff\u4f30\u8ba1\u4e0e\u91cd\u5efa\u5730\u56fe\u4e4b\u95f4\u7684\u5dee\u5f02\u3002\u6b64\u5916\uff0c\u8fd9\u79cd\u6df7\u5408\u4f4d\u59ff\u4f18\u5316\u65b9\u6cd5\u6709\u6548\u786e\u4fdd\u4e86\u751f\u6210\u7684\u6df1\u5ea6\u626d\u66f2\u63a9\u7801\u7684\u51c6\u786e\u6027\u548c\u8d28\u91cf\uff0c\u4ece\u800c\u5728\u4e0b\u4e00\u9636\u6bb5\u7684\u76f8\u673a\u8ddf\u8e2a\u4e2d\u8868\u73b0\u51fa\u66f4\u597d\u7684\u6027\u80fd\u3002\u4e3a\u83b7\u5f97\u9ad8\u8d28\u91cf\u7684\u6e32\u67d3\u7ed3\u679c\uff0c\u6211\u4eec\u63d0\u51fa\u4e86\u4e00\u79cd\u65b0\u9896\u7684\u81ea\u9002\u5e94\u9ad8\u65af\u70b9\u6dfb\u52a0\u548c\u4fee\u526a\u65b9\u6cd5\uff0c\u4ee5\u4fdd\u6301\u51e0\u4f55\u5f62\u72b6\u7684\u6574\u6d01\u6027\uff0c\u5e76\u5b9e\u73b0\u51c6\u786e\u4e14\u7a33\u5065\u7684\u76f8\u673a\u8ddf\u8e2a\u3002\u5229\u7528DROID-SLAM\u56fa\u6709\u7684\u56e0\u5b50\u56fe\u7ed3\u6784\uff0c\u6211\u4eec\u7684\u7cfb\u7edf\u80fd\u591f\u5728\u8ddf\u8e2a\u5b8c\u6210\u540e\u6267\u884c\u5bc6\u96c6\u7684\u5149\u675f\u5e73\u5dee\uff08DBA\uff09\uff0c\u4ee5\u6d88\u9664\u7d2f\u79ef\u8bef\u5dee\u3002<\/p>\n\n\n\n

3. \u6548\u679c\u5c55\u793a<\/strong><\/p>\n\n\n\n

TUM\u548cBONN\u6570\u636e\u96c6\u4e0a\u6e32\u67d3\u56fe\u50cf\u7684\u89c6\u89c9\u6bd4\u8f83\u3002\u6ca1\u6709\u52a8\u6001\u7269\u4f53\u6d6e\u52a8\uff0c\u6211\u4eec\u7684\u7ed3\u679c\u66f4\u52a0\u5b8c\u6574\u548c\u51c6\u786e\u3002<\/p>\n\n\n\n

