{"id":30235,"date":"2025-06-23T17:32:46","date_gmt":"2025-06-23T09:32:46","guid":{"rendered":"http:\/\/192.168.10.115\/?p=30235"},"modified":"2025-06-23T17:32:46","modified_gmt":"2025-06-23T09:32:46","slug":"2025-06-23-gs4%ef%bc%9a%e9%a6%96%e4%b8%aa%e6%b3%9b%e5%8c%96%e9%ab%98%e6%96%af%e6%ba%85%e5%b0%84%e8%af%ad%e4%b9%89slam%e6%a1%86%e6%9e%b6%ef%bc%8c%e5%8d%81%e5%80%8d%e6%95%88%e7%8e%87%e4%b8%89%e7%bb%b4","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2025\/06\/23\/30235\/","title":{"rendered":"2025-06-23 GS4\uff1a\u9996\u4e2a\u6cdb\u5316\u9ad8\u65af\u6e85\u5c04\u8bed\u4e49SLAM\u6846\u67b6\uff0c\u5341\u500d\u6548\u7387\u4e09\u7ef4\u5efa\u56fe"},"content":{"rendered":"\n<p>\u539f\u6587\u94fe\u63a5\uff1a<a href=\"https:\/\/zhuanlan.zhihu.com\/p\/1920167407336555667\">https:\/\/zhuanlan.zhihu.com\/p\/1920167407336555667<\/a><\/p>\n\n\n\n<h2 class=\"wp-block-heading\"><strong>\u5bfc\u8bfb<\/strong><\/h2>\n\n\n\n<p>GS4\u662f\u9996\u4e2a\u57fa\u4e8e\u6cdb\u5316\u9ad8\u65af\u6e85\u5c04\u7684\u8bed\u4e49SLAM\u7cfb\u7edf\uff0c\u65e8\u5728\u89e3\u51b3\u4f20\u7edf\u65b9\u6cd5\u7684\u4e09\u5927\u74f6\u9888\u3002\u4f20\u7edfSLAM\u7b97\u6cd5\u5982ORB-SLAM\u4f9d\u8d56\u7a00\u758f\u7279\u5f81\u70b9\uff0c\u96be\u4ee5\u6784\u5efa\u7a20\u5bc6\u5730\u56fe\uff1b\u800c\u795e\u7ecf\u8f90\u5c04\u573a\uff08NeRF\uff09\u65b9\u6cd5\u867d\u63d0\u5347\u91cd\u5efa\u8d28\u91cf\uff0c\u5374\u9700\u9ad8\u6602\u8ba1\u7b97\u6210\u672c\u4e0e\u9010\u573a\u666f\u4f18\u5316\u3002\u9ad8\u65af\u6e85\u5c04\u6280\u672f\u867d\u52a0\u901f\u6e32\u67d3\uff0c\u4ecd\u9762\u4e34\u9ad8\u65af\u5197\u4f59\u3001\u8bed\u4e49\u5206\u79bb\u548c\u6cdb\u5316\u6027\u5dee\u7684\u95ee\u9898\u3002GS4\u901a\u8fc7\u7aef\u5230\u7aef\u524d\u9988\u7f51\u7edc\u76f4\u63a5\u9884\u6d4b3D\u8bed\u4e49\u9ad8\u65af\u53c2\u6570\uff0c\u5b9e\u73b0\u4e09\u5927\u7a81\u7834\uff1a\u6cdb\u5316\u80fd\u529b\u4e0a\u53ef\u76f4\u63a5\u5904\u7406\u672a\u77e5\u573a\u666f\u800c\u65e0\u9700\u6d4b\u8bd5\u65f6\u4f18\u5316\uff1b\u6548\u7387\u4e0a\u4ec5\u9700\u57fa\u7ebf\u65b9\u6cd510%\u7684\u9ad8\u65af\u6570\u91cf\uff08<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=259406812&amp;content_type=Article&amp;match_order=1&amp;q=ScanNet&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">ScanNet<\/a>\u5e73\u574729.5\u4e07\u5bf9\u6bd4\u57fa\u7ebf246.6\u4e07\uff09\uff1b\u8bed\u4e49\u5c42\u9762\u5219\u5171\u4eab\u4e3b\u5e72\u7f51\u7edc\u540c\u6b65\u9