{"id":31500,"date":"2025-07-31T17:33:44","date_gmt":"2025-07-31T09:33:44","guid":{"rendered":"http:\/\/192.168.10.115\/?p=31500"},"modified":"2025-07-31T17:33:44","modified_gmt":"2025-07-31T09:33:44","slug":"2025-07-31-iccv-2025%ef%bc%81%e9%a6%96%e4%b8%aa%e8%87%aa%e5%8a%a8%e9%a9%be%e9%a9%b6rgb%e5%92%8clidar%e7%b4%a7%e8%80%a6%e5%90%88%e9%80%86%e6%b8%b2%e6%9f%93%e6%a1%86%e6%9e%b6invrgbl%ef%bc%8c%e7%9b%b4","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2025\/07\/31\/31500\/","title":{"rendered":"2025-07-31 ICCV 2025\uff01\u9996\u4e2a\u81ea\u52a8\u9a7e\u9a76RGB\u548cLidar\u7d27\u8026\u5408\u9006\u6e32\u67d3\u6846\u67b6InvRGB+L\uff0c\u76f4\u63a5SOTA~"},"content":{"rendered":"\n<p>\u539f\u6587\u94fe\u63a5\uff1a<a href=\"https:\/\/mp.weixin.qq.com\/s\/ALLBLScjTlS4hmSqzJE-LA\">https:\/\/mp.weixin.qq.com\/s\/ALLBLScjTlS4hmSqzJE-LA<\/a><\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u8bba\u6587\u6807\u9898\uff1aInvRGB+L Inverse Rendering of Complex Scenes with Unified Color and LiDAR Reflectance Modeling<\/li>\n\n\n\n<li>\u8bba\u6587\u94fe\u63a5\uff1ahttps:\/\/arxiv.org\/abs\/2507.17613<\/li>\n<\/ul>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"865\" height=\"507\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/07\/\u56fe\u7247-475.png\" alt=\"\" class=\"wp-image-31501\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/\u56fe\u7247-475.png 865w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/\u56fe\u7247-475-300x176.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/\u56fe\u7247-475-768x450.png 768w\" sizes=\"(max-width: 865px) 100vw, 865px\" \/><\/figure>\n\n\n\n<p><strong>1 \u7b80\u4ecb<\/strong><\/p>\n\n\n\n<p>\u672c\u6587\u63d0\u51fa\u4e86InvRGB+L\uff0c\u4e00\u79cd\u65b0\u9896\u7684\u9006\u6e32\u67d3\uff08inverse rendering\uff09\u6a21\u578b\uff0c\u9996\u6b21\u5c06LiDAR\u5f3a\u5ea6\u5e94\u7528\u4e8e\u9006\u6e32\u67d3\uff0c\u53ef\u4ee5\u4ece\u5355\u4e00\u7684RGB+LiDAR\u5e8f\u5217\u4e2d\u91cd\u5efa\u5927\u89c4\u6a21\u3001\u53ef\u91cd\u5149\u7167\u7684\u52a8\u6001\u573a\u666f\u3002\u4f20\u7edf\u7684\u9006\u6e32\u67d3\u65b9\u6cd5\u4e3b\u8981\u4f9d\u8d56RGB\u8f93\u5165\uff0c\u5c06LiDAR\u4ec5\u7528\u4e8e\u51e0\u4f55\u4fe1\u606f\u7684\u91cd\u5efa\uff0c\u800c\u56fe\u50cf\u8f93\u5165\u5e38\u5e38\u7531\u4e8e\u53ef\u89c1\u5149\u5e72\u6270\u5bfc\u81f4\u6750\u8d28\u4f30\u8ba1\u4e0d\u7406\u60f3\u3002\u6211\u4eec\u53d1\u73b0\uff0cLiDAR\u7684\u5f3a\u5ea6\u503c\u5728\u4e0d\u540c\u5149\u8c31\u8303\u56f4\u4e0b\u901a\u8fc7\u4e3b\u52a8\u7167\u660e\u91c7\u96c6\uff0c\u4e3a\u5728\u53d8\u5316\u5149\u7167\u6761\u4ef6\u4e0b\u8fdb\u884c\u7a33\u5065\u7684\u6750\u8d28\u4f30\u8ba1\u63d0\u4f9b\u4e86\u4e92\u8865\u4fe1\u606f\u3002\u53d7\u5230\u8fd9\u4e00\u53d1\u73b0\u7684\u542f\u53d1\uff0cInvRGB+L\u901a\u8fc7\u4e24\u4e2a\u5173\u952e\u521b\u65b0\u5229\u7528LiDAR