{"id":27456,"date":"2025-04-09T17:40:23","date_gmt":"2025-04-09T09:40:23","guid":{"rendered":"http:\/\/192.168.10.115\/?p=27456"},"modified":"2025-04-09T17:40:23","modified_gmt":"2025-04-09T09:40:23","slug":"2025-04-09-%e6%b8%af%e4%b8%ad%e6%96%87%e6%9c%80%e6%96%b0adgaussian%ef%bc%9a%e6%80%a7%e8%83%bd%e6%8b%89%e6%bb%a1%ef%bc%8c%e6%96%b0%e8%a7%86%e8%a7%92%e6%9a%b4%e6%b6%a810%e4%b8%aa%e7%82%b9%ef%bc%81","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2025\/04\/09\/27456\/","title":{"rendered":"2025-04-09 \u6e2f\u4e2d\u6587\u6700\u65b0ADGaussian\uff1a\u6027\u80fd\u62c9\u6ee1\uff0c\u65b0\u89c6\u89d2\u66b4\u6da810\u4e2a\u70b9\uff01"},"content":{"rendered":"\n<p>\u539f\u6587\u94fe\u63a5\uff1a<a href=\"https:\/\/zhuanlan.zhihu.com\/p\/1893126291550605626\">https:\/\/zhuanlan.zhihu.com\/p\/1893126291550605626<\/a><\/p>\n\n\n\n<p>\u6211\u4eec\u63d0\u51fa\u4e86\u4e00\u79cd\u65b0\u9896\u7684\u65b9\u6cd5\uff0c\u79f0\u4e3aADGaussian\uff0c\u7528\u4e8e\u53ef\u6cdb\u5316\u7684\u8857\u666f\u91cd\u5efa\u3002\u6240\u63d0\u51fa\u7684\u65b9\u6cd5\u80fd\u591f\u4ece\u5355\u89c6\u56fe\u8f93\u5165\u5b9e\u73b0\u9ad8\u8d28\u91cf\u7684\u6e32\u67d3\u3002\u4e0e\u4e4b\u524d\u4e3b\u8981\u4fa7\u91cd\u4e8e\u51e0\u4f55\u4f18\u5316\u7684GS\u65b9\u6cd5\u4e0d\u540c\uff0c\u6211\u4eec\u5f3a\u8c03\u56fe\u50cf\u548c\u6df1\u5ea6\u7279\u5f81\u8054\u5408\u4f18\u5316\u5bf9\u4e8e\u7cbe\u786e\u9ad8\u65af\u9884\u6d4b\u7684\u91cd\u8981\u6027\u3002\u4e3a\u6b64\uff0c\u6211\u4eec\u9996\u5148\u5c06\u7a00\u758f<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=256164869&amp;content_type=Article&amp;match_order=1&amp;q=LiDAR%E6%B7%B1%E5%BA%A6&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">LiDAR\u6df1\u5ea6<\/a>\u4f5c\u4e3a\u989d\u5916\u7684\u8f93\u5165\u6a21\u6001\uff0c\u5c06\u9ad8\u65af\u9884\u6d4b\u8fc7\u7a0b\u8868\u8ff0\u4e3a\u89c6\u89c9\u4fe1\u606f\u548c\u51e0\u4f55\u7ebf\u7d22\u7684\u8054\u5408\u5b66\u4e60\u6846\u67b6\u3002\u6b64\u5916\uff0c\u6211\u4eec\u63d0\u51fa\u4e86\u4e00\u79cd<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=256164869&amp;content_type=Article&amp;match_order=1&amp;q=%E5%A4%9A%E6%A8%A1%E6%80%81%E7%89%B9%E5%BE%81%E5%8C%B9%E9%85%8D&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">\u591a\u6a21\u6001\u7279\u5f81\u5339\u914d<\/a>\u7b56\u7565\uff0c\u5e76\u7ed3\u5408<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=256164869&amp;content_type=Article&amp;match_order=1&amp;q=%E5%A4%9A%E5%B0%BA%E5%BA%A6%E9%AB%98%E6%96%AF%E8