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

4. \u4e3b\u8981\u8d21\u732e<\/strong><\/p>\n\n\n\n

\u7efc\u4e0a\u6240\u8ff0\uff0c\u6211\u4eec\u7684\u8d21\u732e\u603b\u7ed3\u5982\u4e0b\uff1a\uff08i\uff09\u636e\u6211\u4eec\u6240\u77e5\uff0c\u8fd9\u662f\u9996\u4e2a\u5177\u6709\u6df7\u5408\u4f4d\u59ff\u4f18\u5316\u7684\u7a33\u5065\u52a8\u6001\u9ad8\u65af\u6e85\u5c04SLAM\u7cfb\u7edf\uff0c\u80fd\u591f\u5b9e\u73b0\u5b9e\u65f6\u6e32\u67d3\u548c\u9ad8\u4fdd\u771f\u91cd\u5efa\u6027\u80fd\u3002\uff08ii\uff09\u4e3a\u51cf\u8f7b\u52a8\u6001\u7269\u4f53\u5728\u4f4d\u59ff\u4f30\u8ba1\u8fc7\u7a0b\u4e2d\u7684\u5f71\u54cd\uff0c\u6211\u4eec\u63d0\u51fa\u4e86\u4e00\u79cd\u5148\u8fdb\u7684\u8fd0\u52a8\u63a9\u7801\u751f\u6210\u7b56\u7565\uff0c\u8be5\u7b56\u7565\u5c06\u65f6\u7a7a\u4e00\u81f4\u7684\u6df1\u5ea6\u63a9\u7801\u4e0e\u8bed\u4e49\u5148\u9a8c\u76f8\u7ed3\u5408\uff0c\u4ece\u800c\u663e\u8457\u63d0\u9ad8\u4e86\u8fd0\u52a8\u7269\u4f53\u5206\u5272\u7684\u7cbe\u5ea6\u3002\uff08iii\uff09\u6211\u4eec\u8bbe\u8ba1\u4e86\u4e00\u79cd\u6df7\u5408\u76f8\u673a\u8ddf\u8e2a\u7b56\u7565\uff0c\u5229\u7528\u7531\u7c97\u5230\u7cbe\u7684\u4f4d\u59ff\u4f18\u5316\u7b97\u6cd5\u6765\u63d0\u9ad8\u4f30\u8ba1\u4f4d\u59ff\u4e0e\u91cd\u5efa\u5730\u56fe\u4e4b\u95f4\u7684\u4e00\u81f4\u6027\u548c\u51c6\u786e\u6027\u3002\uff08iv\uff09\u4e3a\u66f4\u597d\u5730\u7ba1\u7406\u548c\u6269\u5c55\u9ad8\u65af\u5730\u56fe\uff0c\u6211\u4eec\u63d0\u51fa\u4e86\u4e00\u79cd\u81ea\u9002\u5e94\u9ad8\u65af\u70b9\u6dfb\u52a0\u548c\u4fee\u526a\u7b56\u7565\uff0c\u8be5\u7b56\u7565\u786e\u4fdd\u4e86\u51e0\u4f55\u5b8c\u6574\u6027\uff0c\u5e76\u4fc3\u8fdb\u4e86\u51c6\u786e\u7684\u76f8\u673a\u8ddf\u8e2a\u3002\uff08v\uff09\u5728\u4e24\u4e2a\u5177\u6709\u6311\u6218\u6027\u7684\u52a8\u6001\u6570\u636e\u96c6\u548c\u4e00\u4e2a\u5e38\u89c1\u7684\u9759\u6001\u6570\u636e\u96c6\u4e0a\u8fdb\u884c\u4e86\u5e7f\u6cdb\u8bc4\u4f30\uff0c\u7ed3\u679c\u8868\u660e\u6211\u4eec\u63d0\u51fa\u7684SLAM\u7cfb\u7edf\u5728\u5b9e\u9645\u573a\u666f\u4e2d\u8868\u73b0\u5c24\u4e3a\u51fa\u8272\uff0c\u8fbe\u5230\u4e86\u6700\u5148\u8fdb\u7684\u6027\u80fd\u6c34\u5e73\u3002\u63a8\u8350\u8bfe\u7a0b\uff1a\u5bf9\u4e8e3D\u6fc0\u5149SLAM\uff0cLeGo-LOAM\u5230\u5e95\u6709\u591a\u91cd\u8981\uff1f<\/a><\/p>\n\n\n\n

5. \u65b9\u6cd5<\/strong><\/p>\n\n\n\n

\u7ed9\u5b9a\u4e00\u7cfb\u5217RGB-D\u5e27\uff0c\u6211\u4eec\u7684\u65b9\u6cd5\uff08\u5982\u56fe1\u6240\u793a\uff09\u65e8\u5728\u540c\u65f6\u6062\u590d\u76f8\u673a\u4f4d\u5e76\u5728\u52a8\u6001\u73af\u5883\u4e2d\u91cd\u5efa\u75313D\u9ad8\u65af\u7403\u4f53\u8868\u793a\u7684\u9759\u60013D\u573a\u666f\u5730\u56fe\u3002\u4e0e\u5927\u591a\u6570\u73b0\u4ee3SLAM\u7cfb\u7edf\u7c7b\u4f3c\uff0c\u6211\u4eec\u7684\u7cfb\u7edf\u5305\u542b\u4e24\u4e2a\u72ec\u7acb\u7684\u8fc7\u7a0b\uff1a\u4f5c\u4e3a\u524d\u7aef\u7684\u8ddf\u8e2a\u8fc7\u7a0b\u548c\u4f5c\u4e3a\u540e\u7aef\u7684\u6620\u5c04\u8fc7\u7a0b\u3002<\/p>\n\n\n\n

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

\u8fd0\u52a8\u63a9\u6a21\u751f\u6210\u7684\u5b9a\u6027\u7ed3\u679c\u3002\u901a\u8fc7\u878d\u5408\u8bed\u4e49Mask\u548c\u6df1\u5ea6\u626d\u66f2Mask\uff0c\u6700\u7ec8\u7684Mask\u5c06\u66f4\u52a0\u7cbe\u786e\u3002<\/p>\n\n\n\n