intensity\u63d0\u5347\u590d\u6742\u573a\u666f\u7684\u9006\u6e32\u67d3\u7ed3\u679c\uff1a(1) \u4e00\u79cd\u65b0\u9896\u7684\u57fa\u4e8e\u7269\u7406\u7684LiDAR\u7740\u8272\u6a21\u578b\uff1b(2) RGB\u2013LiDAR\u6750\u8d28\u4e00\u81f4\u6027\u635f\u5931\u3002\u8be5\u6a21\u578b\u53ef\u4ee5\u751f\u6210\u57ce\u5e02\u548c\u5ba4\u5185\u573a\u666f\u7684\u65b0\u89c6\u89d2RGB\u548cLiDAR\u6e32\u67d3\u7ed3\u679c\uff0c\u5e76\u652f\u6301\u91cd\u5149\u7167\u3001\u591c\u666f\u6a21\u62df\u548c\u52a8\u6001\u7269\u4f53\u63d2\u5165\uff0c\u5728\u57ce\u5e02\u7ea7\u9006\u6e32\u67d3\u548cLiDAR\u6a21\u62df\u4efb\u52a1\u4e2d\u53d6\u5f97\u4e86\u8d85\u8fc7\u5f53\u524d\u6700\u5148\u8fdb\u65b9\u6cd5\u7684\u8868\u73b0\u3002<\/p>\n\n\n\n<p><strong>\u6838\u5fc3\u6311\u6218\uff1a<\/strong><\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li>RGB\u56fe\u50cf\u5bf9\u5149\u7167\u9ad8\u5ea6\u654f\u611f\uff0c\u5728\u4e0d\u540c\u7167\u660e\u6761\u4ef6\u4e0b\uff08\u5982\u9634\u5f71\u3001\u591c\u665a\u3001\u8f66\u706f\uff09\u6750\u8d28\u4f30\u8ba1\u6613\u53d7\u5e72\u6270\uff0c\u5bfc\u81f4\u9006\u6e32\u67d3\u7ed3\u679c\u4e0d\u51c6\u786e\u3002<\/li>\n\n\n\n<li>\u4f20\u7edf\u65b9\u6cd5\u5ffd\u89c6LiDAR\u5f3a\u5ea6\u4fe1\u606f\uff0c\u4ec5\u5c06LiDAR\u7528\u4e8e\u51e0\u4f55\u5efa\u6a21\uff0c\u672a\u5145\u5206\u5229\u7528\u5176\u5728\u6750\u8d28\u4f30\u8ba1\u4e2d\u7684\u7269\u7406\u6f5c\u529b\u3002<\/li>\n\n\n\n<li>RGB\u4e0eLiDAR\u6765\u81ea\u4e0d\u540c\u6a21\u6001\uff0c\u76f4\u63a5\u878d\u5408\u5b58\u5728\u8868\u5f81\u4e0d\u4e00\u81f4\u7684\u95ee\u9898\uff0c\u96be\u4ee5\u534f\u540c\u4f30\u8ba1\u6750\u8d28\u3002<\/li>\n<\/ol>\n\n\n\n<p><strong>\u89e3\u51b3\u65b9\u6848\uff1a<\/strong><\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li>\u57fa\u4e8e\u7269\u7406\u7684LiDAR\u7740\u8272\u6a21\u578b\uff08LiDAR Shading Model\uff09\uff1a\u7cbe\u786e\u5efa\u6a21\u6fc0\u5149\u5f3a\u5ea6\u7684\u751f\u6210\u8fc7\u7a0b\uff08\u5305\u62ec\u53cd\u5c04\u7387\u3001\u5165\u5c04\u89d2\u3001\u8ddd\u79bb\u8870\u51cf\u7b49\uff09\uff0c\u4f7f\u6a21\u578b\u80fd\u591f\u4eceLiDAR\u5f3a\u5ea6\u53cd\u63a8\u51fa\u7269\u4f53\u8868\u9762\u5c5e\u6027\u3002<\/li>\n\n\n\n<li>RGB\u2013LiDAR\u6750\u8d28\u4e00\u81f4\u6027\u635f\u5931\uff08Consistency Loss\uff09\uff1a\u5728\u8bad\u7ec3\u4e2d\u5f15\u5165RGB\u548cLiDAR\u53cd\u5c04\u4e4b\u95f4\u7684\u76d1\u7763\u4e00\u81f4\u6027\uff0c\u63d0\u5347\u8de8\u6a21\u6001\u6750\u8d28\u4f30\u8ba1\u7684\u7a33\u5b9a\u6027\u548c\u7cbe\u5ea6\u3002<\/li>\n<\/ol>\n\n\n\n<p><strong>2 \u57fa\u4e8e\u7269\u7406\u7684 LiDAR \u53cd\u5c04\u6a21\u578b<\/strong><\/p>\n\n\n\n<p>\u4e3a\u4e86\u51c6\u786e\u5efa\u6a21LiDAR \u5f3a\u5ea6\u503c\uff08intensity\uff09\u4e0e\u573a\u666f\u8868\u9762\u7684\u6750\u8d28\u5c5e\u6027\uff08\u5982\u53cd\u5c04\u7387\u3001\u7c97\u7cd9\u5ea6\u7b49\uff09\u7684\u5173\u7cfb\uff0c\u672c\u6587\u63d0\u51fa\u4e86\u4e00\u4e2a\u65b0\u7684LiDAR\u53cd\u5c04\u6a21\u578b\u3002LiDAR \u9075\u5faa\u7ecf\u5178\u7684\u6e32\u67d3\u65b9\u7a0b\uff0c\u5728\u5047\u8bbe\u65e0\u4ecb\u8d28\u6563\u5c04\u7684\u524d\u63d0\u4e0b\uff0c\u5176\u53cd\u5c04\u8f90\u5c04\u5ea6\u53ef\u4ee5\u8868\u793a\u4e3a\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"685\" height=\"719\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/07\/73101.png\" alt=\"\" class=\"wp-image-31502\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/73101.png 