{"id":24358,"date":"2025-01-17T16:59:52","date_gmt":"2025-01-17T08:59:52","guid":{"rendered":"http:\/\/192.168.10.115\/?p=24358"},"modified":"2025-01-17T16:59:52","modified_gmt":"2025-01-17T08:59:52","slug":"2025-01-17-3dgs-based-slam%e6%96%b9%e6%a1%88%e8%b5%8f%e6%9e%90%ef%bc%9ats-slam-and-mba-slam","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2025\/01\/17\/24358\/","title":{"rendered":"2025-01-17 3DGS-based SLAM\u65b9\u6848\u8d4f\u6790\uff1aTS-SLAM and MBA-SLAM"},"content":{"rendered":"\n<p>paper1\uff1aTS-SLAM: \u57fa\u4e8e\u8f68\u8ff9\u5e73\u6ed1\u7ea6\u675f\u4f18\u5316\u7684\u795e\u7ecf\u8f90\u5c04\u573aSLAM\u65b9\u6cd5<\/p>\n\n\n\n<p>\u5bfc\u8bfb<\/p>\n\n\n\n<p>\u672c\u6587\u63d0\u51fa\u4e86TS-SLAM\uff0c\u4e00\u79cd\u6539\u8fdb\u7684\u57fa\u4e8e\u795e\u7ecf\u8f90\u5c04\u573a\uff08NeRF\uff09\u7684SLAM\u65b9\u6cd5\uff0c\u901a\u8fc7\u5f15\u5165\u8f68\u8ff9\u5e73\u6ed1\u7ea6\u675f\u63d0\u9ad8\u76f8\u673a\u8f68\u8ff9\u4f30\u8ba1\u7684\u51c6\u786e\u6027\u548c\u91cd\u5efa\u5730\u56fe\u7684\u8d28\u91cf\u3002\u8be5\u65b9\u6cd5\u5229\u7528\u5747\u5300\u4e09\u6b21B\u6837\u6761\uff08B-splines\uff09\u5bf9\u76f8\u673a\u8f68\u8ff9\u8fdb\u884c\u5efa\u6a21\uff0c\u901a\u8fc7\u5c40\u90e8\u63a7\u5236\u70b9\u4f18\u5316\u786e\u4fdd\u8f68\u8ff9\u7684\u8fde\u7eed\u6027\u548c\u5e73\u6ed1\u6027\uff0c\u5e76\u5f15\u5165\u52a8\u6001\u6b63\u5219\u5316\u7ea6\u675f\u76f8\u673a\u7684\u52a0\u901f\u5ea6\u548c\u89d2\u52a0\u901f\u5ea6\uff0c\u7ed3\u5408\u7269\u7406\u52a8\u529b\u5b66\u5148\u9a8c\u8fdb\u4e00\u6b65\u589e\u5f3a\u8f68\u8ff9\u7684\u7269\u7406\u5408\u7406\u6027\u3002\u7cfb\u7edf\u8bbe\u8ba1\u4e86\u6ed1\u52a8\u7a97\u53e3\u4f18\u5316\u7b56\u7565\uff0c\u5bf9\u8f68\u8ff9\u548c\u5730\u56fe\u5206\u6b65\u8c03\u6574\uff0c\u4ece\u5c40\u90e8\u5230\u5168\u5c40\u63d0\u5347\u4e00\u81f4\u6027\u3002\u5b9e\u9a8c\u7ed3\u679c\u8868\u660e\uff0cTS-SLAM\u5728TUM RGBD\u3001ScanNet\u548cNeuralRGBD\u6570\u636e\u96c6\u4e0a\u76f8\u8f83\u73b0\u6709\u65b9\u6cd5\u663e\u8457\u63d0\u5347\u4e86\u8f68\u8ff9\u7cbe\u5ea6\u548c\u91cd\u5efa\u8d28\u91cf\uff0c\u540c\u65f6\u4fdd\u6301\u4e86\u8f83\u9ad8\u7684\u8ba1\u7b97\u6548\u7387\uff0c\u5c55\u73b0\u51fa\u5176\u5728\u89c6\u89c9SLAM\u9886\u57df\u7684\u6f5c\u529b\u3002<\/p>\n\n\n\n<p>\u8bba\u6587\u4fe1\u606f<\/p>\n\n\n\n<p>\u6807\u9898\uff1aOptimizing NeRF-based SLAM with Trajectory Smoothness Constraints<\/p>\n\n\n\n<p>\u4f5c\u8005\uff1aYicheng He, Guangcheng Chen, and Hong