{"id":32450,"date":"2025-08-27T17:31:47","date_gmt":"2025-08-27T09:31:47","guid":{"rendered":"http:\/\/192.168.10.115\/?p=32450"},"modified":"2025-08-27T17:31:47","modified_gmt":"2025-08-27T09:31:47","slug":"2025-08-27-%e8%b6%85%e8%b6%8aomnire%ef%bc%81%e4%b8%ad%e7%a7%91%e9%99%a2drivesplat%ef%bc%9a%e5%87%a0%e4%bd%95%e5%a2%9e%e5%bc%ba%e7%9a%84%e7%a5%9e%e7%bb%8f%e9%ab%98%e6%96%af%e9%a9%be%e9%a9%b6%e5%9c%ba","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2025\/08\/27\/32450\/","title":{"rendered":"2025-08-27 \u8d85\u8d8aOmniRe\uff01\u4e2d\u79d1\u9662DriveSplat\uff1a\u51e0\u4f55\u589e\u5f3a\u7684\u795e\u7ecf\u9ad8\u65af\u9a7e\u9a76\u573a\u666f\u91cd\u5efa\u65b0SOTA"},"content":{"rendered":"\n<p>\u539f\u6587\u94fe\u63a5\uff1a<a href=\"https:\/\/mp.weixin.qq.com\/s\/PHVEA9NYDSg-DlPIhI3eng\">https:\/\/mp.weixin.qq.com\/s\/PHVEA9NYDSg-DlPIhI3eng<\/a><\/p>\n\n\n\n<p>\u81ea\u52a8\u9a7e\u9a76\u573a\u666f\u7684\u771f\u5b9e\u95ed\u73af\u4eff\u771f\u662f\u8fd1\u4e24\u5e74\u5b66\u672f\u754c\u548c\u5de5\u4e1a\u754c\u7684\u4e00\u5927\u7814\u7a76\u65b9\u5411\u3002\u6bd4\u5982\u573a\u666f\u4e2d\u5feb\u901f\u79fb\u52a8\u7684\u8f66\u8f86\u3001\u8fd0\u52a8\u7684\u884c\u4eba\u4ee5\u53ca\u5927\u89c4\u6a21\u7684\u9759\u6001\u80cc\u666f\u91cd\u5efa\u90fd\u662f\u5b9e\u9645\u4e2d\u9700\u8981\u8003\u8651\u7684\u56e0\u7d20\u3002<\/p>\n\n\n\n<p>\u800c\u8fd1\u4e24\u5e74\u7684\u4e3b\u6d41\u65b9\u6cd5\u5747\u4f7f\u7528\u52a8\u9759\u6001\u5143\u7d20\u89e3\u8026\u7684\u65b9\u5f0f\u6765\u89e3\u51b3\u8fd0\u52a8\u6a21\u7cca\u7684\u95ee\u9898\uff0c\u4f46\u662f\u8fd9\u79cd\u65b9\u5f0f\u4e5f\u5b58\u5728\u4e00\u4e2a\u660e\u663e\u7684\u7f3a\u9677\uff1a\u89e3\u8026\u7684\u7b56\u7565\u5ffd\u89c6\u4e86\u4e0e\u573a\u666f\u4e2d\u5145\u5206\u7684\u51e0\u4f55\u5173\u7cfb\u76f8\u7ed3\u5408\u7684\u80cc\u666f\u4f18\u5316\uff0c\u5e76\u4e14\u8fc7\u5ea6\u4f9d\u8d56Gaussian\u70b9\u62df\u5408\u8bad\u7ec3\u89c6\u89d2\u3002\u5bfc\u81f4\u8fd9\u4e9b\u6a21\u578b\u5728\u6e32\u67d3\u65b0\u89c6\u89d2\u65f6\u9c81\u68d2\u6027\u6709\u9650\uff0c\u5e76\u4e14\u7f3a\u4e4f\u7cbe\u786e\u7684\u51e0\u4f55\u8868\u793a~<\/p>\n\n\n\n<p>\u4e3a\u4e86\u89e3\u51b3\u4e0a\u8ff0\u95ee\u9898\uff0c\u4e2d\u79d1\u9662\u7684\u56e2\u961f\u63d0\u51fa\u4e86DriveSplat\uff0c\u8fd9\u662f\u4e00\u79cd\u57fa\u4e8e\u795e\u7ecf\u9ad8\u65af\u8868\u793a\u5e76\u5177\u6709\u52a8\u9759\u6001\u89e3\u8026\u7684\u9ad8\u8d28\u91cf\u9a7e\u9a76\u573a\u666f\u91cd\u5efa\u7b97\u6cd5\u3002\u4e3a\u4e86\u66f4\u597d\u5730\u9002\u5e94\u9a7e\u9a76\u89c6\u89d2\u4e3b\u8981\u5448\u73b0\u7684\u7ebf\u6027\u8fd0\u52a8\u6a21\u5f0f\uff0c\u91c7\u7528\u4e86\u4e00\u79cd\u533a\u57df\u5212\u5206\u7684\u4f53\u7d20\u521d\u59cb\u5316\u65b9\u6848\uff0c\u5c06\u573a\u666f\u5212\u5206\u4e3a\u8fd1\u3001\u4e2d\u3001\u8fdc\u4e09\u4e2a\u533a\u57df\uff0c\u4ee5\u589e\u5f3a\u8fd1\u8ddd\u79bb\u7ec6\u8282\u7684\u8868\u793a\u3002\u5e76\u4e14\u5f15\u5165\u4e86\u53ef\u53d8\u5f62\u7684\u795e\u7ecf\u9ad8\u65af\uff08deformable neural Gaussians\uff09\u6765\u5efa\u6a21\u975e\u521a\u6027\u52a8\u6001\u53c2\u4e0e\u8005\uff08actors\uff09\uff0c\u5176\u53c2\u6570\u901a\u8fc7\u4e00\u4e2a\u53ef\u5b66\u4e60\u7684\u5f62\u53d8\u7f51\u7edc\u8fdb\u884c\u65f6\u95f4\u4e0a\u7684\u8c03\u6574\u3002\u6574\u4e2a\u6846\u67b6\u8fdb\u4e00\u6b65\u7531\u9884\u8bad\u7ec3\u6a21\u578b\u63d0\u4f9b\u7684\u6df1\u5ea6\u548c\u6cd5\u7ebf\u5148\u9a8c\u8fdb\u884c\u76d1\u7763\uff0c\u4ece\u800c\u63d0\u5347\u4e86\u51e0\u4f55\u7ed3\u6784\u7684\u51c6\u786e\u6027\u3002DriveSplat\u5728Waymo\u548cKITTI\u6570\u636e\u96c6\u4e0a\u8fdb\u884c\u4e86\u8bc4\u6d4b\uff0c\u5728\u9a7e\u9a76\u573a\u666f\u7684\u65b0\u89c6\u89d2\u5408\u6210\u4efb\u52a1\u4e2d\u5c55\u73b0\u4e86\u6700\u5148\u8fdb\u7684\u6027\u80fd\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"377\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/08\/image-119-1024x377.png\" alt=\"\" class=\"wp-image-32452\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/08\/image-119-1024x377.