{"id":26716,"date":"2025-03-25T17:20:56","date_gmt":"2025-03-25T09:20:56","guid":{"rendered":"http:\/\/192.168.10.115\/?p=26716"},"modified":"2025-03-25T17:20:56","modified_gmt":"2025-03-25T09:20:56","slug":"2025-03-25-%e5%b0%8f%e7%b1%b3%e6%b1%bd%e8%bd%a6%e9%a6%96%e6%9b%9d%e8%87%aa%e5%8a%a8%e9%a9%be%e9%a9%b6%e7%a0%94%e7%a9%b6%e7%9b%b8%e6%9c%ba%e5%92%8clidar%e8%81%94%e5%90%88%e9%87%8d%e5%bb%ba%e6%a1%86","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2025\/03\/25\/26716\/","title":{"rendered":"2025-03-25 \u5c0f\u7c73\u6c7d\u8f66\u9996\u66dd\u81ea\u52a8\u9a7e\u9a76\u7814\u7a76\u76f8\u673a\u548cLiDAR\u8054\u5408\u91cd\u5efa\u6846\u67b6Uni-Gaussians"},"content":{"rendered":"\n

\u539f\u6587\u94fe\u63a5\uff1a https:\/\/www.163.com\/dy\/article\/JRE86RTD0511AQHO.html<\/a><\/p>\n\n\n\n

\u8bba\u6587\u7684\u4e3b\u8981\u4f5c\u8005\u6765\u81ea\u9999\u6e2f\u79d1\u6280\u5927\u5b66\u3001\u5c0f\u7c73\u6c7d\u8f66\u548c\u534e\u4e2d\u79d1\u6280\u5927\u5b66\u3002\u8bba\u6587\u7684\u5171\u540c\u7b2c\u4e00\u4f5c\u8005\u4e3a\u9999\u6e2f\u79d1\u6280\u5927\u5b66\u535a\u58eb\u540e\u7814\u7a76\u5458\u8881\u5b50\u5eb7\u3001\u5c0f\u7c73\u6c7d\u8f66\u7b97\u6cd5\u5de5\u7a0b\u5e08\u84b2\u7ca4\u5ddd\u3001\u7f57\u9e3f\u57ce\u3002\u8bba\u6587\u4f5c\u8005\u8fd8\u5305\u62ec\u5c0f\u7c73\u6c7d\u8f66\u4e16\u754c\u6a21\u578b\u8d1f\u8d23\u4eba\u5b59\u6d77\u6d0b\u3002\u901a\u8baf\u4f5c\u8005\u662f\u534e\u4e2d\u79d1\u6280\u5927\u5b66\u7684\u6559\u6388\u6768\u6b23\u3002<\/strong><\/p>\n\n\n\n

\u5728\u81ea\u52a8\u9a7e\u9a76\u6280\u672f\u5546\u4e1a\u5316\u843d\u5730\u7684\u5173\u952e\u9636\u6bb5\uff0c\u9ad8\u8d28\u91cf\u4eff\u771f\u7cfb\u7edf\u6210\u4e3a\u884c\u8f66\u5b89\u5168\u9a8c\u8bc1\u7684\u6838\u5fc3\u57fa\u7840\u8bbe\u65bd\u3002\u9488\u5bf9\u52a8\u6001\u9a7e\u9a76\u573a\u666f\u4e2d\u76f8\u673a\u4e0e LiDAR \u8054\u5408\u4eff\u771f\u96be\u9898\uff0cUni-Gaussians \u63d0\u51fa\u4e00\u79cd\u57fa\u4e8e\u7edf\u4e00\u9ad8\u65af\u8868\u5f81\u7684\u5206\u6cbb\u6e32\u67d3\u6846\u67b6\uff0c\u5b9e\u73b0\u7cbe\u786e\u6027\u4e0e\u8ba1\u7b97\u6548\u7387\u7684\u534f\u540c\u4f18\u5316\u3002<\/p>\n\n\n\n

\u5f53\u524d\u4e3b\u6d41\u795e\u7ecf\u6e32\u67d3\u65b9\u6848\u5b58\u5728\u663e\u8457\u5c40\u9650\u6027\uff1a<\/p>\n\n\n\n