Zhang<\/p>\n\n\n\n<p>\u8bba\u6587\u94fe\u63a5\uff1ahttps:\/\/arxiv.org\/pdf\/2410.08780<\/p>\n\n\n\n<p>\u52a8\u673a(Motivation)<\/p>\n\n\n\n<p>\u672c\u6587\u7684\u52a8\u673a\u662f\u89e3\u51b3\u5f53\u524d\u57fa\u4e8e\u795e\u7ecf\u8f90\u5c04\u573a\uff08NeRF\uff09\u7684SLAM\u65b9\u6cd5\u4e2d\u76f8\u673a\u8f68\u8ff9\u4f30\u8ba1\u5b58\u5728\u7684\u201c\u8df3\u8dc3\u6027\u201d\u548c\u201c\u975e\u7269\u7406\u6027\u201d\u95ee\u9898\uff0c\u8fd9\u79cd\u95ee\u9898\u4e0d\u4ec5\u4f1a\u964d\u4f4e\u8f68\u8ff9\u7684\u7cbe\u5ea6\uff0c\u8fd8\u4f1a\u5bf9\u540e\u7eed\u7684\u5730\u56fe\u91cd\u5efa\u8d28\u91cf\u4ea7\u751f\u4e0d\u5229\u5f71\u54cd\u3002\u5728\u73b0\u6709\u65b9\u6cd5\u4e2d\uff0c\u76f8\u673a\u8f68\u8ff9\u7684\u4f30\u8ba1\u4e3b\u8981\u4f9d\u8d56\u9690\u5f0f\u7684\u5730\u56fe\u8868\u793a\u7ea6\u675f\uff0c\u7f3a\u4e4f\u5bf9\u8f68\u8ff9\u5e73\u6ed1\u6027\u548c\u8fde\u7eed\u6027\u7684\u76f4\u63a5\u63a7\u5236\uff0c\u4ece\u800c\u5bfc\u81f4\u5c40\u90e8\u8f68\u8ff9\u4e0d\u591f\u81ea\u7136\u4e14\u4e0d\u5229\u4e8e\u5b9e\u9645\u5e94\u7528\uff08\u5982\u5bfc\u822a\u548c\u8def\u5f84\u89c4\u5212\uff09\u3002\u4e3a\u6b64\uff0c\u672c\u6587\u63d0\u51fa\u901a\u8fc7\u5f15\u5165\u8f68\u8ff9\u5e73\u6ed1\u7ea6\u675f\uff08\u57fa\u4e8eB\u6837\u6761\u8868\u793a\uff09\u548c\u52a8\u6001\u6b63\u5219\u5316\u6765\u4f18\u5316\u8f68\u8ff9\u7684\u5e73\u6ed1\u6027\u548c\u7269\u7406\u5408\u7406\u6027\uff0c\u4ee5\u63d0\u9ad8\u76f8\u673a\u5b9a\u4f4d\u7684\u7cbe\u5ea6\u548c\u91cd\u5efa\u7684\u573a\u666f\u8d28\u91cf\u3002<\/p>\n\n\n\n<p>\u521b\u65b0\u70b9<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"825\" height=\"423\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/01\/image-23.png\" alt=\"\" class=\"wp-image-24359\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/01\/image-23.png 825w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/01\/image-23-300x154.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/01\/image-23-768x394.png 768w\" sizes=\"(max-width: 825px) 100vw, 825px\" \/><\/figure>\n\n\n\n<p>\u7cfb\u7edfpipeline<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>\u57fa\u4e8eB\u6837\u6761\u7684\u8f68\u8ff9\u5e73\u6ed1\u7ea6\u675f\uff1a\n\n    \u5f15\u5165\u5747\u5300\u4e09\u6b21B\u6837\u6761\uff08B-splines\uff09\u8868\u793a\u76f8\u673a\u8f68\u8ff9\uff0c\u7528\u63a7\u5236\u70b9\u5bf9\u8f68\u8ff9\u8fdb\u884c\u5efa\u6a21\u3002\n\n    \u5229\u7528B\u6837\u6761\u7684\u53ef\u5fae\u6027\u548c\u5c40\u90e8\u63a7\u5236\u7279\u6027\uff0c\u5b9e\u73b0\u8f68\u8ff9\u7684\u5e73\u6ed1\u6027\u548c\u8fde\u7eed\u6027\uff0c\u907f\u514d\u4f20\u7edf\u65b9\u6cd5\u4e2d\u56e0\u9690\u5f0f\u7ea6\u675f\u5bfc\u81f4\u7684\u8f68\u8ff9\u8df3\u8dc3\u95ee\u9898\u3002\n\n\u52a8\u6001\u6b63\u5219\u5316\u7ea6\u675f\uff1a\n\n    \u901a\u8fc7\u5f15\u5165\u7269\u7406\u52a8\u529b\u5b66\u5148\u9a8c\uff0c\u5bf9\u76f8\u673a\u8f68\u8ff9\u7684\u52a0\u901f\u5ea6\u548c\u89d2\u52a0\u901f\u5ea6\u65bd\u52a0\u7ea6\u675f\u3002\n\n    \u8fd9\u79cd\u6b63\u5219\u5316\u9650\u5236\u4e86\u8f68\u8ff9\u4e2d\u7684\u975e\u7269\u7406\u8fd0\u52a8\uff0c\u786e\u4fdd\u8f68\u8ff9\u7b26\u5408\u5b9e\u9645\u52a8\u529b\u5b66\u7279\u6027\uff0c\u4ece\u800c\u751f\u6210\u66f4\u771f\u5b9e\u7684\u8f68\u8ff9\u3002\n\n\u6ed1\u52a8\u7a97\u53e3\u5c40\u90e8\u8c03\u6574\u7b56\u7565\uff1a\n\n    \u8bbe\u8ba1\u4e86\u4e00\u79cd\u6ed1\u52a8\u7a97\u53e3\u7684\u5c40\u90e8\u6346\u7ed1\u8c03\u6574\uff08Local Bundle Adjustment\uff09\u65b9\u6cd5\uff0c\u5728\u5c0f\u8303\u56f4\u5185\u9010\u6b65\u4f18\u5316\u63a7\u5236\u70b9\u3002\n\n    \u901a\u8fc7\u7c97\u5230\u7ec6\u7684\u4f18\u5316\u7b56\u7565\uff0c\u7a33\u5b9a\u63a7\u5236\u70b9\u7684\u5b66\u4e60\u8fc7\u7a0b\uff0c\u5e76\u51cf\u5c11\u65b0\u589e\u63a7\u5236\u70b9\u5bf9\u5168\u5c40\u8c03\u6574\u7684\u8d1f\u9762\u5f71\u54cd\u3002\n\n\u7ed3\u5408\u5168\u5c40\u4f18\u5316\u7684\u4f53\u7cfb\u8bbe\u8ba1\uff1a\n\n    \u5728\u5c40\u90e8\u4f18\u5316\u7684\u57fa\u7840\u4e0a\uff0c\u901a\u8fc7\u5168\u5c40\u6346\u7ed1\u8c03\u6574\uff08Global Bundle Adjustment\uff09\u5bf9\u6240\u6709\u5173\u952e\u5e27\u7684\u63a7\u5236\u70b9\u548c\u5730\u56fe\u8fdb\u884c\u8054\u5408\u4f18\u5316\uff0c\u8fdb\u4e00\u6b65\u63d0\u9ad8\u8f68\u8ff9\u548c\u5730\u56fe\u7684\u4e00\u81f4\u6027\u3002\n\n\u53ef\u62d3\u5c55\u6027\u548c\u901a\u7528\u6027\uff1a\n\n    \u8be5\u65b9\u6cd5\u7684\u8f68\u8ff9\u5e73\u6ed1\u7ea6\u675f\u548c\u6b63\u5219\u5316\u7b56\u7565\u65e0\u9700\u4fee\u6539NeRF\u7684\u573a\u666f\u8868\u793a\u548c\u91cd\u5efa\u635f\u5931\uff0c\u56e0\u6b64\u53ef\u4ee5\u65e0\u7f1d\u96c6\u6210\u5230\u73b0\u6709\u7684\u4efb\u4f55\u57fa\u4e8eNeRF\u7684SLAM\u7cfb\u7edf\u4e2d\u3002<\/code><\/pre>\n\n\n\n<p>\u5b9e\u9a8c\u4eff\u771f\u7ed3\u679c<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"243\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/01\/image-24-1024x243.png\" alt=\"\" class=\"wp-image-24360\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/01\/image-24-1024x243.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/01\/image-24-300x71.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/01\/image-24-768x182.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/01\/image-24-1536x364.png 1536w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/01\/image-24.png 1619w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"818\" height=\"683\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/01\/image-25.png\" alt=\"\" class=\"wp-image-24361\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/01\/image-25.png 818w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/01\/image-25-300x250.