%A7%A3%E7%A0%81%E6%A8%A1%E5%9E%8B&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">\u591a\u5c3a\u5ea6\u9ad8\u65af\u89e3\u7801\u6a21\u578b<\/a>\uff0c\u4ee5\u589e\u5f3a\u591a\u6a21\u6001\u7279\u5f81\u7684\u8054\u5408\u4f18\u5316\uff0c\u4ece\u800c\u5b9e\u73b0\u9ad8\u6548\u7684\u591a\u6a21\u6001\u9ad8\u65af\u5b66\u4e60\u3002\u5728\u4e24\u4e2a\u5927\u89c4\u6a21\u81ea\u52a8\u9a7e\u9a76\u6570\u636e\u96c6<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=256164869&amp;content_type=Article&amp;match_order=1&amp;q=Waymo&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">Waymo<\/a>\u548c<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=256164869&amp;content_type=Article&amp;match_order=1&amp;q=KITTI&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">KITTI<\/a><\/p>\n\n\n\n<p>\u4e0a\u7684\u5e7f\u6cdb\u5b9e\u9a8c\u8868\u660e\uff0c\u6211\u4eec\u7684ADGaussian\u8fbe\u5230\u4e86\u6700\u5148\u8fdb\u7684\u6027\u80fd\uff0c\u5e76\u5728\u65b0\u89c6\u89d2\u53d8\u6362\u4e2d\u8868\u73b0\u51fa\u4f18\u8d8a\u7684\u96f6\u6837\u672c\u6cdb\u5316\u80fd\u529b\u3002<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u9879\u76ee\u4e3b\u9875\uff1a<a href=\"https:\/\/link.zhihu.com\/?target=https%3A\/\/maggiesong7.github.io\/research\/ADGaussian\/\" target=\"_blank\" rel=\"noreferrer noopener\">https:\/\/maggiesong7.github.io\/research\/ADGaussian\/<\/a><\/li>\n<\/ul>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"h_1893126291550605626_1\">\u672c\u6587\u5f15\u8a00<\/h2>\n\n\n\n<p>\u6700\u8fd1\uff0c3DGS\uff083DGS\uff09\u56e0\u5176\u5b9e\u65f6\u6e32\u67d3\u901f\u5ea6\u548c\u9ad8\u8d28\u91cf\u8f93\u51fa\u57283D\u573a\u666f\u91cd\u5efa\u548c\u65b0\u89c6\u89d2\u5408\u6210\u9886\u57df\u5f15\u8d77\u4e86\u5e7f\u6cdb\u5173\u6ce8\u3002\u4e00\u4e2a\u5173\u952e\u5e94\u7528\u662f\u4ece\u56fe\u50cf\u5e8f\u5217\u4e2d\u5bf9\u8857\u9053\u573a\u666f\u8fdb\u884c\u5efa\u6a21\uff0c\u8fd9\u5728\u81ea\u52a8\u9a7e\u9a76\u7b49\u9886\u57df\u4e2d\u8d77\u7740\u81f3\u5173\u91cd\u8981\u7684\u4f5c\u7528\u3002 \u5728\u57ce\u5e02\u573a\u666f\u5efa\u6a21\u4e2d\uff0c\u4e00\u4e9b\u65b9\u6cd5\u9075\u5faa\u9010\u573a\u666f\u4f18\u5316\u6280\u672f\uff0c\u7279\u522b\u662fStreet-Gaussians\uff0c\u5b83\u5c06\u52a8\u6001\u57ce\u5e02\u8857\u9053\u8868\u793a\u4e3a\u4e00\u7ec4\u914d\u5907\u8bed\u4e49\u903b\u8f91\u548c3D\u9ad8\u65af\u70b9\u7684\u70b9\u4e91\u3002\u5c3d\u7ba1\u9010\u573a\u666f\u4f18\u5316\u65b9\u6cd5\u5728\u9ad8\u8d28\u91cf\u91cd\u5efa\u65b9\u9762\u8868\u73b0\u51fa\u8272\uff0c\u4f46\u5b83\u901a\u5e38\u9762\u4e34\u6602\u8d35\u7684\u8bad\u7ec3\u6210\u672c\u548c\u5927\u8303\u56f4\u7684\u65b0\u89c6\u89d2\u5408\u6210\u95ee\u9898\u3002<\/p>\n\n\n\n<blockquote