    \n
  1. \u57fa\u4e8e NeRF \u7684\u65b9\u6cd5\u867d\u80fd\u901a\u8fc7\u8fde\u7eed\u573a\u666f\u8868\u5f81\u7edf\u4e00\u6e32\u67d3\u76f8\u673a\u56fe\u50cf\u4e0e LiDAR \u70b9\u4e91\uff0c\u4f46\u5176\u4f9d\u8d56\u5bc6\u96c6\u91c7\u6837\u7684\u4f53\u6e32\u67d3\u673a\u5236\u5bfc\u81f4\u8ba1\u7b97\u6548\u7387\u4f4e\u4e0b\uff1b<\/li>\n\n\n\n
  2. \u57fa\u4e8e\u9ad8\u65af\u6e85\u5c04\uff08Gaussian Splatting\uff09\u7684\u65b9\u6cd5\u5229\u7528\u9ad8\u65af\u57fa\u5143\u5b9e\u73b0\u573a\u666f\u8868\u5f81\uff0c\u5e76\u901a\u8fc7\u5149\u6805\u5316\uff08Rasterization\uff09\u8fbe\u6210\u5b9e\u65f6\u6e32\u67d3\uff0c\u4f46\u5176\u57fa\u4e8e\u7ebf\u6027\u5149\u5b66\u5047\u8bbe\u7684\u6e32\u67d3\u7ba1\u7ebf\u96be\u4ee5\u7cbe\u786e\u5efa\u6a21\u975e\u7ebf\u6027\u5149\u5b66\u4f20\u611f\u5668\u7279\u6027\uff0c\u5bfc\u81f4\u8be5\u65b9\u6cd5\u5728\u9488\u5b54\u76f8\u673a\u4e4b\u5916\u7684\u4f20\u611f\u5668\u7c7b\u578b\u4e2d\u5e94\u7528\u53d7\u9650\u3002<\/li>\n<\/ol>\n\n\n\n

    \u4e3a\u653b\u514b\u4e0a\u8ff0\u6311\u6218\uff0c\u6765\u81ea\u9999\u6e2f\u79d1\u6280\u5927\u5b66\u3001\u5c0f\u7c73\u6c7d\u8f66\u548c\u534e\u4e2d\u79d1\u6280\u5927\u5b66\u7684\u7814\u7a76\u56e2\u961f\u63d0\u51fa\u4e86 Uni-Gaussians\uff0c\u5b9e\u73b0\u4e86\u52a8\u6001\u9a7e\u9a76\u573a\u666f\u7684\u9ad8\u65af\u57fa\u5143\u7edf\u4e00\u8868\u5f81\u4e0e\u5206\u6cbb\u6e32\u67d3\u7684\u67b6\u6784\u3002\u4f7f\u7528\u52a8\u6001\u9ad8\u65af\u573a\u666f\u56fe\uff08Gaussian scene graph\uff09\uff0c\u5efa\u6a21\u9759\u6001\u80cc\u666f\u4e0e\u52a8\u6001\u5b9e\u4f53\uff08\u5982\u521a\u6027\u8f66\u8f86\u3001\u975e\u521a\u6027\u884c\u4eba\uff09\u3002\u56fe\u50cf\u6570\u636e\u91c7\u7528\u5149\u6805\u5316\uff08Rasterization\uff09\u8fdb\u884c\u6e32\u67d3\uff0c\u786e\u4fdd\u9ad8\u5e27\u7387\u8f93\u51fa\u3002LiDAR \u6570\u636e\u5219\u5f15\u5165\u9ad8\u65af\u5149\u7ebf\u8ffd\u8e2a\uff08Gaussian Ray-Tracing\uff09\uff0c\u7cbe\u786e\u6a21\u62df\u6fc0\u5149\u8109\u51b2\u4f20\u64ad\u7279\u6027\u3002\u8be5\u5de5\u4f5c\u4e3a\u81ea\u52a8\u9a7e\u9a76\u573a\u666f\u4e0b\u7684\u76f8\u673a\u4e0e LiDAR \u6570\u636e\u63d0\u4f9b\u7684\u4eff\u771f\u65b9\u5f0f\uff0c\u5728\u8d28\u91cf\u4e0e\u8ba1\u7b97\u6548\u7387\u65b9\u9762\u90fd\u53d6\u5f97\u4e86\u91cd\u5927\u8fdb\u5c55\u3002<\/p>\n\n\n\n