685w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/73101-286x300.png 286w\" sizes=\"(max-width: 685px) 100vw, 685px\" \/><\/figure>\n\n\n\n<p><strong>3 \u9006\u6e32\u67d3\u6846\u67b6<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"865\" height=\"442\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/07\/\u56fe\u7247-476.png\" alt=\"\" class=\"wp-image-31503\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/\u56fe\u7247-476.png 865w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/\u56fe\u7247-476-300x153.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/\u56fe\u7247-476-768x392.png 768w\" sizes=\"(max-width: 865px) 100vw, 865px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"673\" height=\"875\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/07\/073102.png\" alt=\"\" class=\"wp-image-31504\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/073102.png 673w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/073102-231x300.png 231w\" sizes=\"(max-width: 673px) 100vw, 673px\" \/><\/figure>\n\n\n\n<p><strong>4 \u5b9e\u9a8c\u7ed3\u679c<\/strong><\/p>\n\n\n\n<p><strong>\u5b9a\u91cf\u7ed3\u679c<\/strong><\/p>\n\n\n\n<p>\u8fd9\u5f20\u8868\u683c\u5c55\u793a\u4e86InvRGB+L\u4e0eUrbanIR\u5728waymo\u6570\u636e\u96c6\u4e0a\u91cd\u6253\u5149\u4efb\u52a1\u4e2d\u7684\u5b9a\u91cf\u7ed3\u679c\uff0c\u7ed3\u679c\u8868\u660eInvRGB+L\u663e\u8457\u4f18\u4e8eUrbanIR\u3002\u6b64\u5916\uff0c\u52a0\u5165\u4e00\u81f4\u6027\u635f\u5931\u8fdb\u4e00\u6b65\u63d0\u5347\u4e86\u6027\u80fd\uff0c\u4e3b\u8981\u662f\u7531\u4e8e\u66f4\u51c6\u786e\u7684\u6750\u8d28\u4f30\u8ba1\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"770\" height=\"347\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/07\/\u56fe\u7247-477.png\" alt=\"\" class=\"wp-image-31505\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/\u56fe\u7247-477.png 770w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/\u56fe\u7247-477-300x135.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/\u56fe\u7247-477-768x346.png 768w\" sizes=\"(max-width: 770px) 100vw, 770px\" \/><\/figure>\n\n\n\n<p>\u4e3a\u4e86\u9a8c\u8bc1InvRGB+L\u7684LiDAR\u5f3a\u5ea6\u516c\u5f0f\u7684\u6709\u6548\u6027\uff0c\u672c\u6587\u5728Waymo\u6570\u636e\u96c6\u4e0a\u8bc4\u4f30\u4e86LiDAR\u5f3a\u5ea6\u7684\u65b0\u89c6\u56fe\u5408\u6210\u3002\u4e0b\u8868\u5c55\u793a\u4e86\u5b9a\u91cf\u7ed3\u679c\uff0c\u7ed3\u679c\u8868\u660eInvRGB+L\u80fd\u591f\u6709\u6548\u5730\u6355\u6349\u5e95\u5c42\u7269\u7406\u73b0\u8c61\uff0c\u4ece\u800c\u5b9e\u73b0\u66f4\u51c6\u786e\u7684LiDAR\u5f3a\u5ea6\u5efa\u6a21\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"751\" height=\"545\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/07\/\u56fe\u7247-478.png\" alt=\"\" class=\"wp-image-31506\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/\u56fe\u7247-478.png 751w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/\u56fe\u7247-478-300x218.png 300w\" sizes=\"(max-width: 751px) 100vw, 