class=\"wp-block-quote is-layout-flow wp-block-quote-is-layout-flow\">\n<p><strong>\u539f\u6587\u94fe\u63a5\uff1a<\/strong><a href=\"https:\/\/link.zhihu.com\/?target=https%3A\/\/mp.weixin.qq.com\/s\/szcQD-pPvOFxPbu0Bn9SKg\" target=\"_blank\" rel=\"noreferrer noopener\">\u6e2f\u4e2d\u6587\u6700\u65b0ADGaussian\uff1a\u6027\u80fd\u62c9\u6ee1\uff0c\u65b0\u89c6\u89d2\u66b4\u6da810\u4e2a\u70b9\uff01<\/a><\/p>\n<\/blockquote>\n\n\n\n<p>\u4e3a\u4e86\u5b9e\u73b0\u53ef\u6cdb\u5316\u7684\u8857\u666f\u91cd\u5efa\uff0c\u5927\u591a\u6570\u73b0\u6709\u65b9\u6cd5\u90fd\u57fa\u4e8ePixelSplat\u6216<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=256164869&amp;content_type=Article&amp;match_order=1&amp;q=MVSplat&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">MVSplat<\/a><\/p>\n\n\n\n<p>\u7684\u67b6\u6784\u3002\u4f8b\u5982\uff0cGGRt\u5f15\u5165\u4e86\u4e00\u79cd\u65e0\u59ff\u6001\u67b6\u6784\u6765\u8fed\u4ee3\u66f4\u65b0\u591a\u89c6\u89d2\u6df1\u5ea6\u56fe\uff0c\u968f\u540e\u57fa\u4e8ePixelSplat\u4f30\u8ba1\u9ad8\u65af\u539f\u8bed\u3002\u7c7b\u4f3c\u5730\uff0cGGS\u901a\u8fc7\u96c6\u6210\u591a\u89c6\u89d2\u6df1\u5ea6\u7ec6\u5316\u6a21\u5757\u589e\u5f3a\u4e86MVSplat\u7684\u6df1\u5ea6\u4f30\u8ba1\u3002\u7136\u800c\uff0c\u57fa\u4e8e\u591a\u89c6\u89d2\u7279\u5f81\u5339\u914d\u7684\u6df1\u5ea6\u4f30\u8ba1\u5728\u8bf8\u5982\u65e0\u7eb9\u7406\u533a\u57df\u548c\u53cd\u5c04\u8868\u9762\u7b49\u6311\u6218\u6027\u6761\u4ef6\u4e0b\u53ef\u80fd\u4f1a\u5931\u8d25\u3002\u4e3a\u4e86\u89e3\u51b3\u8fd9\u4e2a\u95ee\u9898\uff0c\u540c\u671f\u5de5\u4f5cDepthSplat\u7ed3\u5408\u4e86\u6765\u81eaDepth Anything V2\u7684\u9884\u8bad\u7ec3\u6df1\u5ea6\u7279\u5f81\u4e0e\u591a\u89c6\u89d2\u6df1\u5ea6\u4f30\u8ba1\uff0c\u4ee5\u5b9e\u73b0\u51c6\u786e\u7684\u6df1\u5ea6\u56de\u5f52\uff0c\u5176\u4e2d\u4f30\u8ba1\u7684\u6df1\u5ea6\u7279\u5f81\u8fdb\u4e00\u6b65\u7528\u4e8e\u9ad8\u65af\u9884\u6d4b\u3002<\/p>\n\n\n\n<p>\u9274\u4e8eDepth Anything