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

6. \u5b9e\u9a8c\u7ed3\u679c<\/strong><\/p>\n\n\n\n

\u4e3a\u4e86\u66f4\u6709\u6548\u5730\u5c55\u793a\u6211\u4eec\u7684\u7cfb\u7edf\u5728\u52a8\u6001\u73af\u5883\u4e2d\u7684\u6027\u80fd\uff0c\u6211\u4eec\u4ece\u5b9a\u6027\u548c\u5b9a\u91cf\u4e24\u4e2a\u89d2\u5ea6\u5bf9\u91cd\u5efa\u7ed3\u679c\u8fdb\u884c\u4e86\u8bc4\u4f30\u3002\u9274\u4e8e\u52a8\u6001\u573a\u666f\u6570\u636e\u96c6\u5f88\u5c11\u63d0\u4f9b\u9759\u6001\u7684\u771f\u503c\uff08Ground Truth\uff0cGT\uff09\u7f51\u683c\u6216\u70b9\u4e91\uff0c\u6211\u4eec\u5229\u7528BONN\u6570\u636e\u96c6\u8fdb\u884c\u5b9a\u91cf\u5206\u6790\u5b9e\u9a8c\u3002\u6211\u4eec\u5c06\u63d0\u51fa\u7684\u52a8\u6001\u9ad8\u65af\u6cfc\u6e85SLAM\uff08Dynamic Gaussian Splatting SLAM\uff0cDG-SLAM\uff09\u65b9\u6cd5\u4e0e\u5f53\u524d\u6700\u5148\u8fdb\u7684\u57fa\u4e8e\u795e\u7ecf\u7f51\u7edc\u7684SLAM\u65b9\u6cd5\u8fdb\u884c\u4e86\u6bd4\u8f83\uff0c\u6240\u6709\u8fd9\u4e9b\u65b9\u6cd5\u90fd\u662f\u5f00\u6e90\u9879\u76ee\u3002\u5982\u88681\u6240\u793a\uff0c\u6211\u4eec\u7684\u65b9\u6cd5\u5728\u51c6\u786e\u6027\u3001\u5b8c\u6574\u6027\u548c\u5b8c\u6574\u7387\u6307\u6807\u4e0a\u663e\u8457\u8d85\u8d8a\u4e86\u5f53\u4ee3\u65b9\u6cd5\uff0c\u8fbe\u5230\u4e86\u6700\u5148\u8fdb\u7684\u6027\u80fd\u6c34\u5e73\u3002<\/p>\n\n\n\n

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

\u5982\u88682\u6240\u793a\uff0c\u6211\u4eec\u62a5\u544a\u4e86\u6765\u81eaTUM RGB-D\u6570\u636e\u96c6\u4e2d\u7684\u4e09\u4e2a\u9ad8\u5ea6\u52a8\u6001\u5e8f\u5217\u3001\u4e24\u4e2a\u8f7b\u5fae\u52a8\u6001\u5e8f\u5217\u548c\u4e00\u4e2a\u9759\u6001\u5e8f\u5217\u7684\u7ed3\u679c\u3002\u6211\u4eec\u7684\u7cfb\u7edf\u5c55\u73b0\u51fa\u5353\u8d8a\u7684\u8ddf\u8e2a\u6027\u80fd\uff0c\u8fd9\u5f97\u76ca\u4e8e\u5730\u56fe\u70b9\u5220\u9664\u7b56\u7565\u7684\u5b9e\u65bd\u4ee5\u53ca\u5f3a\u5927\u7684\u7531\u7c97\u5230\u7ec6\u7684\u76f8\u673a\u8ddf\u8e2a\u7b97\u6cd5\u3002\u6b64\u5916\uff0c\u6211\u4eec\u7684\u7cfb\u7edf\u8ddf\u8e2a\u80fd\u529b\u4e5f\u5728\u590d\u6742\u4e14\u8981\u6c42\u82db\u523b\u7684BONN RGB-D\u6570\u636e\u96c6\u4e0a\u5f97\u5230\u4e86\u4e25\u683c\u8bc4\u4f30\uff0c\u7ed3\u679c\u5982\u88683\u6240\u793a\u3002\u5728\u590d\u6742\u6027\u548c\u6311\u6218\u6027\u66f4\u9ad8\u7684\u52a8\u6001\u573a\u666f\u4e2d\uff0c\u6211\u4eec\u7684\u65b9\u6cd5\u59cb\u7ec8\u8868\u73b0\u51fa\u4f18\u8d8a\u7684\u6027\u80fd\uff0c\u51f8\u663e\u4e86\u5176\u5728\u73b0\u5b9e\u5bfc\u822a\u5e94\u7528\u4e2d\u7684\u6709\u6548\u6027\u548c\u53ef\u9760\u6027\u3002<\/p>\n\n\n\n