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/08\/image-119-300x111.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/08\/image-119-768x283.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/08\/image-119.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u8bba\u6587\u6807\u9898\uff1aDriveSplat: Decoupled Driving Scene Reconstruction with Geometry-enhanced Partitioned Neural Gaussians<\/li>\n\n\n\n<li>\u8bba\u6587\u94fe\u63a5\uff1ahttps:\/\/arxiv.org\/abs\/2508.15376<\/li>\n<\/ul>\n\n\n\n<p><strong>\u7b80\u4ecb<\/strong><\/p>\n\n\n\n<p>\u81ea\u52a8\u9a7e\u9a76\u573a\u666f\u7684\u4e09\u7ef4\u4eff\u771f\u53ef\u4ee5\u6781\u5927\u5730\u4fc3\u8fdb\u81ea\u52a8\u9a7e\u9a76\u529f\u80fd\u7684\u95ed\u73af\u6d4b\u8bd5\u3002\u6b64\u5916\uff0c\u5b83\u8fd8\u5141\u8bb8\u7075\u6d3b\u5730\u6784\u5efa\u590d\u6742\u7684\u4ea4\u901a\u73af\u5883\uff0c\u53ef\u7528\u4e8e\u8bad\u7ec3\u611f\u77e5\u548c\u51b3\u7b56\u6a21\u578b\u3002\u4e0e\u4f20\u7edf\u7684\u503e\u659c\u6444\u5f71\u6216\u4eba\u5de5\u6784\u5efa\u7684\u4eff\u771f\u73af\u5883\u76f8\u6bd4\uff0c\u4e09\u7ef4\u91cd\u5efa\u548c\u65b0\u89c6\u89d2\u5408\u6210\uff08NVS\uff09\u6280\u672f\u80fd\u591f\u4ece\u4e8c\u7ef4\u56fe\u50cf\u8f93\u5165\u4e2d\u91cd\u5efa\u4e09\u7ef4\u573a\u666f\uff0c\u5728\u4fbf\u6377\u6027\u548c\u771f\u5b9e\u6027\u65b9\u9762\u90fd\u5177\u6709\u4f18\u52bf\u3002<\/p>\n\n\n\n<p>\u5728\u76f8\u5173\u9886\u57df\uff0cNeRF\u901a\u8fc7\u5149\u7ebf\u91c7\u6837\u5f15\u5165\u4e86\u9690\u5f0f\u573a\u666f\u91cd\u5efa\uff0c\u4e3a\u4e09\u7ef4\u91cd\u5efa\u9886\u57df\u63d0\u4f9b\u4e86\u4e00\u79cd\u65b0\u7684\u6280\u672f\u8303\u5f0f\u3002\u4e09\u7ef4\u9ad8\u65af\u70b9\u9635\uff083D-GS\uff09\u5219\u901a\u8fc7\u4f7f\u7528\u9ad8\u65af\u692d\u7403\u4f53\u5bf9\u573a\u666f\u8fdb\u884c\u663e\u5f0f\u8868\u793a\uff0c\u8fdb\u4e00\u6b65\u63d0\u9ad8\u4e86\u91cd\u5efa\u6548\u7387\uff0c\u6709\u6548\u589e\u5f3a\u4e86\u6e32\u67d3\u901f\u5ea6\u3002\u8fd9\u4e9b\u65b9\u6cd5\u5728\u4ee5\u7269\u4f53\u4e3a\u4e2d\u5fc3\u7684\u573a\u666f\u548c\u5c0f\u578b\u5ba4\u5185\u73af\u5883\u4e2d\u53d6\u5f97\u4e86\u4ee4\u4eba\u9f13\u821e\u7684\u6210\u679c\u3002\u540e\u7eed\u7684\u5de5\u4f5c\u8fdb\u4e00\u6b65\u63d0\u9ad8\u4e86\u91cd\u5efa\u5bf9\u89c6\u89d2\u53d8\u5316\u7684\u9c81\u68d2\u6027\uff0c\u5e76\u589e\u5f3a\u4e86\u5bf9\u5927\u89c4\u6a21\u573a\u666f\u7684\u53ef\u6269\u5c55\u6027\u3002\u5176\u4e2d\uff0c\u795e\u7ecf\u9ad8\u65af\u8868\u793a\u5df2\u6210\u4e3a\u4e00\u79cd\u6709\u6548\u7684\u65b9\u6cd5\uff0c\u5728\u65b0\u89c6\u89d2\u5408\u6210\u8d28\u91cf\u548c\u91cd\u5efa\u6548\u7387\u4e4b\u95f4\u53d6\u5f97\u4e86\u5e73\u8861\u3002\u7136\u800c\uff0c\u7531\u4e8e\u5b58\u5728\u5feb\u901f\u79fb\u52a8\u7684\u8f66\u8f86\uff08\u96be\u4ee5\u51c6\u786e\u6355\u6349\uff0c\u4ece\u800c\u5728\u573a\u666f\u4e2d\u5f15\u5165\u8fd0\u52a8\u6a21\u7cca\uff09\uff0c\u9a7e\u9a76\u573a\u666f\u4e2d\u7684\u4e09\u7ef4\u91cd\u5efa\u9762\u4e34\u7740\u66f4\u5927\u7684\u6311\u6218\u3002\u4e3a\u4e86\u89e3\u51b3\u8fd9\u4e9b\u6311\u6218\uff0cStreetGS\u548cDrivingGaussian\u91c7\u7528\u4e86\u52a8\u9759\u89e3\u8026\u7b56\u7565\uff0c\u6709\u6548\u5730\u5c06\u52a8\u6001\u524d\u666f\u53c2\u4e0e\u8005\u4e0e\u9759\u6001\u80cc\u666f\u7684\u91cd\u5efa\u5206\u79bb\u5f00\u6765\u3002\u540e\u7eed\u7814\u7a76\u5f00\u59cb\u4f18\u5316\u975e\u521a\u6027\u52a8\u6001\u53c2\u4e0e\u8005\u3001\u7cbe\u5316\u52a8\u6001\u5b9e\u4f53\u7684\u8f68\u8ff9\uff0c\u5e76\u63a2\u7d22\u5229\u7528\u5149\u6d41\u6216\u8bed\u4e49\u8fdb\u884c\u52a8\u6001\u89e3\u8026\u7684\u65b9\u6cd5\u3002\u7136\u800c\uff0c\u8fd9\u4e9b\u65b9\u6cd5\u4ecd\u7136\u4f9d\u8d56\u4e8e\u539f\u59cb\u76843D-GS\u8868\u793a\u6765\u8fdb\u884c\u80cc\u666f\u91cd\u5efa\uff0c\u8fd9\u5728\u5177\u6709\u6311\u6218\u6027\u7684\u65b0\u89c6\u89d2\u5408\u6210\u4e2d\u7f3a\u4e4f\u9c81\u68d2\u6027\uff0c\u5e76\u4e14\u672a\u80fd\u5145\u5206\u89e3\u51b3\u51e0\u4f55\u51c6\u786e\u6027\u95ee\u9898\u3002<\/p>\n\n\n\n<p>\u9488\u5bf9\u4e0a\u8ff0\u5173\u952e\u5dee\u8ddd\uff0c\u6211\u4eec\u7684\u5de5\u4f5c\u65e8\u5728\u4e3a\u52a8\u6001\u81ea\u52a8\u9a7e\u9a76\u573a\u666f\u63d0\u4f9b\u4e00\u4e2a\u89c6\u89d2\u9c81\u68d2\u4e14\u51e0\u4f55\u7cbe\u786e\u7684\u91cd\u5efa\u6846\u67b6\u3002\u4e0e\u901a\u8fc7\u76d1\u7763\u7a33\u6b65\u63d0\u5347\u6e32\u67d3\u6548\u679c\u7684\u8bad\u7ec3\u89c6\u89d2\u4e0d\u540c\uff0c\u65b0\u89c6\u89d2\u589e\u52a0\u4e86\u53d8\u5f02\u6027\uff0c\u5bf9\u4e00\u81f4\u7684\u573a\u666f\u91cd\u5efa\u63d0\u51fa\u4e86\u6311\u6218\u30023D-GS\u7cfb\u5217\u6a21\u578b\u901a\u8fc7\u589e\u91cf\u6dfb\u52a0\u9ad8\u65af\u692d\u7403\u4f53\u6765\u63d0\u5347\u5728\u8bad\u7ec3\u89c6\u89d2\u4e0b\u7684\u6e32\u67d3\u6027\u80fd\uff1b\u7136\u800c\uff0c\u8fd9\u53ef\u80fd\u5bfc\u81f4\u5197\u4f59\u7684\u9ad8\u65af\u692d\u7403\u4f53\uff0c\u5f53\u4ece\u5176\u4ed6\u89c6\u89d2\u89c2\u5bdf\u65f6\uff0c\u4f1a\u4ea7\u751f\u6a21\u7cca\u548c\u566a\u58f0\u3002\u4ee5\u5f80\u9488\u5bf9\u9a7e\u9a76\u573a\u666f\u7684\u91cd\u5efa\u65b9\u6cd5\u4f9d\u8d56\u4e8e\u6fc0\u5149\u96f7\u8fbe\uff08LiDAR\uff09\u8fdb\u884c\u6df1\u5ea6\u76d1\u7763\uff0c\u4f46LiDAR\u65e0\u6cd5\u63d0\u4f9b\u50cf\u7d20\u7ea7\u7684\u6df1\u5ea6\u771f\u503c\uff08ground truth\uff09\uff0c\u5c24\u5176\u662f\u5728\u9ad8\u5c42\u5efa\u7b51\u548c\u8fdc\u5904\u7269\u4f53\u4e0a\u7f3a\u4e4f\u6709\u6548\u7684\u76d1\u7763\u3002\u6b64\u5916\uff0c\u8fd9\u4e9b\u65b9\u6cd5\u672a\u80fd\u5145\u5206\u89e3\u51b3\u91cd\u5efa\u6a21\u578b\u4e2d\u8868\u9762\u8d28\u91cf\u7684\u4f18\u5316\u95ee\u9898\uff0c\u5bfc\u81f4\u6cd5\u7ebf\u56fe\u7ed3\u679c\u4e0d\u4f73\uff0c\u5982\u56fe1\u6240\u793a\u3002<\/p>\n\n\n\n<p>\u4e3a\u4e86\u89e3\u51b3\u8fd9\u4e9b\u76f8\u4e92\u5f3a\u5316\u7684\u6311\u6218\uff0c\u6211\u4eec\u63d0\u51fa\u4e86DriveSplat\uff0c\u8fd9\u662f\u4e00\u79cd\u57fa\u4e8e\u795e\u7ecf\u9ad8\u65af\u8868\u793a\u5e76\u5177\u6709\u52a8\u9759\u89e3\u8026\u7684\u89c6\u89d2\u9c81\u68d2\u91cd\u5efa\u6846\u67b6\u3002\u4ee5\u7531SFM\u548cLiDAR\u878d\u5408\u7684\u70b9\u4e91\u4e3aanchor\uff0c\u6211\u4eec\u5c06\u52a8\u6001\u70b9\u4e91\u4ece\u9759\u6001\u80cc\u666f\u4e2d\u5206\u79bb\u51fa\u6765\uff0c\u5e76\u7528\u5b83\u4eec\u5206\u522b\u521d\u59cb\u5316\u524d\u666f\u53c2\u4e0e\u8005\u548c\u80cc\u666f\u8868\u793a\u3002\u7136\u540e\u5728\u8fd9\u4e9b\u7a7a\u95f4\u951a\u70b9\u4e0a\u6784\u5efa\u4e00\u4e2a\u57fa\u4e8e\u516b\u53c9\u6811\u7684\u5206\u533a\u4f53\u7d20\u7ed3\u6784\uff0c\u5176\u591a\u7ea7\u4f53\u7d20\u8868\u793a\u5bf9\u5e94\u4e8e\u4e0d\u540c\u7684\u7ec6\u8282\u5c42\u6b21\uff08LOD\uff09\u3002\u9a7e\u9a76