V2\u7684\u5f3a\u5927\u6cdb\u5316\u80fd\u529b\uff0c\u5c06\u5176\u6269\u5c55\u5230\u57ce\u5e02\u8857\u9053\u573a\u666f\u662f\u5408\u7406\u7684\u3002\u7136\u800c\uff0c\u5f53\u5e94\u7528\u4e8e\u8fd9\u4e9b\u73af\u5883\u65f6\uff0cDepthSplat\u9762\u4e34\u7279\u5b9a\u7684\u9650\u5236\u3002\u9996\u5148\uff0c\u89c6\u89c9\u6e32\u67d3\u8d28\u91cf\u53d7\u5230\u9884\u8bad\u7ec3\u6df1\u5ea6\u6a21\u578b\u6709\u6548\u6027\u7684\u9650\u5236\u3002\u6b64\u5916\uff0c\u5373\u4f7f\u5728\u6df1\u5ea6\u8d28\u91cf\u8f83\u9ad8\u7684\u60c5\u51b5\u4e0b\uff0c\u76f4\u63a5\u4e32\u8054\u56fe\u50cf\u548c\u6df1\u5ea6\u7279\u5f81\u6765\u8fdb\u884c\u9ad8\u65af\u9884\u6d4b\uff0c\u5728\u590d\u6742\u7684\u81ea\u52a8\u9a7e\u9a76\u60c5\u5883\u4e2d\u4e5f\u4f1a\u5bfc\u81f4\u4e0d\u4ee4\u4eba\u6ee1\u610f\u7684\u89c6\u89c9\u91cd\u5efa\uff08\u89c1\u56fe1\uff09\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pica.zhimg.com\/v2-e2ce65bb6d9f8c3ac0b7c753be18c74c_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u4e3a\u6b64\uff0c\u6211\u4eec\u63d0\u51fa\u4e86\u4e00\u79cd\u65b0\u7684\u591a\u6a21\u6001\u8868\u793a\u6846\u67b6\uff0c\u65e8\u5728\u589e\u5f3a\u8857\u666f\u4e2d\u7684\u51e0\u4f55\u5efa\u6a21\u548c\u89c6\u89c9\u6e32\u67d3\u3002\u8be5\u6846\u67b6\u5229\u7528\u4e24\u79cd\u4e92\u8865\u7684\u6a21\u6001\uff1a\u56fe\u50cf\u89c6\u89c9\u7ebf\u7d22\u548c\u6df1\u5ea6\u51e0\u4f55\u7ebf\u7d22\u3002\u5173\u952e\u89c1\u89e3\u5728\u4e8e\u4fc3\u8fdb\u4e0d\u540c\u6a21\u6001\u4e4b\u95f4\u7684\u6709\u6548\u4fe1\u606f\u5171\u4eab\u548c\u8054\u5408\u4f18\u5316\u3002\u5177\u4f53\u800c\u8a00\uff0c\u6211\u4eec\u7684\u6846\u67b6\u9996\u5148\u5c06\u7a00\u758fLiDAR\u6df1\u5ea6\u4fe1\u606f\u4f5c\u4e3a\u989d\u5916\u7684\u8f93\u5165\u6a21\u6001\u8fdb\u884c\u6574\u5408\uff0c\u8fd9\u4e3a\u589e\u5f3a\u51e0\u4f55\u91cd\u5efa\u63d0\u4f9b\u4e86\u7cbe\u786e\u7684\u5ea6\u91cf\u5c3a\u5ea6\u5148\u9a8c\u3002\u7ed9\u5b9a\u56fe\u50cf\u6570\u636e\u548c\u7a00\u758f\u6df1\u5ea6\u56fe\uff0c\u6211\u4eec\u4ecb\u7ecd\u4e86\u4e00\u79cd\u6709\u6548\u7684\u591a\u6a21\u6001\u7279\u5f81\u5339\u914d\u7b56\u7565\uff0c\u901a\u8fc7\u66b9\u7f57\u5f0f\u7f16\u7801\u5668\u548c\u7531\u6df1\u5ea6\u5f15\u5bfc\u4f4d\u7f6e\u5d4c\u5165\uff08DPE\uff09\u589e\u5f3a\u7684\u4fe1\u606f\u4ea4\u53c9\u6ce8\u610f\u89e3\u7801\u5668\u5b9e\u73b0\u3002\u8fd9\u79cd\u8bbe\u8ba1\u786e\u4fdd\u4e86\u51e0\u4f55\u548c\u5916\u89c2\u4fe1\u606f\u7684\u878d\u5408\uff0c\u4ece\u800c\u4ea7\u751f\u5bf9\u9f50\u826f\u597d\u7684\u591a\u6a21\u6001\u4ee4\u724c\u3002\u968f\u540e\uff0c\u6211\u4eec\u91c7\u7528\u591a\u5c3a\u5ea6\u9ad8\u65af\u89e3\u7801\u6a21\u578b\u5c06\u591a\u5c3a\u5ea6\u6df1\u5ea6\u4fe1\u606f\u805a\u5408\u5230\u56fe\u50cf\u548c\u6df1\u5ea6\u4ee4\u724c\u4e2d\uff0c\u4ee5\u8fdb\u884c\u6700\u7ec8\u7684\u9ad8\u65af\u9884\u6d4b\u3002\u503c\u5f97\u6ce8\u610f\u7684\u662