884\u6d4b\u51e0\u4f55\u4e0e\u8bed\u4e49\uff0c\u907f\u514d\u5206\u5272\u6a21\u578b\u7684\u5f00\u9500\u3002\u5728ScanNet\u6570\u636e\u96c6\u4e0a\uff0cGS4\u4ee522.71dB\u7684\u5cf0\u503c\u4fe1\u566a\u6bd4\u5237\u65b0\u6e32\u67d3\u8bb0\u5f55\uff0c\u5e76\u5728<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=259406812&amp;content_type=Article&amp;match_order=1&amp;q=NYUv2&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">NYUv2<\/a>\u3001<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=259406812&amp;content_type=Article&amp;match_order=1&amp;q=TUM&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">TUM<\/a><\/p>\n\n\n\n<p>\u7b49\u672a\u8bad\u7ec3\u6570\u636e\u96c6\u4e0a\u5b9e\u73b0\u96f6\u6837\u672c\u6cdb\u5316\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\"><strong>\u8bba\u6587\u4fe1\u606f<\/strong><\/h2>\n\n\n\n<p><strong>\u6807\u9898<\/strong>\uff1a<code>GS4: Generalizable Sparse Splatting Semantic SLAM<\/code><\/p>\n\n\n\n<p><strong>\u4f5c\u8005\u5355\u4f4d<\/strong>\uff1a<code>Mingqi Jiang,et al. Collaborative Robotics and Intelligent Systems (CoRIS) Institute,etc<\/code><\/p>\n\n\n\n<p><strong>\u4e3b\u9875<\/strong>\uff1a<code>https:\/\/mingqij.github.io\/projects\/gs4\/<\/code><\/p>\n\n\n\n<h2 class=\"wp-block-heading\"><strong>\u6548\u679c\u5c55\u793a<\/strong><\/h2>\n\n\n\n<p><strong>\u9ad8\u65af\u6548\u7387<\/strong>\uff08\u56fe1\uff09\u663e\u793a\uff0cGS4\u5728ScanNet\u573a\u666f0059\u4ec5\u752822\u4e07\u9ad8\u65af\u5373\u8fbe\u523021.11dB PSNR\uff0c\u800c\u57fa\u7ebf<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=259406812&amp;content_type=Article&amp;match_order=1&amp;q=SplaTAM&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">SplaTAM<\/a><\/p>\n\n\n\n<p>\u9700246\u4e07\u9ad8\u65af\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic1.zhimg.com\/v2-f0a3c8e206211d357959f1658162d540_1440w.jpg\" alt=\"\"\/><figcaption class=\"wp-element-caption\">\u56fe1 \u9ad8\u65af\u6548\u7387<\/figcaption><\/figure>\n\n\n\n<p><strong>\u51e0\u4f55\u91cd\u5efa\u7ec6\u8282<\/strong>\uff08\u56fe3\uff09\u8868\u660e\uff0cGS4\u80fd\u5b8c\u6574\u91cd\u5efa\u81ea\u884c\u8f66\u8f6e\u80ce\u7684\u8fde\u7eed\u8f6e\u6bc2\u7ed3\u6784\uff0c\u800c\u57fa\u7ebf\u7ed3\u679c\u65ad\u88c2\u6a21\u7cca\uff1b\u5728\u6905\u5b50\u9760\u80cc\u91cd\u5efa\u4e2d\uff0cGS4\u8fd8\u539f\u4e86\u9542\u7a7a\u652f\u67b6\u7ec6\u8282\uff0c\u4f18\u4e8e\u542b\u566a\u58f0\u7684\u771f\u503c\u6df1\u5ea6\u6570\u636e\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic1.zhimg.com\/v2-a9849293dfb25817e8e8b4cde059e25c_1440w.jpg\" alt=\"\"\/><figcaption