{"id":31069,"date":"2025-07-15T17:31:21","date_gmt":"2025-07-15T09:31:21","guid":{"rendered":"http:\/\/192.168.10.115\/?p=31069"},"modified":"2025-07-15T17:31:21","modified_gmt":"2025-07-15T09:31:21","slug":"2025-07-15-iccv25%ef%bc%81%e7%99%be%e5%ba%a6u-vilar%ef%bc%9a%e8%a7%86%e8%a7%89%e5%ae%9a%e4%bd%8d%e5%a4%9a%e4%bb%bb%e5%8a%a1sota%ef%bc%8c%e6%97%a0%e7%97%9b%e5%85%bc%e5%ae%b9%e7%ab%af%e5%88%b0%e7%ab%af","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2025\/07\/15\/31069\/","title":{"rendered":"2025-07-15 ICCV25\uff01\u767e\u5ea6U-Vilar\uff1a\u89c6\u89c9\u5b9a\u4f4d\u591a\u4efb\u52a1SOTA\uff0c\u65e0\u75db\u517c\u5bb9\u7aef\u5230\u7aef\u6846\u67b6~"},"content":{"rendered":"\n

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

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

\u5728\u57ce\u5e02\u73af\u5883\u4e2d\uff0c\u5efa\u7b51\u7269\u3001\u96a7\u9053\u7b49\u969c\u788d\u7269\u4f1a\u4e25\u91cd\u5e72\u6270 GNSS\uff08\u5168\u7403\u5bfc\u822a\u536b\u661f\u7cfb\u7edf\uff09\u4fe1\u53f7\uff0c\u4f7f\u5f97\u4f9d\u8d56 GNSS \u7684\u5b9a\u4f4d\u4e0d\u591f\u53ef\u9760\u3002\u56e0\u6b64\uff0c\u89c6\u89c9\u5b9a\u4f4d\u6280\u672f\u5728\u8fd9\u7c7b\u573a\u666f\u4e2d\u663e\u5f97\u5c24\u4e3a\u5173\u952e\u3002<\/p>\n\n\n\n

\u4f20\u7edf\u65b9\u6cd5\u4f9d\u8d56\u4e8e\u56fe\u50cf\u4e0e\u4e09\u7ef4\u5730\u56fe\u7684\u7279\u5f81\u5339\u914d\uff0c\u4f46\u5bf9\u89c6\u89d2\u548c\u5149\u7167\u53d8\u5316\u654f\u611f\uff0c\u4e14\u5927\u89c4\u6a21\u4e09\u7ef4\u5730\u56fe\u7684\u6784\u5efa\u6210\u672c\u9ad8\u3002\u4e3b\u6d41\u57fa\u4e8e\u795e\u7ecf\u7f51\u7edc\u7684\u7aef\u5230\u7aef\u5b9a\u4f4d\u65b9\u6cd5\u5f80\u5f80\u4f1a\u5728\u4e0d\u540c\u521d\u59cb\u8303\u56f4\u548c\u5b9a\u4f4d\u7cbe\u5ea6\u4e4b\u95f4\u6743\u8861\uff0c\u4e14\u5176\u7cbe\u5ea6\u7531\u89c6\u89c9\u611f\u77e5\u7684\u8bef\u5dee\u548c\u5730\u56fe\u5339\u914d\u672c\u8eab\u7684\u8bef\u5dee\u8026\u5408\u51b3\u5b9a\u3002<\/p>\n\n\n\n

\u4f5c\u4e3a\u4eba\u7c7b\u51b3\u7b56\u7cfb\u7edf\u6216\u81ea\u52a8\u9a7e\u9a76\u7aef\u5230\u7aef\u89c4\u5212\u7cfb\u7edf\u7684\u5173\u952e\u90e8\u5206\uff0c\u9700\u8981\u652f\u6301\u4e0d\u540c\u683c\u5f0f\u7684\u5730\u56fe\u5e76\u5728\u4e0d\u540c\u8303\u56f4\u5185\u5b9e\u73b0\u7cbe\u786e\u5b9a\u4f4d\uff0c\u4e14\u80fd\u89e3\u8026\u8f93\u51fa\u611f\u77e5\u4e0d\u786e\u5b9a\u5ea6\u548c\u5b9a\u4f4d\u4e0d\u786e\u5b9a\u5ea6\uff0c\u7528\u4e8e\u4fee\u6b63\u5b9a\u4f4d\u7cbe\u5ea6\u4ee5\u53ca\u51cf\u5c11\u5728\u51b3\u7b56\u7cfb\u7edf\u5185\u7684\u8bef\u5dee\u4f20\u9012\u3002<\/p>\n\n\n\n

