{"id":30508,"date":"2025-07-01T17:32:32","date_gmt":"2025-07-01T09:32:32","guid":{"rendered":"http:\/\/192.168.10.115\/?p=30508"},"modified":"2025-07-01T17:32:32","modified_gmt":"2025-07-01T09:32:32","slug":"2025-07-01-iccv-2025%ef%bc%81%e5%a4%8d%e6%97%a6beziergs%ef%bc%9a%e5%88%a9%e7%94%a8%e8%b4%9d%e5%a1%9e%e5%b0%94%e6%9b%b2%e7%ba%bf%e5%ae%9e%e7%8e%b0%e6%9e%81%e7%ae%80%e6%a0%87%e6%b3%a8%e9%a9%be%e9%a9%b6","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2025\/07\/01\/30508\/","title":{"rendered":"2025-07-01 ICCV 2025\uff01\u590d\u65e6BezierGS\uff1a\u5229\u7528\u8d1d\u585e\u5c14\u66f2\u7ebf\u5b9e\u73b0\u6781\u7b80\u6807\u6ce8\u9a7e\u9a76\u573a\u666fSOTA\u91cd\u5efa~"},"content":{"rendered":"\n

\u539f\u6587\u94fe\u63a5\uff1ahttps:\/\/mp.weixin.qq.com\/s\/nuHL8bWlDKrLpzA3jOv5XA<\/a><\/p>\n\n\n\n

ICCV 2025\u4e2d\u7a3f\u7684\u6700\u65b0\u5de5\u4f5c\uff01\u81ea\u52a8\u9a7e\u9a76\u573a\u666f\u7684\u771f\u5b9e\u91cd\u5efa\u5bf9\u4e8e\u5f00\u53d1\u95ed\u73af\u4eff\u771f\u81f3\u5173\u91cd\u8981\u3002\u5927\u591a\u6570\u73b0\u6709\u65b9\u6cd5\u4f9d\u8d56\u4e8e\u76ee\u6807\u7684\u4f4d\u59ff\u6807\u6ce8\uff0c\u4f7f\u7528\u8fd9\u4e9b\u4f4d\u59ff\u6765\u91cd\u5efa\u52a8\u6001\u76ee\u6807\u5e76\u5728\u6e32\u67d3\u8fc7\u7a0b\u4e2d\u5b9e\u73b0\u52a8\u6001\u91cd\u5efa\u3002\u8fd9\u79cd\u5bf9\u9ad8\u7cbe\u5ea6\u76ee\u6807\u6807\u6ce8\u7684\u4f9d\u8d56\u9650\u5236\u4e86\u5927\u89c4\u6a21\u548c\u5e7f\u6cdb\u573a\u666f\u7684\u91cd\u5efa\u3002\u4e3a\u4e86\u89e3\u51b3\u8fd9\u4e00\u6311\u6218\uff0c\u590d\u65e6\u5927\u5b66\u7684\u56e2\u961f\u63d0\u51fa\u4e86Bezier curve Gaussian splatting\uff08BezierGS\uff09\uff0c\u8be5\u65b9\u6cd5\u4f7f\u7528\u53ef\u5b66\u4e60\u7684\u8d1d\u585e\u5c14\u66f2\u7ebf\u8868\u793a\u52a8\u6001\u76ee\u6807\u7684\u8fd0\u52a8\u8f68\u8ff9\u3002\u8fd9\u79cd\u65b9\u6cd5\u5145\u5206\u5229\u7528\u4e86\u52a8\u6001\u76ee\u6807\u7684\u65f6\u95f4\u4fe1\u606f\uff0c\u5e76\u901a\u8fc7\u53ef\u5b66\u4e60\u7684\u66f2\u7ebf\u5efa\u6a21\u81ea\u52a8\u6821\u51c6\u4f4d\u59ff\u8bef\u5dee\u3002\u901a\u8fc7\u5f15\u5165\u5bf9\u52a8\u6001\u76ee\u6807\u6e32\u67d3\u7684\u989d\u5916\u76d1\u7763\u548c\u66f2\u7ebf\u95f4\u4e00\u81f4\u6027\u7ea6\u675f\uff0c\u5b9e\u73b0\u4e86\u5408\u7406\u4e14\u51c6\u786e\u7684\u573a\u666f\u5143\u7d20\u5206\u79bb\u548c\u91cd\u5efa\u3002\u5728Waymo\u5f00\u653e\u6570\u636e\u96c6\u548cnuPlan\u57fa\u51c6\u4e0a\u7684\u5927\u91cf\u5b9e\u9a8c\u8868\u660e\uff0cBezierGS\u5728\u52a8\u6001\u548c\u9759\u6001\u573a\u666f\u76ee\u6807\u91cd\u5efa\u4ee5\u53ca\u65b0\u89c6\u89d2\u91cd\u5efa\u65b9\u9762\u5747\u4f18\u4e8e\u6700\u5148\u8fdb\u7684\u66ff\u4ee3\u65b9\u6cd5\u3002<\/p>\n\n\n\n