class=\"wp-element-caption\">\u56fe3 \u51e0\u4f55\u91cd\u5efa\u7ec6\u8282<\/figcaption><\/figure>\n\n\n\n<p><strong>\u8bed\u4e49\u5206\u5272\u5bf9\u6bd4<\/strong>\uff08\u56fe5\uff09\u4e2d\uff0cGS4\u5bf9\u5367\u5ba4\u573a\u666f\u7684&#8221;\u4e66\u684c\/\u6905\u5b50\/\u5e8a\u5934\u67dc&#8221;\u5206\u5272\u7cbe\u51c6\uff08mIoU 60.40%\uff09\uff0c\u663e\u8457\u4f18\u4e8e<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=259406812&amp;content_type=Article&amp;match_order=1&amp;q=SGS-SLAM&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">SGS-SLAM<\/a><\/p>\n\n\n\n<p>\u768437.20%\uff08\u540e\u8005\u51fa\u73b0\u684c\u9762\u4e0e\u5899\u58c1\u7c98\u8fde\u9519\u8bef\uff09\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic1.zhimg.com\/v2-27b1a8c2f063699f6f524e34688da25c_1440w.jpg\" alt=\"\"\/><figcaption class=\"wp-element-caption\">\u56fe5 \u8bed\u4e49\u5206\u5272\u5bf9\u6bd4<\/figcaption><\/figure>\n\n\n\n<p><strong>\u96f6\u6837\u672c\u6cdb\u5316\u80fd\u529b<\/strong>\uff08\u56fe4\u3001\u56fe6\uff09\u5728NYUv2\u5b66\u751f\u516c\u5bd3\u548cReplica\u5408\u6210\u6570\u636e\u96c6\u5f97\u5230\u9a8c\u8bc1\uff0cGS4\u91cd\u5efa\u51fa\u6e05\u6670\u7684\u684c\u6905\u3001\u663e\u793a\u5668\uff0c\u8bed\u4e49\u8fb9\u754c\u9510\u5229\u65e0\u91cd\u5f71\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic1.zhimg.com\/v2-221a8c63d3cc4b349111ae44695bbc8c_1440w.jpg\" alt=\"\"\/><figcaption class=\"wp-element-caption\">\u56fe4<\/figcaption><\/figure>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/picx.zhimg.com\/v2-fabeddf6510c246695d231ef25a14afb_1440w.jpg\" alt=\"\"\/><figcaption class=\"wp-element-caption\">\u56fe6<\/figcaption><\/figure>\n\n\n\n<h2 class=\"wp-block-heading\"><strong>\u5f15\u8a00<\/strong><\/h2>\n\n\n\n<p>\u8bed\u4e49SLAM\u9700\u540c\u6b65\u89e3\u51b3\u76f8\u673a\u5b9a\u4f4d\u3001\u7a20\u5bc6\u5efa\u56fe\u4e0e\u573a\u666f\u7406\u89e3\u4e09\u5927\u6311\u6218\u3002\u4f20\u7edf\u7a20\u5bc6SLAM\u5982BundleFusion\u901a\u8fc7\u4f53\u7d20\u7f51\u683c\u5b9e\u73b0\u91cd\u5efa\uff0c\u4f46\u7ec6\u8282\u5e73\u6ed1\u4e14\u8ba1\u7b97\u91cf\u5927\uff1bNeRF-SLAM\u65b9\u6cd5\u5982NICE-SLAM\u867d\u63d0\u5347\u8d28\u91cf\uff0c\u4f53\u79ef\u6e32\u67d3\u8017\u65f6\u4e14\u6cdb\u5316\u6027\u5dee\