    \"\"\/<\/figure>\n\n\n\n
      \n
    • \u8bba\u6587\u6807\u9898\uff1aUni-Gaussians: Unifying Camera and Lidar Simulation with Gaussians for Dynamic Driving Scenarios<\/li>\n\n\n\n
    • \u8bba\u6587\u94fe\u63a5\uff1ahttps:\/\/arxiv.org\/pdf\/2503.08317<\/li>\n\n\n\n
    • \u9879\u76ee\u4e3b\u9875\uff1ahttps:\/\/zikangyuan.github.io\/UniGaussians\/<\/li>\n<\/ul>\n\n\n\n

      \u8bba\u6587\u8d21\u732e<\/strong><\/p>\n\n\n\n

      Uni-Gaussians \u4e3b\u8981\u6709\u4ee5\u4e0b\u8d21\u732e\uff1a<\/p>\n\n\n\n

        \n
      1. \u63d0\u51fa\u4e86\u4e00\u79cd\u7edf\u4e00\u3001\u9ad8\u6548\u7684\u4eff\u771f\u7cfb\u7edf\uff0c\u80fd\u591f\u5229\u7528\u9ad8\u65af\u57fa\u5143\u5b9e\u73b0\u76f8\u673a\u548c\u6fc0\u5149\u96f7\u8fbe\u6570\u636e\u7684\u8054\u5408\u91cd\u5efa\u3002<\/li>\n\n\n\n
      2. \u5b9e\u73b0\u4e86\u5305\u542b\u8f66\u8f86\u3001\u884c\u4eba\u548c\u9a91\u8f66\u4eba\u5728\u5185\u7684\u6240\u6709\u4ea4\u901a\u53c2\u4e0e\u8005\u7684\u9ad8\u8d28\u91cf LiDAR \u4eff\u771f\u3002<\/li>\n\n\n\n
      3. \u901a\u8fc7\u5927\u91cf\u7684\u5b9e\u9a8c\u8bc1\u660e\u4e86\u7edf\u4e00\u7684\u9ad8\u65af\u8868\u5f81\u548c\u6df7\u5408\u6e32\u67d3\u65b9\u6cd5\u7684\u4f18\u52bf\u3002<\/li>\n<\/ol>\n\n\n\n
        \"\"\/<\/figure>\n\n\n\n

        \u56fe\u4e00\u5c55\u793a\u4e86\u6700\u65b0 SOTA \u65b9\u6cd5 LiDAR4D \u548c\u8be5\u65b9\u6cd5\u4eff\u771f\u7ed3\u679c\u7684\u5bf9\u6bd4\u3002\u76f8\u6bd4\u4e4b\u524d\u65b9\u6cd5\uff0c\u8be5\u65b9\u6cd5\u53ef\u4ee5\u51c6\u786e\u5730\u91cd\u5efa\u51fa\u5404\u79cd\u53ef\u79fb\u52a8\u7269\u4f53\uff0c\u5305\u62ec\u884c\u4eba\u548c\u8f66\u8f86\u3002\u540c\u65f6\u8be5\u65b9\u6cd5\u5bf9\u56fe\u50cf\u4e5f\u53ef\u4ee5\u8fdb\u884c\u9ad8\u8d28\u91cf\u7684\u91cd\u5efa\u3002<\/p>\n\n\n\n

