{"id":33104,"date":"2025-09-17T18:17:54","date_gmt":"2025-09-17T10:17:54","guid":{"rendered":"http:\/\/192.168.10.115\/?p=33104"},"modified":"2025-09-17T18:17:54","modified_gmt":"2025-09-17T10:17:54","slug":"2025-09-17-%e6%b5%99%e5%a4%a7s-bevloc-%e6%8a%9b%e6%8e%89%e7%9c%9f%e5%80%bc%ef%bc%81lidar%e5%ae%9a%e4%bd%8d%e5%ae%9e%e7%8e%b0%e9%9b%b6%e6%88%90%e6%9c%ac%e8%87%aa%e7%9b%91%e7%9d%a3","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2025\/09\/17\/33104\/","title":{"rendered":"2025-09-17 \u6d59\u5927S-BEVLoc | \u629b\u6389\u771f\u503c\uff01LiDAR\u5b9a\u4f4d\u5b9e\u73b0\u201c\u96f6\u6210\u672c\u201d\u81ea\u76d1\u7763\u7684SOTA\u65b0\u7a81\u7834"},"content":{"rendered":"\n<p>\u539f\u6587\u94fe\u63a5\uff1a<a href=\"https:\/\/mp.weixin.qq.com\/s\/MhnsuDpf25IOAG1bTKth3g\">https:\/\/mp.weixin.qq.com\/s\/MhnsuDpf25IOAG1bTKth3g<\/a><\/p>\n\n\n\n<p><strong>\u65e0\u9700\u771f\u503c\u7684\u5927\u89c4\u6a21\u81ea\u76d1\u7763\u91cd\u5b9a\u4f4d<\/strong><\/p>\n\n\n\n<p>\u5168\u5c40\u5b9a\u4f4d\u8d1f\u8d23\u56de\u73af\u68c0\u6d4b\u4e0e\u91cd\u5b9a\u4f4d\uff0c\u662f\u6d88\u9664\u91cc\u7a0b\u8ba1\u6f02\u79fb\u3001\u6062\u590d\u8ddf\u8e2a\u5931\u8d25\u7684\u5173\u952e\u3002<\/p>\n\n\n\n<p>\u73b0\u6709\u76d1\u7763\u65b9\u6cd5\u5206\u4e24\u9636\u6bb5\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u5148\u5168\u5c40\u68c0\u7d22\uff0c\u518d\u5c40\u90e8\u4f4d\u59ff\u4f30\u8ba1\uff0c\u6574\u4e2a\u6d41\u7a0b\u5747\u9700\u4f4d\u59ff\u771f\u503c\u3002\u8bad\u7ec3\u65f6\uff0c\u901a\u8fc7\u4f4d\u7f6e\u9608\u503c\u5212\u5206\u6b63\/\u8d1f\u6837\u672c\uff0c\u4ee5\u5b66\u4e60\u533a\u5206\u6027\u5168\u5c40\u63cf\u8ff0\u5b50\uff1b<\/li>\n\n\n\n<li>\u5c40\u90e8\u4f4d\u59ff\u4f30\u8ba1\u9636\u6bb5\u5219\u4f9d\u8d56\u771f\u503c\u5bf9\u5e94\u70b9\u63d0\u5347\u7279\u5f81\u53ef\u91cd\u590d\u6027\u3002\u7136\u800c\uff0c\u83b7\u53d6\u9ad8\u7cbe\u5ea6\u771f\u503c\u9700\u6602\u8d35\u4e14\u7e41\u7410\u7684\u4f20\u611f\u5668\u6807\u5b9a\u3001\u540c\u6b65\u4e0e\u63d2\u503c\uff0c\u4e25\u91cd\u9650\u5236\u7b97\u6cd5\u5728\u5927\u89c4\u6a21\u573a\u666f\u4e2d\u7684\u6269\u5c55\u3002<\/li>\n<\/ul>\n\n\n\n<p>S-BEVLoc \u9996\u6b21\u5b9e\u73b0\u5b8c\u5168\u81ea\u76d1\u7763\u7684 LiDAR \u5168\u5c40\u5b9a\u4f4d\uff0c\u6838\u5fc3\u89c2\u5bdf\uff1a\u5355\u5f20 BEV \u56fe\u50cf\u5185\u90e8\u4e0d\u540c\u533a\u57df\u7684\u5730\u7406\u8ddd\u79bb\u5df2\u77e5\uff0c\u53ef\u76f4\u63a5\u6784\u9020&#8221;\u56f0\u96be\u4e09\u5143\u7ec4&#8221;\u7528\u4e8e\u8bad\u7ec3\u3002<\/p>\n\n\n\n<p><strong>\u6587\u7ae0\u6807\u9898<\/strong>\uff1aS-BEVLoc: BEV-based Self-supervised Framework for Large-scale LiDAR Global Localization<\/p>\n\n\n\n<p><strong>\u5177\u4f53\u8d21\u732e<\/strong>\uff1a<\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li>\u63d0\u51fa S-BEVLoc\uff0c\u65e0\u9700\u4f4d\u59ff\u771f\u503c\uff0c\u8f93\u5165\u5355\u5e27 LiDAR \u626b\u63cf\u5373\u53ef\u5b8c\u6210\u81ea\u76d1\u7763\u8bad\u7ec3\u3002<\/li>\n\n\n\n<li>\u8bbe\u8ba1\u5355\u56fe\u4e09\u5143\u7ec4\u751f\u6210\u7b56\u7565\uff0c\u7ed3\u5408 SoftCos \u635f\u5931\uff0c\u589e\u5f3a\u5168\u5c40\u63cf\u8ff0\u5b50\u533a\u5206\u5ea6\u3002<\/li>\n\n\n\n<li>\u5728 KITTI\u3001NCLT \u7b49\u5927\u89c4\u6a21\u3001\u957f\u5468\u671f\u6570\u636e\u96c6\u4e0a\u9a8c\u8bc1\uff0c\u6027\u80fd\u5ab2\u7f8e\u751a\u81f3\u8d85\u8d8a\u76d1\u7763\u65b9\u6cd5\uff0c\u4e14\u6269\u5c55\u6027\u6781\u5f3a\u3002<\/li>\n<\/ol>\n\n\n\n<p><strong>\u5177\u4f53\u65b9\u6cd5<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"233\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/09\/\u56fe\u7247-1024x233.png\" alt=\"\" class=\"wp-image-33105\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/\u56fe\u7247-1024x233.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/\u56fe\u7247-300x68.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/\u56fe\u7247-768x175.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/\u56fe\u7247.