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/01\/image-25-768x641.png 768w\" sizes=\"(max-width: 818px) 100vw, 818px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"825\" height=\"494\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/01\/image-26.png\" alt=\"\" class=\"wp-image-24362\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/01\/image-26.png 825w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/01\/image-26-300x180.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/01\/image-26-768x460.png 768w\" sizes=\"(max-width: 825px) 100vw, 825px\" \/><\/figure>\n\n\n\n<p>paper2\uff1aMBA-SLAM: \u9488\u5bf9\u8fd0\u52a8\u6a21\u7cca\u7684\u7a20\u5bc6\u89c6\u89c9SLAM\u6846\u67b6<\/p>\n\n\n\n<p>\u5bfc\u8bfb<\/p>\n\n\n\n<p>\u672c\u6587\u63d0\u51fa\u4e86MBA-SLAM\uff08Motion Blur Aware SLAM\uff09\uff0c\u4e00\u79cd\u9762\u5411\u8fd0\u52a8\u6a21\u7cca\u573a\u666f\u7684\u7a20\u5bc6\u89c6\u89c9SLAM\u6846\u67b6\u3002\u901a\u8fc7\u5f15\u5165\u8fd0\u52a8\u6a21\u7cca\u611f\u77e5\u7684\u8ddf\u8e2a\u5668\u548c\u57fa\u4e8e\u8f90\u5c04\u573a\uff08NeRF\uff09\u62163D\u9ad8\u65af\u5206\u5e03\uff083DGS\uff09\u7684\u5efa\u56fe\u5668\uff0c\u8be5\u65b9\u6cd5\u80fd\u591f\u5728\u56fe\u50cf\u6355\u83b7\u671f\u95f4\u5efa\u6a21\u6444\u50cf\u673a\u8fd0\u52a8\u8f68\u8ff9\uff0c\u4ece\u800c\u6709\u6548\u5e94\u5bf9\u56e0\u8fd0\u52a8\u6a21\u7cca\u5bfc\u81f4\u7684\u5b9a\u4f4d\u548c\u5730\u56fe\u91cd\u5efa\u8d28\u91cf\u4e0b\u964d\u7684\u95ee\u9898\u3002\u5b9e\u9a8c\u7ed3\u679c\u8868\u660e\uff0cMBA-SLAM\u5728\u5904\u7406\u5305\u542b\u8fd0\u52a8\u6a21\u7cca\u7684\u8f93\u5165\u6570\u636e\u65f6\uff0c\u5728\u6444\u50cf\u673a\u5b9a\u4f4d\u548c3D\u573a\u666f\u91cd\u5efa\u65b9\u9762\u5747\u8d85\u8d8a\u4e86\u73b0\u6709\u7684\u6700\u5148\u8fdb\u65b9\u6cd5\uff0c\u540c\u65f6\u5bf9\u6e05\u6670\u6570\u636e\u4e5f\u5177\u6709\u4f18\u79c0\u7684\u9002\u5e94\u6027\u3002<\/p>\n\n\n\n<p>\u8bba\u6587\u4fe1\u606f<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>\u6807\u9898\uff1aMBA-SLAM: Motion Blur Aware Dense Visual SLAM with Radiance Fields Representation\n\n\u4f5c\u8005\uff1aPeng Wang, Lingzhe Zhao, Yin Zhang, Shiyu Zhao, Peidong