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

7. \u603b\u7ed3 & \u672a\u6765\u5de5\u4f5c<\/strong><\/p>\n\n\n\n

\u5728\u672c\u6587\u4e2d\uff0c\u6211\u4eec\u63d0\u51fa\u4e86\u4e00\u79cd\u5728\u52a8\u6001\u73af\u5883\u4e0b\u5177\u6709\u6df7\u5408\u59ff\u6001\u4f18\u5316\u7684\u9c81\u68d2\u52a8\u6001\u9ad8\u65af\u6cfc\u6e85SLAM\uff08DG-SLAM\uff09\u3002\u901a\u8fc7\u8fd0\u52a8\u63a9\u7801\u6ee4\u6ce2\u7b56\u7565\u548c\u7531\u7c97\u5230\u7ec6\u7684\u76f8\u673a\u8ddf\u8e2a\u7b97\u6cd5\uff0c\u6211\u4eec\u7684\u7cfb\u7edf\u5728\u52a8\u6001\u573a\u666f\u4e2d\u7684\u59ff\u6001\u4f30\u8ba1\u51c6\u786e\u6027\u548c\u9c81\u68d2\u6027\u65b9\u9762\u53d6\u5f97\u4e86\u663e\u8457\u8fdb\u6b65\u3002\u63d0\u51fa\u7684\u81ea\u9002\u5e943D\u9ad8\u65af\u6dfb\u52a0\u548c\u4fee\u526a\u7b56\u7565\u6709\u6548\u63d0\u9ad8\u4e86\u91cd\u5efa\u5730\u56fe\u548c\u6e32\u67d3\u56fe\u50cf\u7684\u8d28\u91cf\u3002\u6211\u4eec\u8bc1\u660e\u4e86\u5b83\u5728\u52a8\u6001\u73af\u5883\u4e0b\u7684\u76f8\u673a\u59ff\u6001\u4f30\u8ba1\u3001\u573a\u666f\u91cd\u5efa\u548c\u65b0\u89c6\u89d2\u5408\u6210\u65b9\u9762\u5b9e\u73b0\u6700\u5148\u8fdb\u7ed3\u679c\u7684\u6709\u6548\u6027\u3002\u867d\u7136\u5927\u89c4\u6a21\u573a\u666f\u7684\u8ddf\u8e2a\u548c\u91cd\u5efa\u76ee\u524d\u662f\u6211\u4eec\u7cfb\u7edf\u7684\u6700\u5927\u9650\u5236\uff0c\u4f46\u6211\u4eec\u76f8\u4fe1\u672a\u6765\u901a\u8fc7\u66f4\u7075\u6d3b\u7684\u95ed\u73af\u4f18\u5316\u7b97\u6cd5\u53ef\u4ee5\u89e3\u51b3\u8fd9\u4e00\u95ee\u9898\u3002\u6b64\u5916\uff0c\u6211\u4eec\u7cfb\u7edf\u7684\u59ff\u6001\u4f30\u8ba1\u51c6\u786e\u6027\u4ecd\u7136\u53d7\u5230\u8bed\u4e49\u5148\u9a8c\u5206\u5272\u7cbe\u5ea6\u7684\u5f71\u54cd\u3002\u56e0\u6b64\uff0c\u5728\u52a8\u6001\u573a\u666f\u4e2d\u6709\u6548\u611f\u77e5\u79fb\u52a8\u5bf9\u8c61\u4ecd\u7136\u662f\u4e00\u4e2a\u6709\u5f85\u89e3\u51b3\u4e14\u9700\u8981\u8fdb\u4e00\u6b65\u63a2\u7d22\u7684\u95ee\u9898\u3002<\/p>\n","protected":false},"excerpt":{"rendered":"

0. \u8bba\u6587\u4fe1\u606f \u6807\u9898\uff1aDG-SLAM: Rob […]<\/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-19530","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\/19530"}],"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=19530"}],"version-history":[{"count":1,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/19530\/revisions"}],"predecessor-version":[{"id":19537,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/19530\/revisions\/19537"}],"wp:attachment":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/media?parent=19530"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/categories?post=19530"},{"taxonomy":"post_tag","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/tags?post=19530"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}