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u8bad\u7ec3\u9636\u6bb5\u4ec5\u8f93\u5165\u5355\u5e27 LiDAR \u626b\u63cf\uff0c\u6295\u5f71\u4e3a BEV \u56fe\u50cf\u540e\uff0c\u901a\u8fc7\u4e09\u5143\u7ec4\u751f\u6210\u6a21\u5757\u83b7\u5f97\u8bad\u7ec3\u6837\u672c\uff1bCNN-REM \u4f5c\u4e3a\u7279\u5f81\u63d0\u53d6\u5668\uff0c\u8f93\u51fa\u65cb\u8f6c\u7b49\u53d8\u5c40\u90e8\u7279\u5f81\uff1bNetVLAD \u805a\u5408\u5168\u5c40\u63cf\u8ff0\u5b50\uff0c\u7528 SoftCos \u635f\u5931\u76d1\u7763\u3002\u63a8\u7406\u9636\u6bb5\u5148\u5168\u5c40\u68c0\u7d22\uff0c\u518d\u5c40\u90e8\u5339\u914d\u4f30\u8ba1\u76f8\u5bf9\u4f4d\u59ff\uff0c\u5f97\u5230\u5168\u5c40\u4f4d\u59ff\u3002<\/p>\n\n\n\n<p><strong>\u5355\u56fe\u4e09\u5143\u7ec4\u751f\u6210<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"508\" height=\"215\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/09\/091701.png\" alt=\"\" class=\"wp-image-33107\" style=\"width:890px;height:auto\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/091701.png 508w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/091701-300x127.png 300w\" sizes=\"(max-width: 508px) 100vw, 508px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"651\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/09\/image-387-1024x651.png\" alt=\"\" class=\"wp-image-33108\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/image-387-1024x651.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/image-387-300x191.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/image-387-768x489.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/image-387.png 1058w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"574\" height=\"45\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/09\/091702.png\" alt=\"\" class=\"wp-image-33109\" style=\"width:891px;height:auto\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/091702.png 574w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/091702-300x24.png 300w\" sizes=\"(max-width: 574px) 100vw, 574px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"403\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/09\/image-388-1024x403.png\" alt=\"\" class=\"wp-image-33110\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/image-388-1024x403.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/image-388-300x118.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/image-388-768x302.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/image-388.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u5b9e\u9a8c\u9a8c\u8bc1\uff1a\u8bad\u7ec3\u524d\uff0c\u9608\u503c\u9644\u8fd1\u8d1f\u6837\u672c\u4e0e\u67e5\u8be2\u63cf\u8ff0\u5b50\u8ddd\u79bb\u5c0f\u4e8e\u6b63\u6837\u672c\uff0c\u9020\u6210\u6df7\u6dc6\uff1b\u8bad\u7ec3\u540e\uff0c\u8d1f\u6837\u672c\u8ddd\u79bb\u660e\u663e\u589e\u5927\uff0c\u6df7\u6dc6\u6d88\u9664\u3002<\/p>\n\n\n\n<p><strong>SoftCos \u635f\u5931<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"686\" height=\"248\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/09\/091703.png\" alt=\"\" class=\"wp-image-33111\" style=\"width:895px;height:auto\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/091703.png 686w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/091703-300x108.png 300w\" sizes=\"(max-width: 686px) 100vw, 686px\" \/><\/figure>\n\n\n\n<p><strong>\u5168\u5c40\u5b9a\u4f4d\u63a8\u7406<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"581\" height=\"123\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/09\/091704.png\" alt=\"\" class=\"wp-image-33112\" style=\"width:894px;height:auto\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/091704.png 581w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/091704-300x64.png 300w\" sizes=\"(max-width: 581px) 100vw, 581px\" \/><\/figure>\n\n\n\n<p><strong>\u5b9e\u9a8c\u7ed3\u679c<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"897\" height=\"568\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/09\/image-389.png\" alt=\"\" class=\"wp-image-33113\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/image-389.png 897w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/image-389-300x190.