Liu\u2020\n\n\u8bba\u6587\u94fe\u63a5\uff1ahttps:\/\/arxiv.org\/pdf\/2411.08279\n\n\u9879\u76ee\u5730\u5740\uff1ahttps:\/\/github.com\/WU-CVGL\/MBA-SLAM<\/code><\/pre>\n\n\n\n<p>\u52a8\u673a(Motivation)<\/p>\n\n\n\n<p>\u672c\u6587\u7684\u52a8\u673a\u5728\u4e8e\u89e3\u51b3\u73b0\u6709\u7a20\u5bc6\u89c6\u89c9SLAM\u65b9\u6cd5\u5728\u5904\u7406\u8fd0\u52a8\u6a21\u7cca\u56fe\u50cf\u65f6\u9762\u4e34\u7684\u6027\u80fd\u4e0b\u964d\u95ee\u9898\u3002\u968f\u7740\u795e\u7ecf\u8f90\u5c04\u573a\uff08NeRF\uff09\u548c3D\u9ad8\u65af\u5206\u5e03\uff083DGS\uff09\u7b49\u65b0\u51743D\u573a\u666f\u8868\u793a\u65b9\u6cd5\u7684\u5e7f\u6cdb\u5e94\u7528\uff0cSLAM\u7cfb\u7edf\u5728\u9ad8\u8d28\u91cf\u8f93\u5165\u6570\u636e\u4e0a\u7684\u8868\u73b0\u5f97\u5230\u4e86\u663e\u8457\u63d0\u5347\u3002\u7136\u800c\uff0c\u5728\u5b9e\u9645\u573a\u666f\u4e2d\uff0c\u6444\u50cf\u673a\u7ecf\u5e38\u56e0\u5feb\u901f\u8fd0\u52a8\u6216\u4f4e\u5149\u7167\u6761\u4ef6\u4e0b\u7684\u957f\u66dd\u5149\u800c\u4ea7\u751f\u8fd0\u52a8\u6a21\u7cca\uff0c\u5bfc\u81f4\uff1a<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>\u5b9a\u4f4d\u51c6\u786e\u6027\u4e0b\u964d\uff1a\u4f20\u7edfSLAM\u4f9d\u8d56\u56fe\u50cf\u7684\u5149\u5ea6\u4e00\u81f4\u6027\u6765\u4f30\u8ba1\u6444\u50cf\u673a\u4f4d\u59ff\uff0c\u800c\u8fd0\u52a8\u6a21\u7cca\u7834\u574f\u4e86\u8fd9\u4e00\u5047\u8bbe\uff0c\u4f7f\u5f97\u5b9a\u4f4d\u8bef\u5dee\u589e\u52a0\u3002\n\n\u5730\u56fe\u91cd\u5efa\u8d28\u91cf\u4e0b\u964d\uff1a\u591a\u89c6\u89d2\u56fe\u50cf\u7684\u7279\u5f81\u5339\u914d\u56e0\u8fd0\u52a8\u6a21\u7cca\u800c\u53d8\u5f97\u4e0d\u53ef\u9760\uff0c\u4ece\u800c\u5bfc\u81f43D\u51e0\u4f55\u4fe1\u606f\u9519\u8bef\u548c\u5730\u56fe\u91cd\u5efa\u7684\u4e0d\u4e00\u81f4\u6027\u3002<\/code><\/pre>\n\n\n\n<p>\u4e3a\u4e86\u89e3\u51b3\u4e0a\u8ff0\u6311\u6218\uff0c\u672c\u6587\u63d0\u51fa\u4e86\u4e00\u4e2a\u8fd0\u52a8\u6a21\u7cca\u611f\u77e5\u7684SLAM\u6846\u67b6\uff0c\u4e13\u95e8\u5efa\u6a21\u8fd0\u52a8\u6a21\u7cca\u7684\u56fe\u50cf\u5f62\u6210\u8fc7\u7a0b\uff0c\u540c\u65f6\u7ed3\u5408NeRF\u62163DGS\u4ee5\u5b9e\u73b0\u9ad8\u8d28\u91cf\u76843D\u573a\u666f\u8868\u793a\u548c\u6444\u50cf\u673a\u8f68\u8ff9\u4f30\u8ba1\u3002\u6b64\u65b9\u6cd5\u65e8\u5728\u63d0\u9ad8SLAM\u7cfb\u7edf\u5728\u8fd0\u52a8\u6a21\u7cca\u8f93\u5165\u4e0b\u7684\u9c81\u68d2\u6027\u548c\u7cbe\u5ea6\u3002<\/p>\n\n\n\n<p>\u521b\u65b0\u70b9<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"713\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/01\/image-27-1024x713.png\" alt=\"\" class=\"wp-image-24363\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/01\/image-27-1024x713.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/01\/image-27-300x209.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/01\/image-27-768x535.