\u573a\u666f\u901a\u5e38\u5728\u8fd1\u7a0b\u548c\u4e2d\u7a0b\u8868\u73b0\u51fa\u66f4\u5bc6\u96c6\u7684\u70b9\u5206\u5e03\u3002\u4e3a\u4e86\u66f4\u597d\u5730\u6355\u6349\u8fd9\u4e9b\u533a\u57df\u7684\u7ec6\u7c92\u5ea6\u7ec6\u8282\uff0c\u6211\u4eec\u4f30\u8ba1\u573a\u666f\u7684\u4e3b\u8f74\uff0c\u5e76\u4f7f\u7528\u805a\u7c7b\u7b97\u6cd5\u5c06\u5176\u5206\u5272\u4e3a\u8fd1\u3001\u4e2d\u3001\u8fdc\u4e09\u4e2a\u533a\u57df\u3002\u8fd1\u533a\u548c\u4e2d\u533a\u7684\u4f53\u7d20\u5c3a\u5bf8\u88ab\u7ec6\u5316\uff0c\u4ee5\u66f4\u597d\u5730\u9002\u5e94\u5bc6\u96c6\u7684\u70b9\u5206\u5e03\u3002\u5bf9\u4e8e\u573a\u666f\u4e2d\u7684\u52a8\u6001\u53c2\u4e0e\u8005\uff0c\u6211\u4eec\u4f7f\u7528\u8fb9\u754c\u6846\u4fe1\u606f\u5c06\u6bcf\u4e2a\u91cd\u5efa\u7684\u5b9e\u4f8b\u4ece\u5c40\u90e8\u5750\u6807\u7cfb\u8f6c\u6362\u5230\u5168\u5c40\u5750\u6807\u7cfb\u3002\u5bf9\u4e8e\u884c\u4eba\u548c\u9a91\u884c\u8005\u7b49\u975e\u521a\u6027\u52a8\u6001\u53c2\u4e0e\u8005\uff0c\u6211\u4eec\u989d\u5916\u8bbe\u8ba1\u4e86\u4e00\u4e2a\u5f62\u53d8\u7f51\u7edc\uff0c\u901a\u8fc7\u968f\u65f6\u95f4\u8c03\u6574\u5176\u5c5e\u6027\uff08\u4f8b\u5982\uff0c\u4f4d\u7f6e\u3001\u65cb\u8f6c\u3001\u5c3a\u5ea6\uff09\u6765\u5efa\u6a21\u795e\u7ecf\u9ad8\u65af\u7684\u65f6\u95f4\u6f14\u5316\u3002\u4e3a\u4e86\u8fdb\u4e00\u6b65\u63d0\u9ad8\u51e0\u4f55\u8d28\u91cf\uff0c\u6211\u4eec\u4f7f\u7528\u9884\u8bad\u7ec3\u5355\u76ee\u6a21\u578b\u9884\u6d4b\u7684\u7a20\u5bc6\u6df1\u5ea6\u56fe\u548c\u8868\u9762\u6cd5\u7ebf\u56fe\u5bf9\u91cd\u5efa\u8fc7\u7a0b\u8fdb\u884c\u76d1\u7763\uff0c\u786e\u4fdd\u6e32\u67d3\u4e2d\u7684\u51e0\u4f55\u4e00\u81f4\u6027\u3002\u603b\u4e4b\uff0c\u6211\u4eec\u7684\u4e3b\u8981\u8d21\u732e\u603b\u7ed3\u5982\u4e0b\uff1a<\/p>\n\n\n\n<ul 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class=\"wp-block-heading\"><strong>\u5927\u89c4\u6a21\u573a\u666f\u91cd\u5efa<\/strong><\/h3>\n\n\n\n<p>\u539f\u59cb\u7684NeRF \u7531\u4e8e\u8fd1\u666f\u6a21\u7cca\u548c\u8fdc\u666f\u8fb9\u7f18\u952f\u9f7f\u72b6\u7684\u95ee\u9898\uff0c\u5728\u5904\u7406\u5927\u89c4\u6a21\u573a\u666f\u65f6\u8868\u73b0\u4e0d\u4f73\u3002\u540e\u7eed\u7684\u6539\u8fdb\u5305\u62ec\u4f7f\u7528\u591a\u5c3a\u5ea6IPE\u7684Mip-NeRF \u3001\u5e94\u5bf9\u5149\u7167\u53d8\u5316\u7684NeRF-W\uff0c\u4ee5\u53ca\u5206\u522b\u8bad\u7ec3\u5c40\u90e8\u5757\u7684Block-NeRF \u3002\u6700\u8fd1\uff0c\u57fa\u4e8e3D-GS\u7684\u65b9\u6cd5 \u5728\u91cd\u5efa\u901f\u5ea6\u548c\u8d28\u91cf\u4e0a\u90fd\u53d6\u5f97\u4e86\u663e\u8457\u7a81\u7834\u3002\u6700\u521d\u7684\u9ad8\u65af\u70b9\u9635 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class=\"wp-block-heading\"><strong>\u52a8\u6001\u573a\u666f\u91cd\u5efa<\/strong><\/h3>\n\n\n\n<p>\u4f20\u7edf\u7684\u91cd\u5efa\u65b9\u6cd5\u4e3b\u8981\u5173\u6ce8\u9759\u6001\u573a\u666f\uff0c\u65e0\u6cd5\u8868\u793a\u5177\u6709\u65f6\u95f4\u53d8\u5316\u7684\u52a8\u6001\u573a\u666f\u6216\u7269\u4f53\uff0c\u4ece\u800c\u5bfc\u81f4\u8fd0\u52a8\u6a21\u7cca\u7b49\u95ee\u9898\u3002NeRF\u5229\u7528\u591a\u5c42\u611f\u77e5\u673a\uff08MLP\uff09\u5bf9\u9759\u6001\u73af\u5883\u8fdb\u884c\u9690\u5f0f\u5efa\u6a21\u3002\u8fd9\u4e00\u6982\u5ff5\u5df2\u901a\u8fc7\u5f15\u5165\u5f62\u53d8\u573a \u88ab\u6269\u5c55\u5230\u53ef\u52a8\u753b\u573a\u666f\u3002\u6216\u8005\uff0c\u67d0\u4e9b\u7b56\u7565\u5c06\u53ef\u52a8\u753b\u573a\u666f\u6982\u5ff5\u5316\u4e3a4D\u8f90\u5c04\u573a\uff0c\u4f46\u4ee3\u4ef7\u662f\u7531\u4e8e\u5149\u7ebf-\u70b9\u91c7\u6837\u548c\u4f53\u6e32\u67d3\u5bfc\u81f4\u7684\u5de8\u5927\u8ba1\u7b97\u8d44\u6e90\u6d88\u8017\u3002\u4e3a\u7f13\u89e3\u8fd9\u4e9b\u95ee\u9898\uff0c\u5df2\u8bbe\u8ba1\u51fa\u52a0\u901f\u6280\u672f\u7528\u4e8e\u63cf\u8ff0\u52a8\u6001\u73af\u5883\u3002\u4e00\u4e9b\u65b9\u6cd5\u5305\u62ec\u4f7f\u7528\u51e0\u4f55\u5148\u9a8c\u3001\u6295\u5f71MLP\u884d\u751f\u7684\u6620\u5c04\uff0c\u6216\u5b9e\u73b0\u57fa\u4e8e\u7f51\u683c\/\u5e73\u9762\u7684\u67b6\u6784 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class=\"wp-block-heading\"><strong>\u4e09\u7ef4\u91cd\u5efa\u4e2d\u7684\u51e0\u4f55\u4f18\u5316<\/strong><\/h3>\n\n\n\n<p>\u6df1\u5ea6\u548c\u6cd5\u7ebf\u76d1\u7763\u901a\u8fc7\u63d0\u9ad8\u51e0\u4f55\u51c6\u786e\u6027\u548c\u8868\u9762\u671d\u5411\uff0c\u589e\u5f3a\u4e86\u573a\u666f\u91cd\u5efa\uff0c\u80fd\u591f\u9ad8\u4fdd\u771f\u5730\u6355\u6349\u590d\u6742\u573a\u666f\u3002\u4e00\u4e9b\u65b9\u6cd5\u63d0\u51fa\u6574\u5408\u6df1\u5ea6\u5148\u9a8c\u6765\u5f15\u5bfc\u91cd\u5efa\u8fc7\u7a0b\u3002\u540e\u7eed\u5de5\u4f5c \u63d0\u51fa\u5c06\u6df1\u5ea6\u76d1\u7763\u5d4c\u5165NeRF\u6846\u67b6\uff0c\u4ee5\u63d0\u5347\u8bad\u7ec3\u6548\u7387\u5e76\u51cf\u5c11\u5bf9\u591a\u89c6\u89d2\u8f93\u5165\u7684\u4f9d\u8d56\u3002MVS-Gaussian\u5c06\u591a\u89c6\u89d2\u7acb\u4f53\u89c6\u89c9\uff08MVS\uff09\u4e0e\u9ad8\u65af\u70b9\u9635\u7ed3\u5408\uff0c\u4ee5\u6539\u5584\u7a00\u758f\u89c6\u89d2\u8bbe\u7f6e\u4e0b\u7684\u91cd\u5efa\u3002DN-Splatter 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class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"410\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/08\/image-120-1024x410.png\" alt=\"\" class=\"wp-image-32453\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/08\/image-120-1024x410.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/08\/image-120-300x120.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/08\/image-120-768x307.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/08\/image-120.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p><strong>\u9a7e\u9a76\u573a\u666f\u4e2d\u7684\u795e\u7ecf\u9ad8\u65af\u521d\u59cb\u5316<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"670\" height=\"431\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/08\/82701.png\" alt=\"\" class=\"wp-image-32454\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/08\/82701.png 670w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/08\/82701-300x193.png 300w\" sizes=\"(max-width: 670px) 100vw, 670px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"1010\" height=\"622\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/08\/image-121.png\" alt=\"\" class=\"wp-image-32456\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/08\/image-121.png 1010w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/08\/image-121-300x185.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/08\/image-121-768x473.png 768w\" sizes=\"(max-width: 1010px) 100vw, 1010px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"672\" height=\"564\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/08\/82702.png\" alt=\"\" class=\"wp-image-32455\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/08\/82702.png 672w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/08\/82702-300x252.png 300w\" sizes=\"(max-width: 672px) 100vw, 