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\u7136\u800c\uff0c\u8fd9\u4e9b\u6280\u672f\u4ecd\u7136\u9700\u8981\uff1a<\/p>\n\n\n\n

    \n
  1. \u6602\u8d35\u7684LiDAR\u6765\u751f\u6210\u70b9\u4e91<\/li>\n\n\n\n
  2. \u9700\u8981\u5e26\u6709\u9884\u6807\u6ce8\u52a8\u6001\u8f66\u8f86\u8fb9\u754c\u548c\u8f68\u8ff9\u7684\u6570\u636e\u96c6\u3002<\/li>\n<\/ol>\n\n\n\n

    \u4e3a\u4e86\u7f13\u89e3\u8fd9\u4e00\u9650\u5236\uff0c\u5c06\u5360\u636e\u9884\u6d4b\u7f51\u7edc\uff08ONet\uff09\u5f15\u5165\u81ea\u52a8\u9a7e\u9a76\u611f\u77e5\u9886\u57df\uff0c\u5e76\u5e94\u7528\u4e8e\u4e09\u7ef4\u573a\u666f\u91cd\u5efa\u3002\u7531\u4e8eONet\u5c06\u73b0\u5b9e\u4e16\u754c\u5efa\u6a21\u4e3a\u5177\u6709\u8bed\u4e49\u4fe1\u606f\u7684\u4f53\u7d20\u7f51\u683c\uff0c\u6211\u4eec\u53ef\u4ee5\u6d88\u9664\u5bf9\u6602\u8d35\u7684LiDAR\u7684\u9700\u6c42\uff0c\u540c\u65f6\u89e3\u51b3\u8fb9\u754c\u6846\u65e0\u6cd5\u6355\u6349\u672a\u6807\u6ce8\u7269\u4f53\u7684\u95ee\u9898\u3002<\/p>\n\n\n\n

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

    \u672c\u6587\u4ecb\u7ecd\u7684OG-Gaussian[1]\u662f\u4e00\u79cd\u65b0\u7684\u81ea\u52a8\u9a7e\u9a76\u573a\u666f\u91cd\u5efa\u65b9\u6848<\/strong>\u3002\u6211\u4eec\u7684\u65b9\u6cd5\u9996\u5148\u901a\u8fc7\u5b89\u88c5\u5728\u8f66\u8f86\u4e0a\u7684\u6444\u50cf\u5934\u6355\u6349\u5468\u56f4\u89c6\u91ce\u56fe\u50cf\u3002\u7136\u540e\uff0c\u6211\u4eec\u4f7f\u7528\u5360\u636e\u9884\u6d4b\u7f51\u7edc\uff08ONet\uff09\u83b7\u53d6\u5468\u56f4\u73af\u5883\u7684\u5360\u636e\u7f51\u683c\uff08OG\uff09\u4fe1\u606f\u3002\u901a\u8fc7\u5229\u7528\u5360\u636e\u7f51\u683c\u4e2d\u7684\u8bed\u4e49\u4fe1\u606f\uff0c\u6211\u4eec\u5c06\u539f\u59cb\u573a\u666f\u5206\u4e3a\u8857\u9053\u573a\u666f\u548c\u52a8\u6001\u8f66\u8f86\u3002\u63a5\u7740\uff0c\u6211\u4eec\u5c06\u80cc\u666f\u8857\u9053\u7684\u5360\u636e\u7f51\u683c\u8f6c\u6362\u4e3a\u70b9\u4e91\uff0c\u5e76\u901a\u8fc7\u4e8c\u7ef4\u56fe\u50cf\u6295\u5f71\u5c06\u52a8\u6001\u8f66\u8f86\u7684\u7f51\u683c\u8f6c\u5316\u4e3a\u521d\u59cb\u70b9\u4e91\u96c6\u5408\u3002\u6211\u4eec\u7684\u65b9\u6848\u4e0d\u4f9d\u8d56\u6602\u8d35\u7684LiDAR\u70b9\u4e91\u4f5c\u4e3a\u521d\u59cb\u70b9\u4e91\uff0c\u800c\u662f\u5c06\u901a\u8fc7\u5360\u636e\u7f51\u683c\u83b7\u5f97\u7684\u70b9\u4e91\u4f5c\u4e3a\u4f4e\u6210\u672c\u7684\u66ff\u4ee3\u5148\u9a8c\u3002\u8fd9\u4e9b\u70b9\u4e91\u5c06\u88ab\u8f6c\u6362\u4e3a\u53ef\u4f18\u5316\u7684\u9ad8\u65af\u692d\u7403\u96c6\u3002\u4e3a\u4e86\u8ffd\u8e2a\u52a8\u6001\u8f66\u8f86\uff0c\u6211\u4eec\u5c06\u5176\u521d\u59cb\u70b9\u7684\u4f4d\u7f6e\u548c\u65cb\u8f6c\u77e9\u9635\u5b9a\u4e49\u4e3a\u53ef\u5b66\u4e60\u7684\u53c2\u6570\u3002\u8fd9\u4f7f\u5f97\u6211\u4eec\u53ef\u4ee5\u4f18\u5316\u8f66\u8f86\u7684\u59ff\u6001\u548c\u8f68\u8ff9\uff0c\u63cf\u8ff0\u52a8\u6001\u8f66\u8f86\u5728\u73b0\u5b9e\u4e16\u754c\u4e2d\u7684\u8fd0\u52a8\u65b9\u5f0f\u3002\u901a\u8fc7\u8fd9\u79cd\u65b9\u5f0f\uff0c\u6211\u4eec\u7684\u65b9\u6cd5\u65e0\u9700\u9884\u6807\u6ce8\u7684\u8f68\u8ff9\u6216\u52a8\u6001\u7269\u4f53\u7684\u8fb9\u754c\u6846\u3002\u6700\u7ec8\uff0c\u4f18\u5316\u540e\u7684\u9ad8\u65af\u692d\u7403\u5c06\u6295\u5f71\u5230\u4e8c\u7ef4\u7a7a\u95f4\u4e2d\uff0c\u6e32\u67d3\u91cd\u5efa\u7684\u81ea\u52a8\u9a7e\u9a76\u573a\u666f\u3002<\/p>\n\n\n\n