\u603b\u7ed3\u6765\u8bf4\uff0c\u8fd9\u7bc7\u6587\u7ae0\u7684\u4eae\u70b9\u4ee5\u53ca\u672a\u6765\u53ef\u6269\u5c55\u65b9\u5411\u5982\u4e0b\uff1a<\/p>\n\n\n\n

    \n
  1. \u6784\u5efa\u4e00\u4e2a\u9ad8\u8d28\u91cf\u8857\u666f\u4e16\u754c\uff0c\u4f9b\u81ea\u9a7e\u6a21\u578b\u5728\u5176\u4e2d\u8bad\u7ec3\u3001\u63a2\u7d22\uff0c\u51cf\u5c11\u6570\u636e\u91c7\u96c6\u7684\u6210\u672c\uff1b<\/li>\n\n\n\n
  2. \u51cf\u5c11\u5bf9bounding box\u7cbe\u786e\u6027\u7684\u4f9d\u8d56\uff0c\u76ee\u524d\u4e1a\u754c\u4ee5\u53ca\u5f00\u6e90\u81ea\u9a7e\u6570\u636e\u96c6\u91c7\u96c6\u7684\u51c6\u786e\u6027\u4e0d\u662f\u5f88\u9ad8\uff0cbounding box\u7684\u6807\u6ce8\u4e0d\u7cbe\u786e\uff1b<\/li>\n\n\n\n
  3. \u8fd9\u7bc7\u662f\u5bf9\u81ea\u9a7e\u4e16\u754c\u7684\u5b66\u4e60\u4e0e\u63a2\u7d22\uff0c\u672a\u6765\u4f1a\u63a2\u7d22\u4e00\u4e2a\u771f\u6b63\u7684\u81ea\u9a7e\u4e16\u754c\u6a21\u578b\uff0c\u8be5\u5de5\u4f5c\u53ea\u80fd\u5b9e\u73b0\u8f68\u8ff9\u5185\u63d2\uff0c\u65e0\u6cd5\u8f68\u8ff9\u5916\u63d2\u3002<\/li>\n<\/ol>\n\n\n\n
      \n
    • \u8bba\u6587\u94fe\u63a5\uff1ahttps:\/\/arxiv.org\/abs\/2506.22099<\/li>\n\n\n\n
    • \u4ee3\u7801\u4ee3\u7801\uff1ahttps:\/\/github.com\/fudan-zvg\/BezierGS<\/li>\n<\/ul>\n\n\n\n

      \u5f15\u8a00<\/strong><\/p>\n\n\n\n

      \u5bf9\u52a8\u6001\u4e09\u7ef4\u8857\u9053\u573a\u666f\u7684\u5efa\u6a21\u662f\u73b0\u4ee3\u81ea\u52a8\u9a7e\u9a76\u7684\u57fa\u7840\uff0c\u56e0\u4e3a\u5b83\u80fd\u591f\u4e3a\u8bf8\u5982\u611f\u77e5\u3001\u9884\u6d4b\u548c\u8fd0\u52a8\u89c4\u5212\u7b49\u4efb\u52a1\u63d0\u4f9b\u771f\u5b9e\u4e14\u53ef\u63a7\u7684\u4eff\u771f\u3002<\/p>\n\n\n\n

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      \u5c3d\u7ba1\u5728\u5b9e\u73b0\u5c0f\u89c4\u6a21\u573a\u666f\u7684\u771f\u5b9e\u611f\u91cd\u5efa\u65b9\u9762\u53d6\u5f97\u4e86\u4ee4\u4eba\u9f13\u821e\u7684\u7ed3\u679c\uff0c\u4f46\u9a7e\u9a76\u573a\u666f\u5374\u662f\u5927\u89c4\u6a21\u4e14\u9ad8\u5ea6\u52a8\u6001\u7684\uff0c\u8fd9\u4f7f\u5f97\u6709\u6548\u7684\u4e09\u7ef4\u573a\u666f\u5efa\u6a21\u66f4\u5177\u6311\u6218\u6027\u3002\u4e3a\u4e86\u89e3\u51b3\u8fd9\u4e9b\u6311\u6218\uff0c\u5927\u591a\u6570\u73b0\u6709\u65b9\u6cd5\u4f9d\u8d56\u4e8e\u624b\u52a8\u6807\u6ce8\u7684\u52a8\u6001\u76ee\u6807\u4f4d\u59ff\uff0c\u4ee5\u533a\u5206\u9759\u6001\u80cc\u666f\u548c\u79fb\u52a8\u76ee\u6807\u3002\u901a\u5e38\u52a8\u6001\u76ee\u6807\u5728\u5176\u5404\u81ea\u7684\u4e2d\u5fc3\u89c4\u8303\u7a7a\u95f4\u4e2d\u8fdb\u884c\u91cd\u5efa\uff0c\u5e76\u6839\u636e\u5df2\u77e5\u4f4d\u59ff\u5728\u6e32\u67d3\u8fc7\u7a0b\u4e2d\u653e\u7f6e\u5230\u80cc\u666f\u573a\u666f\u7a7a\u95f4\u4e2d\u3002\u7136\u800c\uff0c\u52a8\u6001\u76ee\u6807\u7684\u624b\u52a8\u6807\u6ce8\u603b\u662f\u5b58\u5728\u8bef\u5dee\u548c\u9057\u6f0f\uff0c\u9650\u5236\u4e86\u8fd9\u4e9b\u65b9\u6cd5\u5728\u4e0d\u540c\u6570\u636e\u96c6\u4e2d\u7684\u591a\u6837\u5316\u573a\u666f\u4e2d\u7684\u9002\u7528\u6027\u3002<\/p>\n\n\n\n