f\uff0c\u6211\u4eec\u7684\u6a21\u578b\u5373\u4f7f\u5728\u5927\u89c6\u89d2\u53d8\u5316\u4e0b\u4e5f\u8868\u73b0\u51fa\u4f18\u8d8a\u7684\u6027\u80fd\uff0c\u5982\u56fe1\u5e95\u90e8\u6240\u793a\u3002\u8fd9\u4e00\u80fd\u529b\u8bc1\u660e\u4e86\u8054\u5408\u4f18\u5316\u591a\u6a21\u6001\u7279\u5f81\u7684\u6709\u6548\u6027\uff0c\u4ece\u800c\u5b9e\u73b0\u4e86\u4f18\u8d8a\u7684\u51e0\u4f55\u548c\u7eb9\u7406\u91cd\u5efa\u3002 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src=\"https:\/\/pic2.zhimg.com\/v2-ac7cdfa8b2267aa4a65c439eeefd22bf_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"711\" height=\"756\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/04\/040902.png\" alt=\"\" class=\"wp-image-27458\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/04\/040902.png 711w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/04\/040902-282x300.png 282w\" sizes=\"(max-width: 711px) 100vw, 711px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"713\" height=\"839\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/04\/040903.png\" alt=\"\" class=\"wp-image-27459\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/04\/040903.png 713w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/04\/040903-255x300.png 255w\" sizes=\"(max-width: 713px) 100vw, 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id=\"h_1893126291550605626_12\">\u5b9e\u73b0\u7ec6\u8282<\/h3>\n\n\n\n<p><strong>\u6570\u636e\u96c6<\/strong>\u3002\u6211\u4eec\u5728\u4e24\u4e2a\u5e7f\u6cdb\u4f7f\u7528\u7684\u81ea\u52a8\u9a7e\u9a76\u6570\u636e\u96c6\u4e0a\u8bc4\u4f30\u4e86\u6211\u4eec\u63d0\u51fa\u7684\u65b9\u6cd5\uff1aWaymo\u5f00\u653e\u6570\u636e\u96c6\u548cKITTI\u8ddf\u8e2a\u57fa\u51c6\u3002\u5bf9\u4e8e\u8fd9\u4e24\u4e2a\u6570\u636e\u96c6\uff0c\u6211\u4eec\u91c7\u7528\u4e86\u5927\u7ea61:7\u7684\u8bad\u7ec3-\u6d4b\u8bd5\u5206\u5272\u6bd4\u4f8b\u3002\u5177\u4f53\u6765\u8bf4\uff0c\u5728Waymo\u6570\u636e\u96c6\u4e0a\uff0c\u6211\u4eec\u7684\u91cd\u70b9\u4e3b\u8981\u5728\u4e8e\u9759\u6001\u548c\u52a8\u6001\u573a\u666f\uff0c\u6bcf\u79cd\u573a\u666f\u7c7b\u578b\u5206\u4e3a4\u4e2a\u6d4b\u8bd5\u573a\u666f\u548c28\u4e2a\u8bad\u7ec3\u573a\u666f\u3002\u540c\u6837\uff0c\u5bf9\u4e8eKITTI\u6570\u636e\u96c6\uff0c\u5206\u5272\u5305\u62ec5\u4e2a\u6d4b\u8bd5\u573a\u666f\u548c37\u4e2a\u8bad\u7ec3\u573a\u666f\u3002\u8fd9\u79cd\u5206\u533a\u786e\u4fdd\u4e86\u5728\u4e0d\u540c\u573a\u666f\u4e2d\u5bf9\u6211\u4eec\u7684\u65b9\u6cd5\u8fdb\u884c\u5e73\u8861\u8bc4\u4f30\uff0c\u540c\u65f6\u4e5f\u63d0\u4f9b\u4e86\u8db3\u591f\u7684\u8bad\u7ec3\u6570\u636e\u4ee5\u8fdb\u884c\u6709\u6548\u7684\u6a21\u578b\u8bad\u7ec3\u3002<\/p>\n\n\n\n<p><strong>\u5ea6\u91cf\u6807\u51c6<\/strong>\u3002\u4e3a\u4e86\u8bc4\u4f30\u6e32\u67d3\u8d28\u91cf\uff0c\u6211\u4eec\u91c7\u7528\u4e86\u6807\u51c6\u7684\u56fe\u50cf\u8d28\u91cf\u5ea6\u91cf\uff0c\u5305\u62ec\u5cf0\u503c\u4fe1\u566a\u6bd4\uff08PSNR\uff09\u3001\u7ed3\u6784\u76f8\u4f3c\u6027\u6307\u6570\u6d4b\u5ea6\uff08SSIM\uff09\u548c\u5b66\u4e60\u611f\u77e5\u56fe\u50cf\u5757\u76f8\u4f3c\u6027\uff08LPIPS\uff09\u3002\u8fd8\u63d0\u4f9b\u4e86\u8fd0\u884c\u65f6\u95f4\u548cGPU\u5185\u5b58\u4f7f\u7528\u60c5\u51b5\uff0c\u4ee5\u4fbf\u5168\u9762\u6bd4\u8f83\u901f\u5ea6\u548c\u7cbe\u5ea6\u4e4b\u95f4\u7684\u6743\u8861\uff08\u8be6\u89c1\u8865\u5145\u6750\u6599\uff09\u3002<\/p>\n\n\n\n<p><strong>\u8bad\u7ec3\u7ec6\u8282<\/strong>\u3002\u6211\u4eec\u7684\u5b9e\u73b0\u57fa\u4e8ePyTorch\u6846\u67b6\u3002\u6211\u4eec\u91c7\u7528Adam\u4f18\u5316\u5668\u548c\u4f59\u5f26\u5b66\u4e60\u7387\u8c03\u5ea6\u7b56\u7565\uff0c\u521d\u59cb\u5b66\u4e60\u7387\u4e3a1e \u2212 4\u3002\u6211\u4eec\u57283090 Ti GPU\u4e0a\u8bad\u7ec3\u6211\u4eec\u7684\u6a21\u578b\uff0c\u5728Waymo\u548cKITTI\u6570\u636e\u96c6\u4e0a\u8fd0\u884c150k\u6b21\u8fed\u4ee3\uff0c\u6279\u5904\u7406\u5927\u5c0f\u4e3a1\u3002\u4e3a\u4e86\u786e\u4fdd\u516c\u5e73\u6bd4\u8f83\uff0c\u6240\u6709\u5b9e\u9a8c\u90fd\u5728Waymo\u6570\u636e\u96c6\u7684320 \u00d7 480\u5206\u8fa8\u7387\u548cKITTI\u6570\u636e\u96c6\u7684256 \u00d7 608\u5206\u8fa8\u7387\u4e0b\u8fdb\u884c\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h_1893126291550605626_13\">\u4e0e\u73b0\u6709\u6280\u672f\u7684\u6bd4\u8f83<\/h3>\n\n\n\n<p>\u5728\u5c06\u6211\u4eec\u7684\u5de5\u4f5c\u4e0e\u5f53\u524d\u6700\u5148\u8fdb\u7684GS\u65b9\u6cd5\u8fdb\u884c\u6bd4\u8f83\u65f6\uff0c\u6211\u4eec\u9009\u62e9\u4e86\u57fa\u4e8e\u591a\u89c6\u56fe\u6210\u672c\u4f53\u79ef\u7684\u65b9\u6cd5MVSplat\u548c\u57fa\u4e8e\u6df1\u5ea6\u57fa\u7840\u6a21\u578b\u7684\u65b9\u6cd5DepthSplat\u3002\u7531\u4e8eGGRt\u5177\u6709\u65e0\u59ff\u6001\u67b6\u6784\uff0c\u6211\u4eec\u5c06\u5176\u6392\u9664\u5728\u6bd4\u8f83\u4e4b\u5916\u3002\u5728\u6bcf\u4e2a\u573a\u666f\u4e2d\uff0cMVSplat\u548cDepthSplat\u5229\u7528\u4e24\u5e27\u4f5c\u4e3a\u8f93\u5165\u6765\u751f\u6210\u540e\u7eed\u65b0\u5e27\u4ee5\u4f9b\u8bc4\u4f30\u3002<\/p>\n\n\n\n<p>Waymo\u548cKITTI\u57fa\u51c6\u4e0a\u7684\u5b9a\u91cf\u6bd4\u8f83\u5206\u522