        \u65b9\u6cd5\u6982\u8ff0<\/strong><\/p>\n\n\n\n

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

        \u5982\u56fe\u4e8c\u6240\u793a\uff0c\u5bf9\u4e8e\u4e00\u4e2a\u52a8\u6001\u9a7e\u9a76\u573a\u666f\uff0c\u8be5\u65b9\u6cd5\u5efa\u7acb\u4e00\u4e2a\u9ad8\u65af\u573a\u666f\u56fe\u6765\u8fdb\u884c\u89e3\u8026\u5efa\u6a21\uff0c\u5176\u4e2d\u5305\u542b\u9759\u6001\u80cc\u666f\u548c\u5404\u79cd\u8fd0\u52a8\u7269\u4f53\uff0c\u4f8b\u5982\u521a\u6027\u7684\u8f66\u8f86\u548c\u975e\u521a\u6027\u7684\u884c\u4eba\u3001\u9a91\u8f66\u4eba\u3002\u65b9\u6cd5\u5bf9\u6574\u4e2a\u573a\u666f\u8fdb\u884c\u76f8\u673a\u548c\u6fc0\u5149\u96f7\u8fbe\u540c\u65f6\u7684\u6a21\u62df\u3002\u5bf9\u4e8e\u76f8\u673a\u56fe\u50cf\u6570\u636e\uff0c\u65b9\u6cd5\u91c7\u7528 2D \u9ad8\u65af\u57fa\u5143\uff082D Gaussian primitives\uff09\u7684\u6805\u683c\u5316\u6e32\u67d3\u3002\u5bf9\u4e8e\u6fc0\u5149\u96f7\u8fbe\u6570\u636e\uff0c\u8ba1\u7b97\u9ad8\u65af\u7403\u548c\u5c04\u7ebf\u7684\u4ea4\u70b9\u5e76\u6784\u5efa\u5149\u7ebf\u8ffd\u8e2a\u6765\u8fdb\u884c\u6a21\u62df\uff0c\u7ed3\u5408\u53cd\u5c04\u5f3a\u5ea6\uff08SH intensity\uff09\u4e0e\u5c04\u7ebf\u4e22\u5f03\u6982\u7387\uff08SH ray-drop probability\uff09\u5efa\u6a21 LiDAR \u7684\u4e3b\u52a8\u611f\u77e5\u673a\u5236\u3002<\/p>\n\n\n\n

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

        Uni-Gaussians \u5728 Waymo \u516c\u5f00\u6570\u636e\u96c6\u4e0a\u8fdb\u884c\u4e86\u8bc4\u4f30\u3002\u9488\u5bf9\u6fc0\u5149\u96f7\u8fbe\u6570\u636e\uff0c\u8be5\u5de5\u4f5c\u91c7\u7528 Chamfer Distance \u548c F-score \u6765\u8fdb\u884c\u70b9\u4e91\u51e0\u4f55\u7cbe\u5ea6\u8bc4\u4f30\u3002\u5e76\u4f7f\u7528 RMSE\u3001MedAE\u3001LPIPS\u3001SSIM \u548c PSNR \u6765\u8bc4\u4f30\u96f7\u8fbe\u6d4b\u8ddd\u6027\u80fd\u548c\u53cd\u5c04\u5f3a\u5ea6\u8d28\u91cf\u3002\u540c\u65f6\u5b9e\u9a8c\u62a5\u544a\u4e86\u6e32\u67d3\u7684\u8017\u65f6\u548c\u5b58\u50a8\u5360\u7528\u91cf\u3002\u5bf9\u4e8e\u76f8\u673a\u56fe\u50cf\u6e32\u67d3\u8d28\u91cf\uff0c\u5219\u91c7\u7528\u4e86 SSIM \u548c PSNR \u8fdb\u884c\u8bc4\u4f30\u3002<\/p>\n\n\n\n