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/01\/image-27.png 1359w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u7cfb\u7edfpipeline<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>\u8fd0\u52a8\u6a21\u7cca\u611f\u77e5\u7684\u8ffd\u8e2a\u5668\uff1a\u63d0\u51fa\u4e86\u4e00\u79cd\u57fa\u4e8e\u7269\u7406\u8fd0\u52a8\u6a21\u7cca\u56fe\u50cf\u5f62\u6210\u6a21\u578b\u7684\u8ffd\u8e2a\u5668\uff0c\u901a\u8fc7\u5efa\u6a21\u56fe\u50cf\u66dd\u5149\u671f\u95f4\u6444\u50cf\u673a\u7684\u8fd0\u52a8\u8f68\u8ff9\uff0c\u5728\u5b9a\u4f4d\u9636\u6bb5\u4e3b\u52a8\u8865\u507f\u8fd0\u52a8\u6a21\u7cca\u7684\u5f71\u54cd\u3002\u8fd9\u663e\u8457\u63d0\u5347\u4e86\u5728\u8fd0\u52a8\u6a21\u7cca\u573a\u666f\u4e2d\u7684\u6444\u50cf\u673a\u8f68\u8ff9\u4f30\u8ba1\u7cbe\u5ea6\u3002\n\n\u65b0\u578bSLAM pipeline\uff1a\u6574\u5408\u4e86\u8fd0\u52a8\u6a21\u7cca\u611f\u77e5\u7684\u8ffd\u8e2a\u5668\u548c\u8f90\u5c04\u573a\uff08NeRF\uff09\u62163D\u9ad8\u65af\u5206\u5e03\uff083DGS\uff09\u4e3a\u6838\u5fc3\u7684\u5efa\u56fe\u6a21\u5757\uff0c\u5f62\u6210\u4e86\u4e00\u4e2a\u9c81\u68d2\u7684\u3001\u7a20\u5bc6\u7684RGB-D SLAM\u7ba1\u7ebf\uff0c\u53ef\u4ee5\u5e94\u5bf9\u8fd0\u52a8\u6a21\u7cca\u548c\u6e05\u6670\u56fe\u50cf\u7684\u591a\u6837\u573a\u666f\u3002\n\n\u52a8\u6001\u5173\u952e\u5e27\u6e32\u67d3\u4e0e\u518d\u6a21\u7cca\u673a\u5236\uff1a\u5728\u8ffd\u8e2a\u8fc7\u7a0b\u4e2d\uff0c\u4ece3D\u573a\u666f\u8868\u793a\u751f\u6210\u865a\u62df\u6e05\u6670\u56fe\u50cf\uff0c\u5e76\u901a\u8fc7\u6444\u50cf\u673a\u8fd0\u52a8\u8f68\u8ff9\u5bf9\u5176\u518d\u6a21\u7cca\u4ee5\u4e0e\u8f93\u5165\u56fe\u50cf\u5339\u914d\uff0c\u4ece\u800c\u589e\u5f3a\u5149\u5ea6\u4e00\u81f4\u6027\u635f\u5931\u4f18\u5316\u7684\u9c81\u68d2\u6027\u3002\n\n\u5e7f\u6cdb\u7684\u5b9e\u9a8c\u9a8c\u8bc1\uff1a\u901a\u8fc7\u5728\u5408\u6210\u548c\u771f\u5b9e\u6570\u636e\u96c6\u4e0a\u7684\u5b9e\u9a8c\uff0c\u8bc1\u660e\u4e86\u8be5\u65b9\u6cd5\u5728\u8fd0\u52a8\u6a21\u7cca\u573a\u666f\u548c\u6e05\u6670\u56fe\u50cf\u573a\u666f\u4e2d\u7684\u4f18\u8d8a\u6027\u80fd\uff0c\u8d85\u8d8a\u4e86\u73b0\u6709\u6700\u5148\u8fdb\u7684NeRF\u548c3DGS SLAM\u65b9\u6cd5\u3002\n\n\u9ad8\u6548\u5b9e\u73b0\uff1a\u5728NeRF\u5b9e\u73b0\u4e2d\u5f15\u5165\u4e86\u57fa\u4e8e\u4e09\u5e73\u9762\u7684\u9ad8\u6548\u8868\u793a\uff0c\u63d0\u9ad8\u4e86\u8bad\u7ec3\u6548\u7387\uff1b\u57283DGS\u5b9e\u73b0\u4e2d\u5bf9\u9ad8\u65af\u6838\u7684\u7ba1\u7406\u8fdb\u884c\u4e86\u4f18\u5316\uff0c\u652f\u6301\u5b9e\u65f6\u6027\u80fd\u3002<\/code><\/pre>\n\n\n\n<p>\u5b9e\u9a8c\u4eff\u771f\u7ed3\u679c<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"674\" height=\"457\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/01\/image-28.png\" alt=\"\" class=\"wp-image-24364\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/01\/image-28.png 