      \u5176\u4ed6\u4e0d\u9700\u8981\u52a8\u6001\u6807\u6ce8\u7684\u65b9\u6cd5\u5229\u7528\u81ea\u76d1\u7763\u5b66\u4e60\u65b9\u6cd5\u6765\u5b66\u4e60\u52a8\u6001\u76ee\u6807\u7684\u8fd0\u52a8\u3002S3Gaussian\u4f7f\u7528\u65f6\u7a7a\u5206\u89e3\u7f51\u7edc\u6765\u9690\u5f0f\u5730\u5efa\u6a21\u76ee\u6807\u7684\u8fd0\u52a8\u8f68\u8ff9\uff0c\u8fd9\u7ed9\u4f18\u5316\u548c\u5efa\u6a21\u8fd9\u4e9b\u8f68\u8ff9\u5e26\u6765\u4e86\u6311\u6218\u3002PVG\u901a\u8fc7\u62fc\u63a5\u5177\u6709\u5468\u671f\u632f\u52a8\u7684\u7247\u6bb5\u6765\u6784\u5efa\u957f\u8f68\u8ff9\u3002\u7136\u800c\uff0c\u5468\u671f\u632f\u52a8\u6a21\u5f0f\u548c\u900f\u660e\u5ea6\u8870\u51cf\u5e76\u4e0d\u7b26\u5408\u73b0\u5b9e\u4e16\u754c\u7684\u8fd0\u52a8\uff0c\u800c\u4e14\u5206\u6bb5\u8f68\u8ff9\u4f7f\u5f97\u96be\u4ee5\u5145\u5206\u5229\u7528\u5355\u4e2a\u76ee\u6807\u968f\u65f6\u95f4\u7684\u4e00\u81f4\u6027\u3002<\/p>\n\n\n\n

      \u4e3a\u4e86\u514b\u670d\u4e0a\u8ff0\u5c40\u9650\u6027\uff0c\u672c\u6587\u4ecb\u7ecd\u4e86\u4e00\u79cd\u65b0\u7684\u52a8\u6001\u573a\u666f\u8868\u793a\u65b9\u6cd5\uff0c\u79f0\u4e3a\u8d1d\u585e\u5c14\u66f2\u7ebf\u9ad8\u65afSplatting\uff08BezierGS\uff09\uff0c\u4ee5\u5b9e\u73b0\u81ea\u52a8\u9a7e\u9a76\u5e94\u7528\u7684\u9ad8\u4fdd\u771f\u65b0\u89c6\u89d2\u5408\u6210\u6027\u80fd\u3002\u57fa\u4e8e\u9ad8\u6548\u7684\u4e09\u7ef4\u9ad8\u65af\u6e32\u67d3\u6280\u672f\uff0c\u8be5\u65b9\u6cd5\u4f7f\u7528\u53ef\u5b66\u4e60\u7684\u8d1d\u585e\u5c14\u66f2\u7ebf\u663e\u5f0f\u5730\u5efa\u6a21\u573a\u666f\u4e2d\u52a8\u6001\u9ad8\u65af\u57fa\u5143\u7684\u8fd0\u52a8\u8f68\u8ff9\u548c\u901f\u5ea6\uff0c\u800c\u9759\u6001\u4e09\u7ef4\u9ad8\u65af\u57fa\u5143\u5219\u7528\u4e8e\u6784\u5efa\u80cc\u666f\u4fe1\u606f\u3002\u53ef\u5b66\u4e60\u7684\u8f68\u8ff9\u66f2\u7ebf\u53ef\u4ee5\u8865\u507f\u52a8\u6001\u76ee\u6807\u6807\u6ce8\u4e2d\u7684\u8bef\u5dee\u3002\u6b64\u5916\uff0c\u663e\u5f0f\u7684\u66f2\u7ebf\u8f68\u8ff9\u6709\u52a9\u4e8e\u4f18\u5316\u5e76\u5145\u5206\u6316\u6398\u540c\u4e00\u76ee\u6807\u5728\u4e0d\u540c\u65f6\u95f4\u6233\u4e4b\u95f4\u7684\u65f6\u95f4\u4e00\u81f4\u6027\u3002\u6211\u4eec\u6839\u636e\u91cd\u5efa\u7684\u76ee\u6807\u5bf9\u52a8\u6001\u9ad8\u65af\u57fa\u5143\u8fdb\u884c\u5206\u7ec4\uff0c\u5e76\u5f15\u5165\u4e86\u4e00\u79cd\u5206\u7ec4\u7684\u66f2\u7ebf\u95f4\u4e00\u81f4\u6027\u635f\u5931\uff0c\u6709\u6548\u5730\u5229\u7528\u4e86\u540c\u4e00\u76ee\u6807\u7684\u51e0\u4f55\u7ea6\u675f\u3002\u6b64\u5916\uff0c\u6211\u4eec\u8fd8\u5f15\u5165\u4e86\u5bf9\u52a8\u6001\u9ad8\u65af\u57fa\u5143\u6e32\u67d3\u7684\u989d\u5916\u76d1\u7763\uff0c\u4ee5\u589e\u5f3a\u52a8\u6001\u76ee\u6807\u7684\u91cd\u5efa\uff0c\u4fc3\u8fdb\u540e\u7eed\u7684\u81ea\u52a8\u9a7e\u9a76\u573a\u666f\u7f16\u8f91\u4efb\u52a1\u3002<\/p>\n\n\n\n