u30023D\u9ad8\u65af\u6e85\u5c04\u6280\u672f\u901a\u8fc7\u53ef\u5fae\u6e85\u5c04\u5b9e\u73b0\u5b9e\u65f6\u6e32\u67d3\uff0c\u4f46\u73b0\u6709\u65b9\u6848\u5982SplaTAM\u5b58\u5728\u56fa\u6709\u7f3a\u9677\uff1a\u4f9d\u8d56\u542f\u53d1\u5f0f\u9ad8\u65af\u589e\u5220\u7b56\u7565\u5bfc\u81f4\u5355\u573a\u666f\u9700\u8d85200\u4e07\u9ad8\u65af\uff1b\u9700\u9010\u573a\u666f\u68af\u5ea6\u4f18\u5316\u800c\u65e0\u6cd5\u5b9e\u65f6\u90e8\u7f72\uff1b\u8bed\u4e49\u5206\u5272\u4f9d\u8d56\u5916\u90e8\u6a21\u578b\uff08\u5982SGS-SLAM\u9700<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=259406812&amp;content_type=Article&amp;match_order=1&amp;q=Mask2Former&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">Mask2Former<\/a><\/p>\n\n\n\n<p>\uff09\uff0c\u9020\u6210\u8ba1\u7b97\u6d41\u7a0b\u5272\u88c2\u3002GS4\u63d0\u51fa\u6cdb\u5316\u524d\u9988\u67b6\u6784\uff0c\u9996\u6b21\u4ee5\u7edf\u4e00\u7f51\u7edc\u7aef\u5230\u7aef\u9884\u6d4b\u8bed\u4e49\u9ad8\u65af\u53c2\u6570\uff0c\u4e3a\u673a\u5668\u4eba\u4ea4\u4e92\u4e0eAR\u5e94\u7528\u63d0\u4f9b\u5b9e\u65f6\u4e09\u7ef4\u8ba4\u77e5\u57fa\u7840\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\"><strong>\u4e3b\u8981\u8d21\u732e<\/strong><\/h2>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u9996\u4e2a\u6cdb\u5316\u9ad8\u65af\u6e85\u5c04\u8bed\u4e49SLAM\u6846\u67b6<\/li>\n\n\n\n<li>\u9ad8\u6548\u7a00\u758f\u7684\u9ad8\u65af\u4f18\u5316\u7f51\u7edc<\/li>\n\n\n\n<li>\u5355\u6b21\u8fed\u4ee3\u4f18\u5316\u89e3\u51b3\u4f4d\u59ff\u6f02\u79fb<\/li>\n\n\n\n<li>\u7edf\u4e00\u8bed\u4e49\u4e0e\u51e0\u4f55\u5efa\u6a21<\/li>\n<\/ul>\n\n\n\n<h2 class=\"wp-block-heading\"><strong>\u65b9\u6cd5<\/strong><\/h2>\n\n\n\n<p>GS4\u7cfb\u7edf\u6d41\u7a0b\u5305\u542b\u7d27\u5bc6\u534f\u4f5c\u7684\u8ddf\u8e2a\u4e0e\u5efa\u56fe\u6a21\u5757\uff08\u56fe2\uff09\u3002\u8ddf\u8e2a\u6a21\u5757\u91c7\u7528<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=259406812&amp;content_type=Article&amp;match_order=1&amp;q=GO-SLAM&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">GO-SLAM<\/a><\/p>\n\n\n\n<p>\u6846\u67b6\uff0c\u901a\u8fc7RGB-D\u5149\u6d41\u8ba1\u7b97\u5e27\u95f4\u8fd0\u52a8\uff0c\u5e76\u5728\u5e76\u884c\u7ebf\u7a0b\u6267\u884c\u5168\u5c40\u675f\u8c03\u6574\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic3.zhimg.com\/v2-7cd4974a39c8c69b0112646caea3c242_1440w.jpg\" alt=\"\"\/><figcaption class=\"wp-element-caption\">\u56fe2 