674w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/01\/image-28-300x203.png 300w\" sizes=\"(max-width: 674px) 100vw, 674px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"681\" height=\"876\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/01\/image-29.png\" alt=\"\" class=\"wp-image-24365\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/01\/image-29.png 681w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/01\/image-29-233x300.png 233w\" sizes=\"(max-width: 681px) 100vw, 681px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"643\" height=\"356\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/01\/image-30.png\" alt=\"\" class=\"wp-image-24366\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/01\/image-30.png 643w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/01\/image-30-300x166.png 300w\" sizes=\"(max-width: 643px) 100vw, 643px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"657\" height=\"443\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/01\/image-31.png\" alt=\"\" class=\"wp-image-24367\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/01\/image-31.png 657w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/01\/image-31-300x202.png 300w\" sizes=\"(max-width: 657px) 100vw, 657px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"657\" height=\"781\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/01\/image-32.png\" alt=\"\" class=\"wp-image-24368\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/01\/image-32.png 657w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/01\/image-32-252x300.png 252w\" sizes=\"(max-width: 657px) 100vw, 657px\" \/><\/figure>\n","protected":false},"excerpt":{"rendered":"<p>paper1\uff1aTS-SLAM: \u57fa\u4e8e\u8f68\u8ff9\u5e73\u6ed1\u7ea6 [&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-24358","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\/24358"}],"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=24358"}],"version-history":[{"count":1,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/24358\/revisions"}],"predecessor-version":[{"id":24369,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/24358\/revisions\/24369"}],"wp:attachment":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/media?parent=24358"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/categories?post=24358"},{"taxonomy":"post_tag","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/tags?post=24358"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}