      \u6211\u4eec\u7684\u4e3b\u8981\u8d21\u732e\u603b\u7ed3\u5982\u4e0b\uff1a<\/p>\n\n\n\n

        \n
      • \u63d0\u51fa\u4e86\u7528\u4e8e\u5927\u89c4\u6a21\u52a8\u6001\u57ce\u5e02\u573a\u666f\u91cd\u5efa\u7684\u8d1d\u585e\u5c14\u66f2\u7ebf\u9ad8\u65af\u6e32\u67d3\uff08BezierGS\uff09\u3002\u901a\u8fc7\u663e\u5f0f\u7684\u53ef\u5b66\u4e60\u8d1d\u585e\u5c14\u66f2\u7ebf\u8f68\u8ff9\u5efa\u6a21\uff0c\u6211\u4eec\u4f18\u96c5\u5730\u8868\u793a\u4e86\u52a8\u6001\u573a\u666f\uff0c\u6d88\u9664\u4e86\u8857\u666f\u91cd\u5efa\u4e2d\u5bf9\u52a8\u6001\u76ee\u6807\u6807\u6ce8\u7cbe\u5ea6\u7684\u4f9d\u8d56\uff1b<\/li>\n\n\n\n
      • \u5f00\u53d1\u4e86\u4e00\u79cd\u5168\u65b0\u7684\u7ec4\u5185\u66f2\u7ebf\u4e00\u81f4\u6027\u635f\u5931\uff0c\u5c06\u6784\u6210\u540c\u4e00\u76ee\u6807\u7684\u9ad8\u65af\u57fa\u5143\u7684\u8f68\u8ff9\u8054\u7cfb\u8d77\u6765\uff0c\u6709\u6548\u5730\u5229\u7528\u4e86\u540c\u4e00\u76ee\u6807\u7684\u51e0\u4f55\u7ea6\u675f\uff1b<\/li>\n\n\n\n
      • \u5728\u4e24\u4e2a\u5927\u89c4\u6a21\u57fa\u51c6\u6570\u636e\u96c6\uff08Waymo\u548cnuPlan\uff09\u4e0a\u8fdb\u884c\u4e86\u5e7f\u6cdb\u7684\u5b9e\u9a8c\uff0c\u7ed3\u679c\u8868\u660e\uff0cBezierGS\u5728\u573a\u666f\u91cd\u5efa\u548c\u65b0\u89c6\u89d2\u5408\u6210\u65b9\u9762\u5747\u4f18\u4e8e\u6240\u6709\u5148\u524d\u7684\u6700\u5148\u8fdb\u66ff\u4ee3\u65b9\u6cd5\u3002<\/li>\n<\/ul>\n\n\n\n

        \u7528\u4e8e\u57ce\u5e02\u573a\u666f\u91cd\u5efa\u7684NeRF<\/strong><\/p>\n\n\n\n