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/image-389-768x486.png 768w\" sizes=\"(max-width: 897px) 100vw, 897px\" \/><\/figure>\n\n\n\n<p><strong>\u56de\u73af\u95ed\u5408<\/strong><\/p>\n\n\n\n<p>KITTI \u4e0e NCLT \u5404\u5e8f\u5217\uff0cS-BEVLoc \u5728 AP\u3001F1\u3001R% \u4e0a\u4e0e\u76d1\u7763\u65b9\u6cd5\u76f8\u5f53\uff1bS-BEVLoc* \u56e0\u989d\u5916\u65e0\u771f\u503c\u6570\u636e\u8bad\u7ec3\uff0c\u8868\u73b0\u66f4\u4f73\u3002PR \u66f2\u7ebf\u663e\u793a\u81ea\u76d1\u7763\u4e0e\u76d1\u7763\u66f2\u7ebf\u51e0\u4e4e\u91cd\u5408\u3002<\/p>\n\n\n\n<p><strong>\u5168\u5c40\u5b9a\u4f4d<\/strong><\/p>\n\n\n\n<p>NCLT \u6311\u6218\u5e8f\u5217\u4e0a\uff0cS-BEVLoc \u5728\u53ec\u56de\u3001SR\u3001\u8bef\u5dee\u6307\u6807\u5747\u4f18\u4e8e BEVPlace++ \u7b49\u76d1\u7763\u65b9\u6cd5\uff1bS-BEVLoc* \u901a\u8fc7\u65e0\u771f\u503c\u6570\u636e\u7ee7\u7eed\u63d0\u5347\uff0c\u9a8c\u8bc1&#8221;\u6570\u636e\u8d8a\u591a\uff0c\u6027\u80fd\u8d8a\u597d&#8221;\u7684\u6269\u5c55\u4f18\u52bf\u3002<\/p>\n\n\n\n<p><strong>\u8fd0\u884c\u65f6\u95f4<\/strong><\/p>\n\n\n\n<p>RTX 2080Ti + i5-12600KF \u4e0a\uff0c\u5355\u6b21\u5168\u5c40\u5b9a\u4f4d\uff1a<br>\u63cf\u8ff0\u5b50\u63d0\u53d6 23.2 ms(11.6 ms\u00d72) + \u68c0\u7d22 0.12 ms + \u4f4d\u59ff\u4f30\u8ba1 15.5 ms \u2248 38.8 ms\uff0c\u9891\u7387 &gt; 20 Hz\uff0c\u6ee1\u8db3 10 Hz LiDAR \u5b9e\u65f6\u9700\u6c42\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"982\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/09\/image-390-1024x982.png\" alt=\"\" class=\"wp-image-33114\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/image-390-1024x982.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/image-390-300x288.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/image-390-768x737.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/image-390-1042x1000.png 1042w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/image-390.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"451\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/09\/image-391-1024x451.png\" alt=\"\" class=\"wp-image-33115\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/image-391-1024x451.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/image-391-300x132.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/image-391-768x338.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/09\/image-391.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p><strong>\u603b\u7ed3\u4e00\u4e0b<\/strong><\/p>\n\n\n\n<p>\u672c\u6587\u63d0\u51fa S-BEVLoc\uff0c\u9996\u4e2a\u5b8c\u5168\u81ea\u76d1\u7763\u7684 LiDAR \u5168\u5c40\u5b9a\u4f4d\u6846\u67b6\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u8bad\u7ec3\u9636\u6bb5\u65e0\u9700\u4f4d\u59ff\u771f\u503c\uff0c\u5355\u5e27 LiDAR \u901a\u8fc7\u5355\u56fe\u4e09\u5143\u7ec4\u4e0e SoftCos 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[&hellip;]<\/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-33104","post","type-post","status-publish","format-standard","hentry","category-technology-frontier","category-home"],"views":22,"_links":{"self":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/33104"}],"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=33104"}],"version-history":[{"count":2,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/33104\/revisions"}],"predecessor-version":[{"id":33116,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/33104\/revisions\/33116"}],"wp:attachment":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/media?parent=33104"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/categories?post=33104"},{"taxonomy":"post_tag","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/tags?post=33104"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}