b\u5728\u88681\u548c\u88682\u4e2d\u5448\u73b0\u3002\u5728Waymo\u6570\u636e\u96c6\u4e0a\uff0c\u6211\u4eec\u7684ADGaussian\u5728\u51e0\u4e4e\u6240\u6709\u89c6\u89c9\u5ea6\u91cf\u4e0a\u90fd\u8d85\u8fc7\u4e86\u5148\u524d\u7684\u6700\u5148\u8fdb\u6a21\u578b\uff0c\u7279\u522b\u662f\u5728\u9759\u6001\u573a\u666f\u4e2d\u8868\u73b0\u5c24\u4e3a\u663e\u8457\u3002\u6b64\u5916\uff0c\u6211\u4eec\u7684\u65b9\u6cd5\u5728\u4e0d\u540c\u573a\u666f\u4e2d\u8868\u73b0\u51fa\u4e00\u81f4\u7684\u6027\u80fd\uff0c\u7a81\u663e\u4e86\u5176\u591a\u6a21\u6001\u7279\u5f81\u5339\u914d\u80fd\u529b\u7684\u7a33\u5065\u6027\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic4.zhimg.com\/v2-fa81433d1a275040b4c40fdaf33a89cf_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u4ece\u88682\u53ef\u4ee5\u770b\u51fa\uff0c\u6211\u4eec\u7684\u65b9\u6cd5\u5728KITTI\u6570\u636e\u96c6\u4e0a\u7684\u6027\u80fd\u63d0\u5347\u4e0d\u5982\u5728Waymo\u6570\u636e\u96c6\u4e0a\u90a3\u4e48\u663e\u8457\u3002\u8fd9\u4e3b\u8981\u662f\u7531\u4e8eKITTI\u6570\u636e\u96c6\u6574\u4f53\u56fe\u50cf\u8d28\u91cf\u8f83\u4f4e\u4e14\u8272\u5f69\u518d\u73b0\u4e0d\u4f73\u3002\u7531\u4e8e\u6211\u4eec\u7684\u65b9\u6cd5\u4ec5\u4f9d\u8d56\u5355\u5f20\u56fe\u50cf\u4f5c\u4e3a\u8f93\u5165\uff0c\u56e0\u6b64\u76f8\u6bd4\u4e4b\u524d\u7684\u5de5\u4f5c\u4fdd\u7559\u4e86\u8f83\u5c11\u7684\u56fe\u50cf\u7ec6\u8282\uff0c\u8fd9\u8fdb\u4e00\u6b65\u9650\u5236\u4e86\u5176\u5728\u56fe\u50cf\u8d28\u91cf\u8f83\u5dee\u7684\u6570\u636e\u96c6\u4e0a\u7684\u8868\u73b0\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic1.zhimg.com\/v2-22a9d2e895f50c8e4409e61dfd3fe4b4_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u6211\u4eec\u5728\u56fe3\u548c\u56fe4\u4e2d\u63d0\u4f9b\u4e86\u4e24\u4e2a\u6570\u636e\u96c6\u7684\u5b9a\u6027\u6bd4\u8f83\u3002\u53ef\u4ee5\u770b\u51fa\uff0c\u6211\u4eec\u7684\u6a21\u578b\u5728\u906e\u6321\u533a\u57df\u548c\u7ec6\u5c0f\u7ec6\u8282\uff08\u5982\u7ea4\u7ec6\u4fe1\u53f7\u6746\uff09\u65b9\u9762\u5b9e\u73b0\u4e86\u4f18\u8d8a\u7684\u6e32\u67d3\u8d28\u91cf\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pica.zhimg.com\/v2-de8dd0cf2cb29565a7091ad4e1e3180a_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u6b64\u5916\uff0cDepthSplat\u4e0eMVSplat\u7684\u6bd4\u8f83\u663e\u793a\uff0cDepthSplat\u8868\u73b0\u51fa\u66f4\u5f3a\u7684\u6df1\u5ea6\u63a8\u7406\u80fd\u529b\uff0c\u8fd9\u5f52\u56e0\u4e8e\u5176\u901a\u8fc7\u9884\u8bad\u7ec3\u6df1\u5ea6\u6a21\u578b\u589e\u5f3a\u7684\u51e0\u4f55\u91cd