        \u81ea\u4eceNeRF\u95ee\u4e16\u4ee5\u6765\uff0c\u795e\u7ecf\u8868\u793a\u5df2\u6210\u4e3a\u4e09\u7ef4\u91cd\u5efa\u548c\u65b0\u89c6\u89d2\u5408\u6210\u7684\u57fa\u7840\u652f\u67f1\u3002\u8bb8\u591a\u7814\u7a76\u5c06\u57fa\u4e8eNeRF\u7684\u65b9\u6cd5\u5e94\u7528\u4e8e\u57ce\u5e02\u573a\u666f\uff0c\u4f7f\u5f97\u4f20\u611f\u5668\u80fd\u591f\u5728\u5927\u578b\u4e14\u52a8\u6001\u7684\u573a\u666f\u4e2d\u5b9e\u73b0\u903c\u771f\u7684\u65b0\u89c6\u89d2\u6e32\u67d3\u3002NSG\u91c7\u7528\u795e\u7ecf\u573a\u666f\u56fe\u6765\u5206\u89e3\u52a8\u6001\u573a\u666f\uff0c\u800cSUDS\u5219\u4f7f\u7528\u591a\u5206\u652f\u54c8\u5e0c\u8868\u5f15\u5165\u4e86\u4e00\u79cd\u56db\u7ef4\u573a\u666f\u8868\u793a\u65b9\u6cd5\u3002\u81ea\u76d1\u7763\u65b9\u6cd5\u5982EmerNeRF\u548cRoDUS\u6709\u6548\u5730\u89e3\u51b3\u4e86\u52a8\u6001\u573a\u666f\u7684\u6311\u6218\u3002\u7136\u800c\uff0c\u57fa\u4e8eNeRF\u7684\u65b9\u6cd5\u7684\u6162\u901f\u6e32\u67d3\u901f\u5ea6\u5bf9\u5176\u5728\u4e0b\u6e38\u4efb\u52a1\u4e2d\u7684\u5e94\u7528\u5e26\u6765\u4e86\u663e\u8457\u6311\u6218\u548c\u9ad8\u6210\u672c\u3002\u76f8\u6bd4\u4e4b\u4e0b\uff0cBezierGS\u5229\u7528\u9ad8\u6548\u7684\u4e09\u7ef4\u9ad8\u65af\u57fa\u5143\u91cd\u5efa\u57ce\u5e02\u573a\u666f\uff0c\u5728\u4fdd\u6301\u9ad8\u6e32\u67d3\u901f\u5ea6\u7684\u540c\u65f6\u5b9e\u73b0\u4e86\u4f18\u8d8a\u7684\u6e32\u67d3\u8d28\u91cf\u3002<\/p>\n\n\n\n

        \u7528\u4e8e\u57ce\u5e02\u573a\u666f\u91cd\u5efa\u76843DGS<\/strong><\/p>\n\n\n\n

        \u6700\u8fd1\u7684\u7814\u7a76\u5229\u7528\u4e86\u9ad8\u6548\u76843DGS\u6280\u672f\u8fdb\u884c\u57ce\u5e02\u573a\u666f\u91cd\u5efa\uff0c\u5728\u91cd\u5efa\u8d28\u91cf\u548c\u6e32\u67d3\u901f\u5ea6\u65b9\u9762\u90fd\u53d6\u5f97\u4e86\u663e\u8457\u63d0\u5347\u3002S3Gaussian\u548cPVG\u91c7\u7528\u81ea\u76d1\u7763\u5b66\u4e60\u65b9\u6cd5\u63a8\u65ad\u52a8\u6001\u76ee\u6807\u7684\u8f68\u8ff9\u3002\u5177\u4f53\u6765\u8bf4\uff0cS3Gaussian\u4f7f\u7528\u65f6\u7a7a\u5206\u89e3\u7f51\u7edc\u9690\u5f0f\u5730\u5efa\u6a21\u76ee\u6807\u7684\u8fd0\u52a8\u8f68\u8ff9\uff0c\u800cPVG\u901a\u8fc7\u62fc\u63a5\u5177\u6709\u5468\u671f\u632f\u52a8\u7684\u7247\u6bb5\u6784\u5efa\u957f\u8f68\u8ff9\u3002\u7136\u800c\uff0c\u8fd9\u4e9b\u8f68\u8ff9\u5efa\u6a21\u65b9\u6cd5\u4ecd\u7136\u7f3a\u4e4f\u7cbe\u5ea6\u3002\u4e0e\u6b64\u540c\u65f6\uff0c\u5c06\u573a\u666f\u663e\u5f0f\u5206\u89e3\u4e3a\u4e0d\u540c\u5b9e\u4f53\u5df2\u6210\u4e3a\u4e00\u79cd\u666e\u904d\u505a\u6cd5\uff0c\u5982Street Gaussians\u3001DrivingGaussian\u3001HUGS\u548cOmniRe\u7b49\u7814\u7a76\u6240\u793a\u3002\u7136\u800c\uff0c\u8fd9\u4e9b\u65b9\u6cd5\u4e25\u91cd\u4f9d\u8d56\u624b\u52a8\u6807\u6ce8\u6846\u7684\u51c6\u786e\u6027\uff0c\u5f53\u6807\u6ce8\u4e0d\u7cbe\u786e\u65f6\uff0c\u5176\u91cd\u5efa\u6027\u80fd\u4f1a\u663e\u8457\u4e0b\u964d\u3002<\/p>\n\n\n\n