672px\" \/><\/figure>\n\n\n\n<p><strong>\u52a8\u6001\u53c2\u4e0e\u8005\u8868\u793a<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"670\" height=\"605\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/08\/82703.png\" alt=\"\" class=\"wp-image-32457\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/08\/82703.png 670w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/08\/82703-300x271.png 300w\" sizes=\"(max-width: 670px) 100vw, 670px\" \/><\/figure>\n\n\n\n<p><strong>\u51e0\u4f55\u589e\u5f3a\u4f18\u5316<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"674\" height=\"751\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/08\/082704.png\" alt=\"\" class=\"wp-image-32458\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/08\/082704.png 674w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/08\/082704-269x300.png 269w\" sizes=\"(max-width: 674px) 100vw, 674px\" \/><\/figure>\n\n\n\n<p><strong>\u5b9e\u9a8c\u7ed3\u679c\u5206\u6790<\/strong><\/p>\n\n\n\n<h3 class=\"wp-block-heading\"><strong>\u6570\u636e\u96c6<\/strong><\/h3>\n\n\n\n<p><strong>Waymo<\/strong>&nbsp;\u63d0\u4f9b\u4e86\u6765\u81ea\u57ce\u5e02\u548c\u90ca\u533a\u591a\u79cd\u573a\u666f\u7684\u591a\u6837\u5316\u4f20\u611f\u5668\u6570\u636e\u3002\u6211\u4eec\u9009\u62e9\u4e868\u4e2a\u5728\u4e0d\u540c\u6761\u4ef6\u4e0b\u5f55\u5236\u7684\u5e8f\u5217\uff0c\u5305\u62ec\u4e0d\u540c\u7684\u5929\u6c14\uff08\u4f8b\u5982\uff0c\u6709\u96fe\u548c\u6674\u5929\uff09\u548c\u4ea4\u901a\u573a\u666f\uff08\u4f8b\u5982\uff0c\u57ce\u5e02\u6162\u901f\u9053\u8def\u548c\u9ad8\u901f\u516c\u8def\uff09\u3002\u6b64\u5916\uff0c\u4e3a\u4e86\u9a8c\u8bc1\u975e\u521a\u6027\u53c2\u4e0e\u8005\u91cd\u5efa\u6027\u80fd\uff0c\u6211\u4eec\u8fd8\u9009\u62e9\u4e86OmniRe\u4e2d\u4f7f\u7528\u7684\u4e24\u4e2a\u5e8f\u5217\u8fdb\u884c\u6d88\u878d\u7814\u7a76\u3002<\/p>\n\n\n\n<p><strong>KITTI<\/strong>&nbsp;\u5305\u542b\u4e86\u8bb8\u591a\u5149\u7167\u53d8\u5316\u663e\u8457\u7684\u573a\u666f\uff0c\u4ece\u9ad8\u66dd\u5149\u533a\u57df\u5230\u9634\u5f71\u533a\u57df\uff0c\u8fd9\u5bf9\u91cd\u5efa\u6784\u6210\u4e86\u5de8\u5927\u6311\u6218\u3002\u56e0\u6b64\uff0c\u5728KITTI\u6570\u636e\u96c6\u7684\u5e8f\u5217\u4e0a\u8bc4\u4f30\u91cd\u5efa\u6027\u80fd\uff0c\u53ef\u4ee5\u5bf9\u6a21\u578b\u5728\u4e0d\u540c\u73af\u5883\u6761\u4ef6\u4e0b\u7684\u9c81\u68d2\u6027\u8fdb\u884c\u4e00\u6b21\u4e25\u683c\u7684\u6d4b\u8bd5\u3002\u6211\u4eec\u9009\u62e9\u4e863\u4e2a\u5305\u542b\u52a8\u6001\u975e\u521a\u6027\u53c2\u4e0e\u8005\u548c\u5177\u6709\u6311\u6218\u6027\u80cc\u666f\u7684\u5e8f\u5217\u6765\u8fdb\u884c\u5bf9\u6bd4\u5b9e\u9a8c\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\"><strong>\u5b9e\u73b0\u7ec6\u8282<\/strong><\/h3>\n\n\n\n<p>\u6211\u4eec\u901a\u8fc7\u4ece\u539f\u59cb\u5e8f\u5217\u4e2d\u6bcf\u56db\u5e27\u91c7\u6837\u4e00\u5e27\uff0c\u5e76\u5c06\u5176\u6392\u9664\u5728\u6a21\u578b\u8bad\u7ec3\u4e4b\u5916\uff0c\u6765\u8bc4\u4f30\u65b9\u6cd5\u5728\u8bad\u7ec3\u89c6\u89d2\u91cd\u5efa\u548c\u65b0\u89c6\u89d2\u5408\u6210\u65b9\u9762\u7684\u6027\u80fd\u3002\u5728\u5355\u4e2aNVIDIA L20 GPU\u4e0a\uff0c\u8bad\u7ec3\u4e00\u4e2a\u573a\u666f30K\u6b21\u8fed\u4ee3\u9700\u898168\u5206\u949f\uff0c\u8fdc\u6bd4Desire-GS\u7684180\u5206\u949f\u4ee5\u4e0a\u66f4\u9ad8\u6548\uff08\u89c1\u9644\u5f55\u88682\uff09\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\"><strong>\u57fa\u51c6\u8bc4\u4f30<\/strong><\/h3>\n\n\n\n<p><strong>Waymo\u4e0a\u7684\u7ed3\u679c\u3002<\/strong>&nbsp;\u6211\u4eec\u5728Waymo\u6570\u636e\u96c6\u4e0a\uff08\u88681\uff09\u5c06\u6211\u4eec\u7684\u65b9\u6cd5\u4e0e\u73b0\u6709\u65b9\u6cd5\u8fdb\u884c\u4e86\u8bc4\u4f30\uff0c\u8fd9\u4e9b\u65b9\u6cd5\u5305\u62ec\u9759\u6001\u65b9\u6cd5\u548c\u52a8\u6001\u65b9\u6cd5\uff0c\u5e76\u4f7f\u7528\u4e86\u91cd\u5efa\u548c\u65b0\u89c6\u89d2\u5408\u6210\u4e24\u79cd\u6307\u6807\u3002\u6211\u4eec\u7684\u65b9\u6cd5\u5728PSNR\u548cLPIPS\u91cd\u5efa\u6307\u6807\u4e0a\u5747\u8d85\u8d8a\u4e86\u6240\u6709\u57fa\u7ebf\uff0c\u5c55\u793a\u4e86\u9ad8\u7cbe\u5ea6\u3002\u5c3d\u7ba1StreetGS\u548c