\u5efa\u3002\u7136\u800c\uff0c\u7531\u4e8e\u5916\u89c2\u5c5e\u6027\u6574\u5408\u4e0d\u8db3\uff0cDepthSplat\u5728\u6574\u4f53\u89c6\u89c9\u91cd\u5efa\u8d28\u91cf\u65b9\u9762\u8868\u73b0\u6b20\u4f73\uff0c\u8fd9\u4e0e\u6211\u4eec\u524d\u9762\u90e8\u5206\u7684\u5206\u6790\u4e00\u81f4\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic2.zhimg.com\/v2-16e7addca4940f468f054f12770feecf_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h_1893126291550605626_14\">\u6d88\u878d\u7814\u7a76\u4e0e\u5206\u6790<\/h3>\n\n\n\n<p><strong>\u6d88\u878d\u7814\u7a76<\/strong>\u3002\u88683\u8be6\u7ec6\u5217\u51fa\u4e86\u6d88\u878d\u7814\u7a76\uff0c\u4ee5\u8fdb\u4e00\u6b65\u786e\u8ba4\u6240\u63d0\u7ec4\u4ef6\u7684\u6709\u6548\u6027\u3002\u9996\u5148\uff0c\u53ef\u4ee5\u770b\u5230\u5b8c\u6574\u6a21\u578b\u8fbe\u5230\u4e86\u6700\u9ad8\u7684\u6027\u80fd\uff0cPSNR\u3001SSIM\u548cLPIPS\u5f97\u5206\u5206\u522b\u4e3a31.0\u30010.921\u548c0.068\u3002\u503c\u5f97\u6ce8\u610f\u7684\u662f\uff0c\u79fb\u9664\u6df1\u5ea6\u5f15\u5bfc\u7684\u4f4d\u7f6e\u5d4c\u5165\uff08DPE\uff09\u5bfc\u81f4\u4e86\u6240\u6709\u6307\u6807\u7684\u4e0b\u964d\uff08\u5206\u522b\u4e3a0.69\u30011.3%\u548c1%\uff09\uff0c\u5f3a\u8c03\u4e86\u6df1\u5ea6\u7ebf\u7d22\u5728\u4fc3\u8fdb\u591a\u6a21\u6001\u7279\u5f81\u8054\u5408\u4f18\u5316\u4e2d\u7684\u91cd\u8981\u6027\u3002\u6b64\u5916\uff0c\u7f3a\u4e4f\u591a\u5c3a\u5ea6\u9ad8\u65af\u89e3\u7801\uff08w\/o Multi-scale\uff09\u7684\u6a21\u578b\u8868\u73b0\u4e0b\u964d\uff0cPSNR\u4e3a28.73\u3001SSIM\u4e3a0.868\u3001LPIPS\u4e3a0.100\uff0c\u7a81\u663e\u4e86\u591a\u5c42\u6b21\u6df1\u5ea6\u89e3\u7801\u548c\u72ec\u7acb\u9ad8\u65af\u63a8\u65ad\u7684\u6709\u6548\u6027\u3002\u540c\u65f6\u79fb\u9664DPE\u548cMulti-scale\u5bfc\u81f4\u4e86\u66f4\u663e\u8457\u7684\u6027\u80fd\u4e0b\u964d\uff0c\u5c24\u5176\u662fLPIPS\u5f97\u5206\u4e0b\u964d\u4e864.6%\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic3.zhimg.com\/v2-ac00f2d479cc51058f8c0b1dc4afdc2e_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u6700\u540e\uff0c\u4e3a\u4e86\u5c55\u793a\u6211\u4eec\u540c\u6b65\u591a\u6a21\u6001\u4f18\u5316\u516c\u5f0f\u7684\u6548\u679c\uff0c\u6211\u4eec\u5c55\u793a\u4e86\u4e0d\u4f7f\u7528\u591a\u6a21\u6001\u7279\u5f81\u5339\u914d\uff08w\/o 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class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic2.zhimg.com\/v2-cc1116984b801ae7d9aa479f5712b309_1440w.jpg\" 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