        \u7b97\u6cd5\u8be6\u89e3<\/strong><\/p>\n\n\n\n

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

        \u7b97\u6cd5pipeline\u5982\u56fe2\u6240\u793a\u3002<\/p>\n\n\n\n

        \u9884\u5907\u77e5\u8bc6<\/strong><\/p>\n\n\n\n

        3DGS<\/strong><\/p>\n\n\n\n

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

        Bezier curve Gaussian splatting<\/strong><\/p>\n\n\n\n

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

        \u635f\u5931\u51fd\u6570<\/strong><\/p>\n\n\n\n

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

        \u66f2\u7ebf\u95f4\u4e00\u81f4\u6027\u635f\u5931<\/strong><\/p>\n\n\n\n

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

        \u52a8\u6001\u6e32\u67d3\u635f\u5931<\/strong><\/p>\n\n\n\n

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

        \u901f\u5ea6\u635f\u5931<\/strong><\/p>\n\n\n\n

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

        \u5b9e\u9a8c\u7ed3\u679c\u5206\u6790<\/strong><\/p>\n\n\n\n

        \u5b9e\u9a8c\u8bbe\u7f6e<\/strong><\/p>\n\n\n\n

        \u6570\u636e\u96c6<\/strong><\/h4>\n\n\n\n

        \u6211\u4eec\u5728Waymo\u5f00\u653e\u6570\u636e\u96c6\u548cnuPlan\u57fa\u51c6\u4e0a\u8fdb\u884c\u5b9e\u9a8c\uff0c\u8fd9\u4e24\u4e2a\u6570\u636e\u96c6\u7684\u5e27\u7387\u4e3a10 Hz\u3002\u503c\u5f97\u6ce8\u610f\u7684\u662f\uff0cnuPlan\u662f\u4e16\u754c\u4e0a\u9996\u4e2a\u5927\u89c4\u6a21\u7684\u81ea\u52a8\u9a7e\u9a76\u89c4\u5212\u57fa\u51c6\u3002\u7136\u800c\uff0c\u7531\u4e8e\u5176\u624b\u52a8\u6807\u6ce8\u7684\u4e0d\u51c6\u786e\u6027\uff0c\u4f20\u7edf\u7684\u57fa\u4e8e\u6846\u7684\u65b9\u6cd5\u96be\u4ee5\u5b9e\u73b0\u9ad8\u8d28\u91cf\u7684\u91cd\u5efa\uff0c\u9650\u5236\u4e86\u57fa\u4e8e\u91cd\u5efa\u7684\u95ed\u73af\u4eff\u771f\u7684\u53d1\u5c55\u3002\u901a\u8fc7\u5728nuPlan\u4e0a\u5c55\u793a\u9ad8\u8d28\u91cf\u7684\u91cd\u5efa\u548c\u65b0\u89c6\u89d2\u5408\u6210\uff0c\u6211\u4eec\u8fdb\u4e00\u6b65\u9a8c\u8bc1\u4e86\u6211\u4eec\u7684\u65b9\u6cd5\u6d88\u9664\u4e86\u5bf9\u57ce\u5e02\u573a\u666f\u91cd\u5efa\u4e2d\u76ee\u6807\u6807\u6ce8\u7cbe\u5ea6\u7684\u4f9d\u8d56\u3002\u5bf9\u4e8eWaymo\uff0c\u6211\u4eec\u9009\u62e9\u4e86Street Gaussians\u548cPVG\u6240\u9009\u62e9\u768412\u4e2a\u5e8f\u5217\u3002\u5bf9\u4e8enuPlan\uff0c\u6211\u4eec\u9009\u62e9\u4e86\u7531NAVSIM\u5212\u5206\u76846\u4e2a\u5e8f\u5217\u3002<\/p>\n\n\n\n

        \u4e0eStreet Gaussians\u548cOmniRe\u4e00\u81f4\uff0c\u6211\u4eec\u5c06\u5e8f\u5217\u4e2d\u7684\u6bcf\u7b2c4\u5f20\u56fe\u50cf\u7528\u4f5c\u6d4b\u8bd5\u5e27\uff0c\u5176\u4f59\u56fe\u50cf\u7528\u4e8e\u8bad\u7ec3\u3002<\/p>\n\n\n\n