    \u6211\u4eec\u5728Waymo\u5f00\u653e\u6570\u636e\u96c6\u4e0a\u8fdb\u884c\u4e86\u5b9e\u9a8c\uff0c\u7ed3\u679c\u8868\u660e\uff0cOG-Gaussian\u5728\u91cd\u5efa\u8d28\u91cf\u548c\u6e32\u67d3\u901f\u5ea6\u65b9\u9762\u4e0e\u5f53\u524d\u7684\u6700\u5148\u8fdb\u65b9\u6cd5\u76f8\u5f53\uff0c\u5e76\u4e14\u5728\u4e0d\u4f9d\u8d56LiDAR\u6216\u4efb\u4f55\u6807\u6ce8\u7684\u60c5\u51b5\u4e0b\uff0c\u53d6\u5f97\u4e86\u5e73\u5747PSNR\u4e3a35.13\uff0c\u6e32\u67d3\u901f\u5ea6\u4e3a143 FPS<\/strong>\u3002\u6211\u4eec\u8fd8\u8fdb\u884c\u4e86\u6d88\u878d\u7814\u7a76\uff0c\u4ee5\u9a8c\u8bc1\u4f7f\u7528\u5904\u7406\u8fc7\u7684\u5360\u636e\u7f51\u683c\u4f5c\u4e3a\u5148\u9a8c\u5728\u91cd\u5efa\u81ea\u52a8\u9a7e\u9a76\u573a\u666f\u4e2d\u7684\u6709\u6548\u6027\u3002\u6211\u4eec\u4e3a\u540e\u7eed\u4efb\u52a1\u63d0\u4f9b\u4e86\u4e00\u79cd\u5feb\u901f\u3001\u4f4e\u6210\u672c\u7684\u4e09\u7ef4\u573a\u666f\u91cd\u5efa\u65b9\u6cd5\u3002<\/p>\n\n\n\n

    \u4e3b\u8981\u8d21\u732e<\/strong>\uff1a<\/p>\n\n\n\n

      \n
    • \u6211\u4eec\u4ecb\u7ecd\u4e86OG-Gaussian\uff0c\u5c06\u5360\u636e\u7f51\u683c\u878d\u5165\u5230\u81ea\u52a8\u9a7e\u9a76\u573a\u666f\u7684\u91cd\u5efa\u4e2d\u3002\u8fd9\u79cd\u65b9\u6cd5\u6d88\u9664\u4e86\u4f9d\u8d56\u6602\u8d35\u7684LiDAR\u751f\u6210\u521d\u59cb\u70b9\u4e91\u7684\u9700\u6c42\uff0c\u4ec5\u9700\u56fe\u50cf\u8f93\u5165\uff0c\u5e76\u663e\u8457\u964d\u4f4e\u4e86\u4e09\u7ef4\u573a\u666f\u91cd\u5efa\u7684\u6210\u672c\u3002<\/li>\n\n\n\n
    • \u6211\u4eec\u5229\u7528\u5360\u636e\u7f51\u683c\u7684\u8bed\u4e49\u7279\u6027\u5c06\u52a8\u6001\u8f66\u8f86\u4ece\u9759\u6001\u80cc\u666f\u4e2d\u5206\u79bb\u51fa\u6765\uff0c\u5e76\u4f30\u8ba1\u5176\u59ff\u6001\uff0c\u6d88\u9664\u4e86\u52a8\u6001\u7269\u4f53\u624b\u52a8\u6807\u6ce8\u7684\u9700\u6c42\u3002<\/li>\n\n\n\n
    • \u901a\u8fc7\u5e7f\u6cdb\u7684\u5b9e\u9a8c\uff0c\u6211\u4eec\u7684\u65b9\u6cd5\u5728\u91cd\u5efa\u8d28\u91cf\u548c\u6e32\u67d3\u901f\u5ea6\u65b9\u9762\u4e0e\u6700\u5148\u8fdb\u7684\u65b9\u6cd5\u76f8\u5f53\uff0c\u5e73\u5747PSNR\u4e3a35.13\uff0c\u6e32\u67d3\u901f\u5ea6\u4e3a143 FPS\uff0c\u4e14\u4e0d\u4f9d\u8d56LiDAR\u6216\u4efb\u4f55\u6807\u6ce8\u3002<\/li>\n<\/ul>\n\n\n\n