        \u70b9\u4e91\u5bf9\u6bd4<\/strong><\/p>\n\n\n\n

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

        \u8868\u4e00\uff0c\u5c55\u793a\u8be5\u65b9\u6cd5\u548c lidar \u4eff\u771f SOTA \u65b9\u6cd5\u7684\u5b9a\u91cf\u6bd4\u8f83\u3002\u52a0\u7c97\u4e3a\u6700\u4f18\u7ed3\u679c\uff0c\u52a0\u4e0b\u5212\u7ebf\u4e3a\u6b21\u4f18\u7ed3\u679c\u3002\u548c\u4e4b\u524d\u7684 SOTA \u65b9\u6cd5\u76f8\u6bd4\uff0c\u8be5\u65b9\u6cd5\u5728\u6240\u6709\u6307\u6807\u4e0a\u5747\u8868\u73b0\u51fa\u5353\u8d8a\u7684\u6027\u80fd\u3002\u8bc1\u660e\u4e86\u8fd9\u79cd\u8054\u5408\u4eff\u771f\u7684\u4f18\u52bf\u3002\u4e0e DyNFL \u548c LiDAR4D \u76f8\u6bd4\uff0c\u8be5\u65b9\u6cd5\u7684 CD \u6307\u6807\u5206\u522b\u964d\u4f4e\u4e86 40.9% \u548c 46.7%\uff0c\u540c\u65f6\u6e32\u67d3\u8017\u65f6\u548c\u8ba1\u7b97\u5185\u5b58\u6d88\u8017\u4e5f\u5927\u5e45\u964d\u4f4e\u3002\u4e0b\u9762\u56fe 3 \u548c\u56fe 4 \u5c55\u793a\u53ef\u89c6\u5316\u6548\u679c\uff0c\u8be5\u65b9\u6cd5\u80fd\u591f\u51c6\u786e\u800c\u7cbe\u7ec6\u5730\u6a21\u62df\u52a8\u6001\u9a7e\u9a76\u573a\u666f\u4e2d\u7684\u5404\u79cd\u7c7b\u578b\u7684\u53ef\u79fb\u52a8\u5b9e\u4f53\uff0c\u5c55\u73b0\u51fa\u660e\u663e\u4f18\u52bf\u3002<\/p>\n\n\n\n

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

        \u56fe\u50cf\u5bf9\u6bd4<\/strong><\/p>\n\n\n\n

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

        \u5982\u8868\u4e8c\u6240\u793a\uff0c\u5bf9\u4e8e\u56fe\u50cf\uff0c\u8be5\u65b9\u6cd5\u80fd\u4fdd\u6301\u9ad8\u8d28\u91cf\u7684\u6e32\u67d3\u8d28\u91cf\u3002\u6b64\u5916\u8be5\u65b9\u6cd5\u5728\u65b0\u89c6\u89d2\u4e0b\u4e5f\u80fd\u8868\u73b0\u51fa\u4f18\u8d8a\u7684\u6cdb\u5316\u6027\u80fd\u3002<\/p>\n\n\n\n

        \u7efc\u4e0a\u6240\u8ff0\uff0cUni-Gaussians \u901a\u8fc7\u7edf\u4e00\u7684\u9ad8\u65af\u8868\u5f81\u548c\u5206\u6cbb\u6e32\u67d3\u7684\u65b9\u6cd5\uff0c\u5b9e\u73b0\u4e86\u4e00\u5957\u89c6\u89c9\u548c\u96f7\u8fbe\u70b9\u4e91\u7684\u8054\u5408\u4eff\u771f\u6846\u67b6\u3002\u8be5\u5de5\u4f5c\u5728\u70b9\u4e91\u548c\u56fe\u50cf\u4e0a\u5747\u5c55\u73b0\u51fa\u5f3a\u5927\u7684\u4eff\u771f\u6027\u80fd\uff0c\u517c\u987e\u9ad8\u6548\u7387\u548c\u9ad8\u8d28\u91cf\uff0c\u4e3a\u884c\u4e1a\u63d0\u4f9b\u4e86\u4e00\u5957\u4f18\u79c0\u7684\u89e3\u51b3\u65b9\u6848\u3002<\/p>\n","protected":false},"excerpt":{"rendered":"

        \u539f\u6587\u94fe\u63a5\uff1a https:\/\/www.163.c […]<\/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-26716","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\/26716"}],"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=26716"}],"version-history":[{"count":1,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/26716\/revisions"}],"predecessor-version":[{"id":26717,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/26716\/revisions\/26717"}],"wp:attachment":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/media?parent=26716"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/categories?post=26716"},{"taxonomy":"post_tag","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/tags?post=26716"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}