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\u4e8c\u3001\u6838\u5fc3\u65b9\u6cd5\u8bbe\u8ba1<\/strong><\/p>\n\n\n\n

\u4e3a\u89e3\u51b3\u8bed\u4e49\u65e0\u5173\u7684\u8d44\u6e90\u9519\u914d\u95ee\u9898\uff0cPAGS\u63d0\u51fa\u201c\u5c06\u4efb\u52a1\u611f\u77e5\u7684\u8bed\u4e49\u4f18\u5148\u7ea7\u5d4c\u5165\u91cd\u5efa\u4e0e\u6e32\u67d3\u5168\u6d41\u7a0b\u201d\uff0c\u6838\u5fc3\u5305\u542b\u4e09\u5927\u6a21\u5757\uff1a<\/p>\n\n\n\n

\u7ec4\u5408\u9ad8\u65af\u573a\u666f\u8868\u793a<\/strong><\/p>\n\n\n\n

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

\u8bed\u4e49\u5f15\u5bfc\u7684\u526a\u679d\u4e0e\u6b63\u5219\u5316<\/strong><\/p>\n\n\n\n

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    \n
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    \u8bed\u4e49\u5f15\u5bfc\u526a\u679d<\/strong><\/p>\n\n\n\n

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

    \u81ea\u9002\u5e94\u968f\u673a dropout<\/strong><\/p>\n\n\n\n

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

    \u4f18\u5148\u7ea7\u9a71\u52a8\u7684\u6e32\u67d3 pipeline<\/strong><\/p>\n\n\n\n

    \u8be5\u6a21\u5757\u5c06\u8bed\u4e49\u4f18\u5148\u7ea7\u8f6c\u5316\u4e3a\u6e32\u67d3\u6548\u7387\uff0c\u901a\u8fc7\u786c\u4ef6\u52a0\u901f\u7684\u906e\u6321\u5254\u9664\uff0c\u51cf\u5c11\u65e0\u6548\u7740\u8272\u8ba1\u7b97\uff0c\u5b9e\u73b0\u5b9e\u65f6\u6e32\u67d3\uff08FPS\u8d85350\uff09\uff0c\u5206\u4e3a\u4e24\u4e2a\u5173\u952epass\uff1a<\/p>\n\n\n\n

    Occluder Depth Pre-Pass<\/strong><\/p>\n\n\n\n

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

    Color Pass<\/strong><\/p>\n\n\n\n

    \u5229\u7528\u9884\u6e32\u67d3\u7684\u6df1\u5ea6\u56fe\u52a0\u901f\u6700\u7ec8\u7740\u8272\uff1a<\/p>\n\n\n\n

      \n
    • \u786c\u4ef6\u52a0\u901f\u5254\u9664<\/strong>\uff1a\u901a\u8fc7GPU\u7684Early-Z\u6d4b\u8bd5\uff0c\u5c06\u6bcf\u4e2a\u5f85\u6e32\u67d3\u7247\u6bb5\u7684\u6df1\u5ea6\u4e0eZ-buffer\u4e2d\u7684\u6df1\u5ea6\u5bf9\u6bd4\uff0c\u76f4\u63a5\u5254\u9664\u88ab\u906e\u6321\u7684\u7247\u6bb5\uff0c\u8df3\u8fc7\u540e\u7eed\u6602\u8d35\u7684\u7740\u8272\u8ba1\u7b97\uff1b<\/li>\n\n\n\n
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      \u4ecetable 2\u53ef\u89c1\uff0c\u8be5pipeline\u4f7f\u6e32\u67d3\u901f\u5ea6\u4ece134 FPS\uff08\u4ec5\u7528\u8bed\u4e49\u526a\u679d\uff09\u63d0\u5347\u81f3353 FPS\uff0c\u540c\u65f6\u6a21\u578b\u5927\u5c0f\uff08530 MB\uff09\u3001\u663e\u5b58\u5360\u7528\uff086.1 GB\uff09\u663e\u8457\u4f4e\u4e8e\u5176\u4ed6\u65b9\u6cd5\uff0c\u9002\u914d\u8f66\u8f7d\u786c\u4ef6\u8d44\u6e90\u7ea6\u675f\u3002<\/p>\n\n\n\n

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

      \u4e09\u3001\u5b9e\u9a8c\u9a8c\u8bc1\u4e0e\u7ed3\u679c\u5206\u6790<\/strong><\/p>\n\n\n\n

      \u5b9e\u9a8c\u5728Waymo\uff083\u4e2a\u524d\u7f6e\u76f8\u673a\uff09\u4e0eKITTI\uff08\u7acb\u4f53\u76f8\u673a\uff09\u6570\u636e\u96c6\u4e0a\u5c55\u5f00\uff0c\u4ee5PSNR\u3001SSIM\u3001LPIPS\u8861\u91cf\u91cd\u5efa\u4fdd\u771f\u5ea6\uff0c\u4ee5\u8bad\u7ec3\u65f6\u95f4\u3001FPS\u8861\u91cf\u6548\u7387\uff0c\u5bf9\u6bd4EmerNeRF\u3001PVG\u3001StreetGS\u3001DeSiRe-GS\u7b49\u4e3b\u6d41\u65b9\u6cd5\uff0c\u786c\u4ef6\u4e3aNVIDIA RTX 4090\u3002<\/p>\n\n\n\n