U-VILAR \u901a\u8fc7\u5bf9\u611f\u77e5\u4e0d\u786e\u5b9a\u5ea6\u548c\u5b9a\u4f4d\u4e0d\u786e\u5b9a\u5ea6\u7684\u5206\u522b\u5efa\u6a21\uff0c\u6709\u6548\u7f13\u89e3\u4e86\u4e0a\u8ff0\u95ee\u9898\uff0c\u5e76\u5728\u5927\u8303\u56f4\u7684\u91cd\u5b9a\u4f4d\u548c\u5c0f\u8303\u56f4\u5185\u7684\u7cbe\u7ec6\u5b9a\u4f4d\u4efb\u52a1\u4e2d\u5c55\u73b0\u4e86\u5f53\u524d\u6700\u597d\u7684\u6548\u679c\u3002<\/p>\n\n\n\n

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

\u8bba\u6587\u94fe\u63a5\uff1ahttps:\/\/arxiv.org\/abs\/2507.04503v1<\/p>\n\n\n\n

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

U-ViLAR \u5305\u542b\u4e24\u4e2a\u5173\u952e\u6a21\u5757\uff1a<\/p>\n\n\n\n

    \n
  • PU-Guided Association<\/strong>\uff1a\u611f\u77e5\u4e0d\u786e\u5b9a\u6027\u5f15\u5bfc\u7684\u89c6\u89c9\u4e0e\u5730\u56fe\u7279\u5f81\u5173\u8054\uff1b<\/li>\n\n\n\n
  • LU-Guided Registration<\/strong>\uff1a\u5b9a\u4f4d\u4e0d\u786e\u5b9a\u6027\u5f15\u5bfc\u7684\u7cbe\u7ec6\u914d\u51c6\u3002<\/li>\n<\/ul>\n\n\n\n
    \"\"<\/figure>\n\n\n\n

    3.1 BEV \u7279\u5f81\u63d0\u53d6\u4e0e\u878d\u5408<\/strong><\/p>\n\n\n\n

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

    3.2 \u611f\u77e5\u4e0d\u786e\u5b9a\u6027\u5f15\u5bfc\u7684\u5173\u8054\uff08PU-Guided Association\uff09<\/strong><\/p>\n\n\n\n

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

    3.3 \u5b9a\u4f4d\u4e0d\u786e\u5b9a\u6027\u5f15\u5bfc\u7684\u914d\u51c6\uff08LU-Guided Registration\uff09<\/strong><\/p>\n\n\n\n

    \u7c97\u4f4d\u59ff\u6982\u7387\u5efa\u6a21<\/strong><\/p>\n\n\n\n

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

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

    \u6570\u636e\u96c6<\/strong>\u6211\u4eec\u5728\u4e09\u4e2a\u6570\u636e\u96c6\u4e0a\u8bc4\u4f30\u65b9\u6cd5\uff1a<\/p>\n\n\n\n

      \n
    1. nuScenes<\/strong>\uff1a\u5e7f\u6cdb\u4f7f\u7528\u7684\u81ea\u52a8\u9a7e\u9a76\u6570\u636e\u96c6\uff0c\u542b1,000\u4e2a\u573a\u666f\uff0c\u8bad\u7ec3\u96c628,000+\u5e27\uff0c\u9a8c\u8bc1\u96c66,000\u5e27\uff1b<\/li>\n\n\n\n
    2. KITTI<\/strong>\uff1a\u5305\u542b39.2\u516c\u91cc\u89c6\u89c9\u91cc\u7a0b\u8ba1\u5e8f\u5217\uff1b<\/li>\n\n\n\n
    3. \u81ea\u91c7SRoad\u6570\u636e\u96c6<\/strong>\uff1a50\u4e07+\u5e27\uff0c\u542b\u590d\u6742\u9053\u8def\u7ed3\u6784\uff0860%+\u573a\u666f\u542b\u4ea4\u53c9\u53e3\u3001\u5408\u6d41\u533a\u3001\u62e5\u5835\u533a\u57df\u6216\u9ad8\u67b6\u6865\u4e0b\u533a\u57df\uff0c\u8be6\u89c1\u9644\u5f55\uff09\u3002<\/li>\n<\/ol>\n\n\n\n