      \u5177\u4f53\u65b9\u6cd5<\/strong><\/p>\n\n\n\n

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

      OG-Gaussian<\/strong><\/p>\n\n\n\n

      \u5728\u672c\u8282\u4e2d\uff0c\u6211\u4eec\u91cd\u70b9\u4ecb\u7ecdOG-Gaussian\u7684\u57fa\u672c\u7ed3\u6784\uff0c\u5e76\u8bf4\u660e\u5982\u4f55\u4f7f\u7528\u4e24\u7ec4\u4e0d\u540c\u7684\u70b9\u4e91\u6765\u8868\u793a\u8857\u9053\u573a\u666f\u548c\u52a8\u6001\u8f66\u8f86\u3002\u4ee5\u4e0b\u662f\u6211\u4eec\u65b9\u6cd5\u7684\u8be6\u7ec6\u89e3\u91ca\u3002<\/p>\n\n\n\n

      \u8857\u9053\u6a21\u578b<\/strong><\/p>\n\n\n\n

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

      \u52a8\u6001\u8f66\u8f86\u6a21\u578b<\/strong><\/p>\n\n\n\n

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

      \u5360\u636e\u5148\u9a8c\u4e0e\u5468\u56f4\u89c6\u56fe<\/strong><\/p>\n\n\n\n

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

      \u901a\u8fc7\u9ad8\u65af\u55b7\u6e85\u8fdb\u884c\u5168\u5c40\u6e32\u67d3<\/strong><\/p>\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
      \"\"<\/figure>\n\n\n\n

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

      OG-Gaussian\u662f\u4e00\u79cd\u9ad8\u6548\u7684\u65b9\u6cd5\uff0c\u5c06\u5360\u636e\u7f51\u683c\uff08OGs\uff09\u878d\u51653DGS\u7528\u4e8e\u91cd\u5efa\u6237\u5916\u81ea\u52a8\u9a7e\u9a76\u573a\u666f\u3002\u6211\u4eec\u7684\u65b9\u6cd5\u5229\u7528\u5360\u636e\u7f51\u683c\u63d0\u4f9b\u7684\u5148\u9a8c\u8fdb\u884c\u573a\u666f\u91cd\u5efa\uff0c\u540c\u65f6\u5206\u79bb\u5e76\u91cd\u5efa\u52a8\u6001\u8f66\u8f86\u4e0e\u9759\u6001\u8857\u9053\u573a\u666f\u3002\u6211\u4eec\u7684\u8868\u73b0\u4e0e\u4f9d\u8d56LiDAR\u7684\u73b0\u6709\u6700\u5148\u8fdb\u6280\u672f\u76f8\u5f53\uff0c\u4f46\u4ec5\u4f9d\u8d56\u4e8e\u76f8\u673a\u56fe\u50cf\u3002\u6211\u4eec\u7684\u65b9\u6cd5\u5c06\u4f7f\u672a\u6765\u7684\u7814\u7a76\u4eba\u5458\u80fd\u591f\u5feb\u901f\u4e14\u4f4e\u6210\u672c\u5730\u91cd\u5efa\u81ea\u52a8\u9a7e\u9a76\u573a\u666f\uff0c\u4e3a\u81ea\u52a8\u9a7e\u9a76\u6280\u672f\u7684\u53d1\u5c55\u505a\u51fa\u8d21\u732e\u3002<\/p>\n\n\n\n

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

      [1] OG-Gaussian: Occupancy Based Street Gaussians for Autonomous Driving<\/p>\n","protected":false},"excerpt":{"rendered":"

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