OmniRe\u5728\u91cd\u5efa\u6307\u6807\u4e0a\u8868\u73b0\u826f\u597d\uff0c\u4f46\u5b83\u4eec\u5728\u65b0\u89c6\u89d2\u5408\u6210\u65b9\u9762\u8868\u73b0\u4e0d\u4f73\uff0c\u51f8\u663e\u4e86\u5b83\u4eec\u5728\u5904\u7406\u89c6\u89d2\u8f6c\u6362\u65f6\u7684\u5c40\u9650\u6027\u3002\u76f8\u6bd4\u4e4b\u4e0b\uff0cDriveSplat\u5728\u65b0\u89c6\u89d2\u5408\u6210\u4efb\u52a1\u4e2d\u8868\u73b0\u51fa\u8272\uff0c\u5728\u6240\u6709\u4e09\u4e2a\u8bc4\u4f30\u6307\u6807\u4e0a\u5747\u4f18\u4e8e\u6240\u6709\u57fa\u7ebf\u3002\u89c6\u89c9\u5206\u6790\uff08\u56fe4\uff09\u7a81\u663e\u4e86DriveSplat\u5728\u8f66\u8f86\u6e32\u67d3\u4e2d\u65e0\u4f2a\u5f71\u7684\u4f18\u52bf\u3001\u5bf9\u5177\u6709\u6311\u6218\u6027\u7684\u9759\u6001\u80cc\u666f\u7ec6\u8282\u7684\u589e\u5f3a\u6e05\u6670\u5ea6\uff0c\u4ee5\u53ca\u5bf9\u52a8\u6001\u8f66\u8f86\u7684\u7cbe\u786e\u63cf\u7ed8\u3002\u6211\u4eec\u8fdb\u4e00\u6b65\u5c55\u793a\u4e86\u5728\u66f4\u5177\u6311\u6218\u6027\u7684\u8bbe\u7f6e\u4e0b\u7684\u65b0\u89c6\u89d2\u5408\u6210\u5bf9\u6bd4\u7ed3\u679c\uff0c\u5176\u4e2d\u81ea\u8f66\uff08ego-car\uff09\u8f68\u8ff9\u5411\u5de6\u5e73\u79fb1.0\u7c73\uff0c\u5411\u4e0a\u5e73\u79fb1.0\u7c73\uff0c\u5982\u56fe6\u6240\u793a\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"415\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/08\/image-122-1024x415.png\" alt=\"\" class=\"wp-image-32459\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/08\/image-122-1024x415.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/08\/image-122-300x122.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/08\/image-122-768x311.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/08\/image-122.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"996\" height=\"564\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/08\/image-123.png\" alt=\"\" class=\"wp-image-32460\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/08\/image-123.png 996w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/08\/image-123-300x170.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/08\/image-123-768x435.png 768w\" sizes=\"(max-width: 996px) 100vw, 996px\" \/><\/figure>\n\n\n\n<p><strong>KITTI\u4e0a\u7684\u7ed3\u679c\u3002<\/strong>\u00a0DriveSplat\u7684\u6027\u80fd\u4e5f\u5728KITTI\u6570\u636e\u96c6\u4e0a\u8fdb\u884c\u4e86\u8bc4\u4f30\u3002\u5982\u88682\u6240\u793a\uff0cDriveSplat\u5728\u91cd\u5efa\u548c\u65b0\u89c6\u89d2\u5408\u6210\u4efb\u52a1\u4e2d\u5747\u4f18\u4e8e\u57fa\u7ebf\u65b9\u6cd5\u3002\u56fe5\u5c55\u793a\u4e86\u6e32\u67d3\u7ed3\u679c\uff0c\u5176\u4e2dDriveSplat\u8868\u73b0\u51fa\u66f4\u4f18\u7684\u80cc\u666f\u6e05\u6670\u5ea6\u548c\u5bf9\u52a8\u6001\u8f66\u8f86\u7684\u7cbe\u786e\u6e32\u67d3\u3002\u4e0eOmniRe\u76f8\u6bd4\uff0c\u6211\u4eec\u7684\u65b9\u6cd5\u5728\u65b0\u89c6\u89d2\u5408\u6210\u65b9\u9762\u8868\u73b0\u51fa\u66f4\u597d\u7684\u6027\u80fd\uff0c\u5c24\u5176\u662f\u5728\u4fdd\u7559\u80cc\u666f\u7ec6\u8282\u65b9\u9762\uff0c\u5982\u56fe5\u7b2c\u4e8c\u884c\u6240\u793a\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"1020\" height=\"646\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/08\/image-124.png\" alt=\"\" class=\"wp-image-32461\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/08\/image-124.png 1020w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/08\/image-124-300x190.