      \u4efb\u52a1\u3001\u6307\u6807\u4e0e\u5bf9\u6bd4\u65b9\u6cd5<\/strong>\u5b9e\u9a8c\u5206\u4e3a\u4e24\u7c7b\u4efb\u52a1\uff1a<\/p>\n\n\n\n

        \n
      • (a) \u7ec6\u7c92\u5ea6\u5b9a\u4f4d<\/strong>\uff1a\u5728nuScenes\u548cSRoad\u6570\u636e\u96c6\u4e0a\uff0c\u57fa\u4e8eHD\u5730\u56fe\u4e0eICP\u57fa\u7ebf\u65b9\u6cd5\u5bf9\u6bd4\uff0c\u4f7f\u7528MAE\u548cRMSE\u8bc4\u4f30\u6027\u80fd\uff1b<\/li>\n\n\n\n
      • (b) \u5927\u89c4\u6a21\u91cd\u5b9a\u4f4d<\/strong>\uff1a\u5728nuScenes\u3001KITTI\u548cSRoad\u4e0a\u4f7f\u7528OSM\u5730\u56fe\u8f93\u5165\uff0c\u8ba1\u7b97\u6a2a\u5411\/\u7eb5\u5411\/\u822a\u5411\u89d2\u53ec\u56de\u7387\uff08\u9608\u503c1m\/3m\/5m\uff09\u3002<\/li>\n<\/ul>\n\n\n\n

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

          \n
        • \u7ec6\u7c92\u5ea6\u5b9a\u4f4d<\/strong>\uff1a\u5bf9HD\u5730\u56fe\u65bd\u52a0\u5c0f\u6270\u52a8\uff08\u65cb\u8f6c\u00b12\u00b0\uff0c\u5e73\u79fb\u00b12m\uff09\u6a21\u62dfGPS\u566a\u58f0\uff0c\u63d0\u53d6120m\u00d7120m\u641c\u7d22\u533a\u57df\uff1b<\/li>\n\n\n\n
        • \u91cd\u5b9a\u4f4d<\/strong>\uff1a\u65bd\u52a0\u5927\u6270\u52a8\uff08\u65cb\u8f6c\u00b130\u00b0\uff0c\u5e73\u79fb\u00b130m\uff09\u5904\u7406\u663e\u8457\u4f4d\u59ff\u504f\u5dee\uff0c\u641c\u7d22128m\u00d7128m\u533a\u57df\u3002<\/li>\n<\/ul>\n\n\n\n

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

          \u5728\u7ec6\u7c92\u5ea6\u5b9a\u4f4d\u4efb\u52a1\u4e2d\uff0cU-ViLAR\u5728nuScenes\u548cSRoad\u6570\u636e\u96c6\u4e0a\u5747\u53d6\u5f97\u4e86\u6700\u4f73\u6027\u80fd\uff0c\u663e\u8457\u964d\u4f4e\u4e86\u5b9a\u4f4d\u8bef\u5dee\u3002\u5728\u5927\u89c4\u6a21\u91cd\u5b9a\u4f4d\u4efb\u52a1\u4e2d\uff0c\u4f7f\u7528OSM\u4f5c\u4e3a\u5730\u56fe\u8f93\u5165\uff0c\u5728KITTI\u3001nuScenes\u548cSRoad\u6570\u636e\u96c6\u4e0a\u4e5f\u5747\u4f18\u4e8e\u73b0\u6709\u65b9\u6cd5\uff0c\u5c55\u73b0\u4e86\u5176\u5728\u7c97\u5b9a\u4f4d\u548c\u7ec6\u5b9a\u4f4d\u4e2d\u7684\u9c81\u68d2\u80fd\u529b\u3002\u6b64\u5916\uff0cU-ViLAR\u5728NVIDIA V100 GPU\u4e0a\u53ef\u8fbe\u523028\u5e27\/\u79d2\u7684\u8fd0\u884c\u901f\u5ea6\uff0c\u5728NVIDIA Orin\u5e73\u53f0\u4e0a\u901a\u8fc7\u4f18\u5316\u53ef\u8fbe\u523015\u5e27\/\u79d2\u3002<\/p>\n\n\n\n