751px\" \/><\/figure>\n\n\n\n<p><strong>\u5b9a\u6027\u7ed3\u679c<\/strong><\/p>\n\n\n\n<p>\u4e0b\u56fe\u662f\u9006\u6e32\u67d3\u7684\u5b9a\u6027\u6bd4\u8f83\u7ed3\u679c\u3002InvRGB+L\u901a\u8fc7\u5229\u7528\u53cd\u5c04\u7387\u6709\u6548\u5730\u5c06\u9634\u5f71\u4e0e\u53cd\u7167\u7387\u5206\u79bb\uff0c\u4ece\u800c\u83b7\u5f97\u4e86\u66f4\u5e73\u6ed1\u7684\u53cd\u7167\u7387\u4f30\u8ba1\uff0c\u76f8\u6bd4\u4e4b\u4e0b\uff0cUrbanIR\u548cFEGR\u90fd\u96be\u4ee5\u5c06\u7167\u660e\u6746\u6295\u5c04\u7684\u9634\u5f71\u4e0e\u8f66\u8f86\u4e0b\u65b9\u7684\u9634\u5f71\u4ece\u53cd\u7167\u7387\u4e2d\u5206\u79bb\uff0c\u5bfc\u81f4\u5728\u7b2c\u4e00\u573a\u666f\u7684\u5149\u7167\u91cd\u5efa\u7ed3\u679c\u4e2d\u6c7d\u8f66\u65c1\u8fb9\u51fa\u73b0\u4e0d\u771f\u5b9e\u7684\u9634\u5f71\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"865\" height=\"629\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/07\/\u56fe\u7247-479.png\" alt=\"\" class=\"wp-image-31507\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/\u56fe\u7247-479.png 865w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/\u56fe\u7247-479-300x218.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/\u56fe\u7247-479-768x558.png 768w\" sizes=\"(max-width: 865px) 100vw, 865px\" \/><\/figure>\n\n\n\n<p>\u4e0b\u56fe\u5c55\u793a\u4e86\u573a\u666f\u7f16\u8f91\u7684\u7ed3\u679c\uff0c\u5c55\u793a\u4e86InvRGB+L\u5728\u5149\u7167\u91cd\u5efa\u548c\u7269\u4f53\u63d2\u5165\u65b9\u9762\u7684\u591a\u6837\u6027\u3002\u7b2c\u4e00\u884c\u5c55\u793a\u4e86\u5c06\u8857\u706f\u548c\u8f66\u5934\u706f\u5149\u7167\u5e94\u7528\u4e8e\u8f93\u5165\u7684\u767d\u5929\u573a\u666f\u8fdb\u884c\u591c\u95f4\u6a21\u62df\u7684\u7ed3\u679c\u3002\u7b2c\u4e8c\u884c\u5c55\u793a\u4e86\u4e0d\u5bf9\u63d2\u5165\u8282\u70b9\u8fdb\u884c\u91cd\u6253\u5149\u7684\u7ed3\u679c\uff1a\u63d2\u5165\u7684\u6c7d\u8f66\u4e0e\u573a\u666f\u4e0d\u5339\u914d\u3002\u76f8\u6bd4\u4e4b\u4e0b\uff0c\u7ecf\u8fc7\u5149\u7167\u91cd\u5efa\u540e\uff0c\u6c7d\u8f66\u4e0e\u73af\u5883\u65e0\u7f1d\u878d\u5408\u3002\u7b2c\u4e09\u884c\u5c55\u793a\u4e86\u540c\u65f6\u5bf9\u573a\u666f\u548c\u63d2\u5165\u7269\u4f53\u8fdb\u884c\u5149\u7167\u91cd\u5efa\u7684\u7ed3\u679c\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"819\" height=\"844\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/07\/\u56fe\u7247-480.png\" alt=\"\" class=\"wp-image-31508\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/\u56fe\u7247-480.png 819w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/\u56fe\u7247-480-291x300.png 291w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/07\/\u56fe\u7247-480-768x791.png 768w\" sizes=\"(max-width: 819px) 100vw, 819px\" \/><\/figure>\n\n\n\n<p><strong>5 \u7ed3\u8bba<\/strong><\/p>\n\n\n\n<p>\u8fd9\u9879\u5de5\u4f5c\u5c06 LiDAR \u878d\u5165\u9006\u5411\u6e32\u67d3\uff0c\u63d0\u51fa\u4e86InvRGB+L\uff0c\u4e00\u79cd\u80fd\u591f\u4ece RGB+LiDAR \u5e8f\u5217\u4e2d\u91cd\u5efa\u5927\u89c4\u6a21\u3001\u53ef\u91cd\u5149\u7167\u4e14\u52a8\u6001\u53d8\u5316\u573a\u666f\u7684\u9006\u6e32\u67d3\u6a21\u578b\u3002\u901a\u8fc7\u5229\u7528 LiDAR \u4e0e RGB 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