GS4\u7cfb\u7edf\u6d41\u7a0b\u5305\u542b\u7d27\u5bc6\u534f\u4f5c\u7684\u8ddf\u8e2a\u4e0e\u5efa\u56fe\u6a21\u5757<\/figcaption><\/figure>\n\n\n\n<p>\u5efa\u56fe\u6a21\u5757\u7684\u6838\u5fc3\u662f\u9ad8\u65af\u9884\u6d4b\u4e0e\u4f18\u5316\uff1a\u9ad8\u65af\u9884\u6d4b\u7f51\u7edc\u4ee5<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=259406812&amp;content_type=Article&amp;match_order=1&amp;q=ODIN&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">ODIN<\/a><\/p>\n\n\n\n<p>\u4e3a\u4e3b\u5e72\uff0c\u8f93\u5165RGB-D\u5e27\u8f93\u51fa\u9ad8\u65af\u4f4d\u7f6e\u504f\u79fb\u3001\u5c3a\u5ea6\u3001\u65cb\u8f6c\u7b49\u53c2\u6570\u53ca\u8bed\u4e49\u5411\u91cf\uff1b\u9ad8\u65af\u4f18\u5316\u7f51\u7edc\u5219\u901a\u8fc7\u7279\u5f81\u878d\u5408\u673a\u5236\u5bf9\u9f50\u65b0\u65e7\u9ad8\u65af\uff0c\u9884\u6d4b\u989c\u8272\u3001\u5c3a\u5ea6\u7b49\u53c2\u6570\u589e\u91cf\u3002\u5173\u952e\u6280\u672f\u6539\u8fdb\u5305\u62ec\u7cbe\u7b80ODIN\u67b6\u6784\u2014\u2014\u5220\u9664\u5197\u4f593D\u6ce8\u610f\u529b\u5c42\u5e76\u7528\u70b9\u57fa\u4e0a\u91c7\u6837\u66ff\u4ee3\u4f53\u7d20\u63d2\u503c\uff0c\u901f\u5ea6\u63d0\u53471.7\u500d\uff1b\u4ee5\u53ca\u591a\u89c6\u56fe\u8bed\u4e49\u76d1\u7763\u7b56\u7565\uff0c\u7ed3\u5408\u5f53\u524d\u5e27\u4e0e\u91cd\u53e0\u65b0\u89c6\u89d2\u7684\u6e32\u67d3\u635f\u5931\uff0c\u5e76\u91c7\u7528Mask2Former\u5f3a\u5316\u7269\u4f53\u8fb9\u754c\u7684\u5206\u5272\u76d1\u7763\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\"><strong>\u5b9e\u9a8c\u7ed3\u679c<\/strong><\/h2>\n\n\n\n<p>\u5b9e\u9a8c\u5728ScanNet\uff08\u8bad\u7ec3\u4e0e\u6d4b\u8bd5\uff09\u3001NYUv2\u548cTUM\u7b49\u6570\u636e\u96c6\u9a8c\u8bc1GS4\u6027\u80fd\u3002\u5728ScanNet\u6e32\u67d3\u4efb\u52a1\u4e2d\uff08\u88681\uff09\uff0cGS4\u4ee522.71dB PSNR\u548c0.850 SSIM\u8d85\u8d8a\u6240\u6709\u57fa\u7ebf\uff0c\u9ad8\u65af\u6570\u91cf\u4ec5\u4e3a29.5\u4e07\uff08SplaTAM\u9700246.6\u4e07\uff09\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic4.zhimg.com\/v2-c2dc4483b24748c80d1ab3851d53b463_1440w.jpg\" alt=\"\"\/><figcaption class=\"wp-element-caption\">\u88681<\/figcaption><\/figure>\n\n\n\n<p>\u6df1\u5ea6\u91cd\u5efa\u8bef\u5dee\u4f4e\u81f36.08\u5398\u7c73\uff0c\u8f83SplaTAM\u964d\u4f4e15.7%\uff0c\u8584\u7ed3\u6784\u5982\u6905\u5b50\u817f\u91cd\u5efa\u66f4\u5b8c\u6574\u3002\u8bed\u4e49\u5206\u5272\u65b9\u9762\uff08\u88683\uff09\uff0cGS4\u76843D 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