          \u6d88\u878d\u7814\u7a76<\/strong><\/p>\n\n\n\n

          \u901a\u8fc7\u4e00\u7cfb\u5217\u6d88\u878d\u5b9e\u9a8c\u9a8c\u8bc1\u4e86\u611f\u77e5\u4e0d\u786e\u5b9a\u6027\u5f15\u5bfc\u7684\u5173\u8054\u548c\u5b9a\u4f4d\u4e0d\u786e\u5b9a\u6027\u5f15\u5bfc\u7684\u914d\u51c6\u7b49\u5173\u952e\u7ec4\u4ef6\u7684\u6709\u6548\u6027\u3002\u7ed3\u679c\u8868\u660e\uff0c\u8fd9\u4e9b\u7ec4\u4ef6\u5bf9\u5b9a\u4f4d\u6027\u80fd\u6709\u663e\u8457\u5f71\u54cd\uff0c\u53bb\u9664\u4efb\u4e00\u7ec4\u4ef6\u90fd\u4f1a\u5bfc\u81f4\u6027\u80fd\u4e0b\u964d\u3002<\/p>\n\n\n\n

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

          \u7ed3\u8bba<\/strong><\/p>\n\n\n\n

          \u672c\u6587\u63d0\u51fa\u7684U-ViLAR\u7f51\u7edc\u6574\u5408\u4e86\u5173\u8054\u548c\u914d\u51c6\u7684\u4f18\u52bf\uff0c\u5728\u591a\u79cd\u5b9a\u4f4d\u4efb\u52a1\u4e0a\u5c55\u73b0\u4e86\u5f3a\u5927\u7684\u6027\u80fd\u3002\u901a\u8fc7\u8bbe\u8ba1\u5168\u5c40\u548c\u5c40\u90e8\u5173\u8054\u7ea6\u675f\uff0c\u5e76\u5728\u611f\u77e5\u4e0d\u786e\u5b9a\u6027\u7684\u5f15\u5bfc\u4e0b\u8fdb\u884c\u5173\u8054\uff0c\u518d\u5229\u7528\u5b9a\u4f4d\u4e0d\u786e\u5b9a\u6027\u5f15\u5bfc\u7684\u914d\u51c6\u83b7\u5f97\u7cbe\u786e\u5b9a\u4f4d\uff0c\u8be5\u65b9\u6cd5\u5728\u591a\u4e2a\u6570\u636e\u96c6\u4e0a\u5747\u663e\u8457\u4f18\u4e8e\u73b0\u6709\u65b9\u6cd5\u3002\u672a\u6765\u7684\u5de5\u4f5c\u5c06\u4e13\u6ce8\u4e8e\u5728\u6781\u5177\u6311\u6218\u6027\u7684\u573a\u666f\u4e2d\u4f18\u5316\u5b9a\u4f4d\u7cbe\u5ea6\uff0c\u5e76\u63d0\u9ad8\u6a21\u578b\u7684\u6cdb\u5316\u80fd\u529b\uff0c\u4ee5\u5b9e\u73b0\u80fd\u591f\u652f\u6301\u4e0d\u540c\u6570\u636e\u96c6\u548c\u591a\u79cd\u5730\u56fe\u7684\u7edf\u4e00\u6a21\u578b\u3002<\/span><\/strong><\/p>\n\n\n\n

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

          [1]U-ViLAR: Uncertainty-Aware Visual Localization for Autonomous Driving via Differentiable Association and Registration<\/p>\n","protected":false},"excerpt":{"rendered":"

          \u539f\u6587\u94fe\u63a5\uff1ahttps:\/\/mp.weixin. […]<\/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-31069","post","type-post","status-publish","format-standard","hentry","category-technology-frontier","category-home"],"views":0,"_links":{"self":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/31069"}],"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=31069"}],"version-history":[{"count":2,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/31069\/revisions"}],"predecessor-version":[{"id":31081,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/31069\/revisions\/31081"}],"wp:attachment":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/media?parent=31069"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/categories?post=31069"},{"taxonomy":"post_tag","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/tags?post=31069"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}