        \u57fa\u7ebf\u65b9\u6cd5<\/strong><\/h4>\n\n\n\n

        \u6211\u4eec\u5c06\u6211\u4eec\u7684\u65b9\u6cd5\u4e0e\u6700\u5148\u8fdb\u7684\u65b9\u6cd5\u8fdb\u884c\u4e86\u6bd4\u8f83\uff0c\u5305\u62ec\u57fa\u4e8e\u6846\u7684\u65b9\u6cd5HUGS\u3001Street Gaussians\u3001OmniRe\u4ee5\u53ca\u57fa\u4e8e\u52a8\u6001\u9ad8\u65af\u57fa\u5143\u7684\u65b9\u6cd5DeformableGS\u3001PVG\u3002<\/p>\n\n\n\n

        \u5b9e\u73b0\u7ec6\u8282<\/strong><\/h4>\n\n\n\n

        \u5728\u672c\u5de5\u4f5c\u4e2d\uff0c\u6211\u4eec\u4e13\u6ce8\u4e8e\u6807\u51c6\u7acb\u65b9\u8d1d\u585e\u5c14\u66f2\u7ebf\uff08n=3\uff09\uff0c\u5b83\u56e0\u5176\u5728\u8f68\u8ff9\u5efa\u6a21\u4e2d\u7684\u6709\u6548\u6027\u800c\u88ab\u5e7f\u6cdb\u8ba4\u53ef\u3002\u6240\u6709\u5b9e\u9a8c\u5747\u5728\u5355\u5757NVIDIA RTX A6000\u4e0a\u8fd0\u884c30,000\u6b21\u8fed\u4ee3\u3002\u6211\u4eec\u4fdd\u6301\u5b66\u4e60\u7387\u4e0e\u539f\u59cb3DGS\u5b9e\u73b0\u76f8\u4f3c\uff0c\u5e76\u5c06\u6b63\u5219\u5316\u7cfb\u6570\u8bbe\u7f6e\u4e3a\uff1a\u03bbr=0.2\uff0c\u03bbd=1.0\uff0c\u03bbsky o=0.05\uff0c\u03bbicc=0.01\uff0c\u03bbdr=0.1\uff0c\u03bbv=1.0\u3002\u6709\u5173\u5b9e\u73b0\u7684\u66f4\u591a\u7ec6\u8282\uff0c\u8bf7\u53c2\u89c1\u7b2c6\u8282\u3002<\/p>\n\n\n\n

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

        \u4e0eSOTA\u5bf9\u6bd4<\/strong><\/p>\n\n\n\n

        Waymo\u4e0a\u7684\u7ed3\u679c<\/strong><\/h4>\n\n\n\n

        \u9664\u4e86\u6807\u51c6\u7684PSNR\u3001SSIM\u548cLPIPS\u6307\u6807\u5916\uff0c\u6211\u4eec\u8fd8\u901a\u8fc7\u8ba1\u7b97Dyn-PSNR\u6765\u8bc4\u4f30\u52a8\u6001\u533a\u57df\u7684\u4fdd\u771f\u5ea6\uff0c\u8be5\u6307\u6807\u4e13\u95e8\u6d4b\u91cf\u57282D\u56fe\u50cf\u5e73\u9762\u4e0a\u6295\u5f71\u7684\u771f\u5b9e3D\u6846\u5185\u7684PSNR\u3002\u8fd9\u4e00\u989d\u5916\u8bc4\u4f30\u63d0\u4f9b\u4e86\u5bf9\u52a8\u6001\u5143\u7d20\u91cd\u5efa\u7684\u66f4\u7cbe\u786e\u8bc4\u4f30\u3002\u5982\u88681\u6240\u793a\uff0cBezierGS\u5728\u6240\u6709\u8bc4\u4f30\u6307\u6807\u4e0a\u5747\u4f18\u4e8e\u6700\u5148\u8fdb\u7684\u65b9\u6cd5\u3002\u5177\u4f53\u800c\u8a00\uff0c\u5728\u65b0\u89c6\u89d2\u5408\u6210\u65b9\u9762\uff0c\u6211\u4eec\u7684\u6a21\u578b\u80fd\u591f\u6709\u6548\u751f\u6210\u4e4b\u524d\u672a\u89c1\u8fc7\u7684\u65f6\u95f4\u6233\u4e0b\u7684\u9ad8\u8d28\u91cf\u89c6\u56fe\uff0c\u663e\u8457\u8d85\u8d8a\u6240\u6709\u7ade\u4e89\u65b9\u6cd5\uff0cPSNR\u63d0\u9ad8\u4e861.87 dB\uff0cSSIM\u63d0\u9ad8\u4e860.014\uff0cLPIPS\u964d\u4f4e\u4e868.00%\u3002\u6b64\u5916\uff0c\u6211\u4eec\u7684\u65b9\u6cd5\u5728Dyn-PSNR\u4e0a\u4e5f\u8868\u73b0\u4f18\u5f02\uff0c\u53d6\u5f97\u4e862.66 dB\u7684\u663e\u8457\u63d0\u5347\uff0c\u8fdb\u4e00\u6b65\u9a8c\u8bc1\u4e86\u5176\u5728\u6e32\u67d3\u52a8\u6001\u5185\u5bb9\u65b9\u9762\u7684\u6709\u6548\u6027\u3002<\/p>\n\n\n\n