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/08\/image-124-768x486.png 768w\" sizes=\"(max-width: 1020px) 100vw, 1020px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"320\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/08\/image-125-1024x320.png\" alt=\"\" class=\"wp-image-32462\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/08\/image-125-1024x320.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/08\/image-125-300x94.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/08\/image-125-768x240.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/08\/image-125.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p><strong>\u6d88\u878d\u5b9e\u9a8c<\/strong><\/p>\n\n\n\n<p><strong>\u521d\u59cb\u5316\u6a21\u5757\u7684\u6d88\u878d\u7814\u7a76\u3002<\/strong>\u00a0\u6211\u4eec\u8bc4\u4f30\u4e86\u4e0d\u540c\u521d\u59cb\u5316\u65b9\u6cd5\u7684\u5f71\u54cd\uff0c\u5982\u88683\u6240\u793a\u3002LiDAR\u63d0\u4f9b\u4e86\u6700\u7cbe\u786e\u7684\u70b9\u4e91\uff0c\u4f46\u5bf9\u9ad8\u5c42\u5efa\u7b51\u548c\u8fdc\u5904\u533a\u57df\u7684\u8986\u76d6\u4e0d\u8db3\u3002\u5c3d\u7ba1SfM\u63d0\u4f9b\u7684\u70b9\u66f4\u7a00\u758f\uff0c\u4f46\u5b83\u63d0\u4f9b\u4e86\u66f4\u5e7f\u6cdb\u7684\u573a\u666f\u8986\u76d6\uff0c\u56e0\u6b64\u7565\u4f18\u4e8e\u5355\u72ec\u4f7f\u7528LiDAR\u3002DUSt3R\u4ea7\u751f\u4e86\u6700\u5bc6\u96c6\u7684\u70b9\u4e91\uff0c\u4f46\u7531\u4e8e\u4e0e\u771f\u5b9e\u4e16\u754c\u5750\u6807\u5728\u5c3a\u5ea6\u548c\u4f4d\u7f6e\u4e0a\u7684\u9519\u4f4d\uff0c\u5373\u4f7f\u7ecf\u8fc7\u53d8\u6362\uff0c\u5176\u6027\u80fd\u4e5f\u672a\u8fbe\u5230\u6700\u4f18\u3002\u56e0\u6b64\uff0c\u6211\u4eec\u9009\u62e9\u4e86SfM+LiDAR\u7ec4\u5408\u8fdb\u884c\u521d\u59cb\u5316\uff0c\u8fd9\u4ea7\u751f\u4e86\u6700\u4f73\u7684\u6e32\u67d3\u7ed3\u679c\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"1008\" height=\"480\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/08\/image-126.png\" alt=\"\" class=\"wp-image-32463\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/08\/image-126.png 1008w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/08\/image-126-300x143.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/08\/image-126-768x366.png 768w\" sizes=\"(max-width: 1008px) 100vw, 1008px\" \/><\/figure>\n\n\n\n<p>\u5c3d\u7ba1\u5df2\u7ecf\u9a8c\u8bc1\u4e86\u70b9\u4e91\u521d\u59cb\u5316\uff0c\u6211\u4eec\u8fd8\u5bf9\u5206\u533a\u80cc\u666f\u4f18\u5316\u6a21\u5757\u8fdb\u884c\u4e86\u6d88\u878d\u7814\u7a76\u3002\u6211\u4eec\u5c06\u6211\u4eec\u7684\u65b9\u6cd5\u5728\u6709\u548c\u6ca1\u6709\u80cc\u666f\u4f18\u5316\u6a21\u5757\u7684\u60c5\u51b5\u4e0b\u7684\u6027\u80fd\u8fdb\u884c\u4e86\u6bd4\u8f83\uff0c\u5982\u88684\u6240\u793a\u3002\u7ed3\u679c\u8868\u660e\uff0cBPO\u6a21\u5757\u53ef\u4ee5\u63d0\u5347\u65b9\u6cd5\u7684\u6027\u80fd\uff0c\u8fd9\u5bf9\u4e8eOctree-GS\u4e5f\u540c\u6837\u9002\u7528\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"967\" height=\"1024\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/08\/image-127-967x1024.png\" alt=\"\" class=\"wp-image-32464\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/08\/image-127-967x1024.png 967w, 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