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

        \u6211\u4eec\u5728\u56fe4\u4e2d\u5c55\u793a\u4e86\u4e0eDeformableGS\u3001Street Gaussians\u3001OmniRe\u548cPVG\u7684\u5b9a\u6027\u6bd4\u8f83\u3002\u503c\u5f97\u6ce8\u610f\u7684\u662f\uff0cDeformableGS\u65e0\u6cd5\u5206\u79bb\u52a8\u6001\u76ee\u6807\u3002\u4e3a\u4e86\u89e3\u51b3\u8fd9\u4e2a\u95ee\u9898\uff0c\u6211\u4eec\u5229\u7528\u6807\u6ce8\u7684\u6846\u63d0\u53d6\u52a8\u6001\u533a\u57df\u3002\u5982\u56fe4\u6240\u793a\uff0cDeformableGS\u96be\u4ee5\u6709\u6548\u8868\u793a\u52a8\u6001\u76ee\u6807\uff0c\u800cPVG\u672a\u80fd\u6709\u6548\u5206\u79bb\u9759\u6001\u548c\u52a8\u6001\u76ee\u6807\u3002Street Gaussians\u548cOmniRe\u5728\u6355\u6349\u52a8\u6001\u76ee\u6807\u65b9\u9762\u5b58\u5728\u5c40\u9650\u6027\uff0c\u7279\u522b\u662f\u5728\u52a8\u6001\u5143\u7d20\u5468\u56f4\u5bfc\u81f4\u660e\u663e\u7684\u6a21\u7cca\u3002<\/p>\n\n\n\n

        \u76f8\u6bd4\u4e4b\u4e0b\uff0c\u6211\u4eec\u7684\u65b9\u6cd5\u80fd\u591f\u4ee5\u9ad8\u4fdd\u771f\u5ea6\u6709\u6548\u5730\u91cd\u5efa\u9759\u6001\u548c\u52a8\u6001\u5143\u7d20\uff0c\u540c\u65f6\u5b9e\u73b0\u9759\u6001\u548c\u52a8\u6001\u76ee\u6807\u4e4b\u95f4\u7684\u6e05\u6670\u5206\u79bb\u3002<\/p>\n\n\n\n

        nuPlan\u4e0a\u7684\u7ed3\u679c<\/strong><\/h4>\n\n\n\n

        nuPlan\u57fa\u51c6\u63d0\u4f9b\u7684\u6846\u8d28\u91cf\u4e0d\u4f73\uff0c\u5bfc\u81f4\u57fa\u4e8e\u6846\u7684\u65b9\u6cd5\u7684\u6e32\u67d3\u8d28\u91cf\u663e\u8457\u4e0b\u964d\u3002\u76f8\u6bd4\u4e4b\u4e0b\uff0c\u6211\u4eec\u7684BezierGS\u4f7f\u7528\u53ef\u5b66\u4e60\u7684\u8d1d\u585e\u5c14\u66f2\u7ebf\u5efa\u6a21\u52a8\u6001\u5143\u7d20\uff0c\u80fd\u591f\u81ea\u52a8\u7ea0\u6b63\u4f4d\u59ff\u8bef\u5dee\uff0c\u4ece\u800c\u63d0\u9ad8\u91cd\u5efa\u548c\u65b0\u89c6\u89d2\u5408\u6210\u7684\u8d28\u91cf\u3002\u5728\u65b0\u89c6\u89d2\u5408\u6210\u65b9\u9762\uff0c\u6211\u4eec\u7684\u6a21\u578b\u80fd\u591f\u6709\u6548\u6355\u6349\u573a\u666f\u5e76\u751f\u6210\u9ad8\u4fdd\u771f\u6e32\u67d3\uff0cPSNR\u63d0\u9ad8\u4e863.04 dB\uff0cSSIM\u63d0\u9ad8\u4e860.036\uff0cLPIPS\u964d\u4f4e\u4e8616.35%\uff0cDyn-PSNR\u63d0\u9ad8\u4e861.22 dB\u3002\u56fe5\u4e2d\u7684\u5b9a\u6027\u6bd4\u8f83\u8fdb\u4e00\u6b65\u8bf4\u660e\u4e86\u6211\u4eec\u7684\u65b9\u6cd5\u5728\u5904\u7406nuPlan\u57fa\u51c6\u4e2d\u7684\u590d\u6742\u52a8\u6001\u573a\u666f\u65b9\u9762\u7684\u6709\u6548\u6027\u3002<\/p>\n\n\n\n

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

        \u6d88\u878d\u5b9e\u9a8c<\/strong><\/p>\n\n\n\n

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

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