      \u5b9a\u91cf\u7ed3\u679c<\/strong><\/p>\n\n\n\n

        \n
      • \u91cd\u5efa\u4fdd\u771f\u5ea6<\/strong>\uff1a\u5728Waymo\u6570\u636e\u96c6\u4e0a\uff0cPAGS\u7684PSNR\u8fbe34.63\u3001SSIM\u8fbe0.933\uff0cLPIPS\u4e0eStreetGS\u6301\u5e73\uff080.073\uff09\uff0c\u5173\u952e\u7269\u4f53\u7ec6\u8282\uff08\u5982\u8f66\u8f86\u8fb9\u7f18\uff09\u7684PSNR\uff0835.97\uff0ctable 4\uff09\u663e\u8457\u9ad8\u4e8e\u5176\u4ed6\u65b9\u6cd5\uff1bKITTI\u6570\u636e\u96c6\u4e0a\u8868\u73b0\u4e00\u81f4\uff0cPSNR 34.58\u3001SSIM 0.947\uff0c\u5747\u4e3a\u6700\u4f18\u3002<\/li>\n\n\n\n
      • \u6548\u7387<\/strong>\uff1a\u8bad\u7ec3\u65f6\u95f4\u4ec51h22m\uff08Waymo\uff09\u30011h31m\uff08KITTI\uff09\uff0c\u8fdc\u4f4e\u4e8eStreetGS\uff083h+\uff09\u3001EmerNeRF\uff0811h+\uff09\uff1b\u6e32\u67d3\u901f\u5ea6\u8fbe353 FPS\uff08Waymo\uff09\u3001365 FPS\uff08KITTI\uff09\uff0c\u662fStreetGS\uff08136 FPS\uff09\u76842.6\u500d\uff0cEmerNeRF\uff080.23 FPS\uff09\u76841500+\u500d\u3002<\/li>\n\n\n\n
      • \u90e8\u7f72\u53cb\u597d\u6027<\/strong>\uff1a\u6a21\u578b\u5927\u5c0f530 MB\u3001\u663e\u5b58\u5360\u75286.1 GB\uff0c\u4ec5\u4e3aEmerNeRF\uff081217 MB\u300110.5 GB\uff09\u7684\u7ea61\/2\uff0c\u9002\u914d\u8f66\u8f7d\u786c\u4ef6\u3002<\/li>\n<\/ul>\n\n\n\n
        \"\"<\/figure>\n\n\n\n

        \u5b9a\u6027\u7ed3\u679c<\/strong><\/p>\n\n\n\n

          \n
        • \u6700\u7ec8\u6548\u679c<\/strong>\uff1aPAGS\u91cd\u5efa\u7684\u5173\u952e\u7269\u4f53\uff08\u5982\u8f66\u8f86\u3001\u884c\u4eba\uff09\u8fb9\u7f18\u66f4\u9510\u5229\uff0c\u80cc\u666f\u7ec6\u8282\uff08\u5982\u9053\u8def\u6807\u7ebf\uff09\u66f4\u6e05\u6670\uff0c\u65e0\u5176\u4ed6\u65b9\u6cd5\u5e38\u89c1\u7684\u6a21\u7cca\u6216\u4f2a\u5f71\uff1b<\/li>\n\n\n\n
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          \"\"<\/figure>\n\n\n\n

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

          \u7ec4\u4ef6\u8d21\u732e<\/strong>\uff1atable 3\u663e\u793a\uff0c\u8bed\u4e49\u5f15\u5bfc\u526a\u679d\u4e0e\u6b63\u5219\u5316\uff08SPR\uff09\u5355\u72ec\u4f7f\u7528\u65f6\uff0cPSNR\u8fbe34.95\u3001\u8bad\u7ec3\u65f6\u95f41h24m\uff0c\u4f18\u4e8e\u4f20\u7edf\u526a\u679d+dropout\uff0832.35\u30011h36m\uff09\uff1b\u53e0\u52a0\u4f18\u5148\u7ea7\u6e32\u67d3\uff08PDR\uff09\u540e\uff0cFPS\u4ece134\u63d0\u5347\u81f3353\uff0c\u8bc1\u660e\u4e24\u6a21\u5757\u534f\u540c\u4ef7\u503c\u3002<\/p>\n\n\n\n

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

          \u6df7\u5408\u5ea6\u91cf\u6709\u6548\u6027<\/strong>\uff1atable 4\u5bf9\u6bd4\u4e09\u79cd\u5ea6\u91cf\u7b56\u7565\uff0c\u4ec5PAGS\u7684\u6df7\u5408\u5ea6\u91cf\u540c\u65f6\u5b9e\u73b0\u6700\u9ad8\u6574\u4f53PSNR\uff0834.63\uff09\u4e0e\u5173\u952e\u7269\u4f53PSNR\uff0835.97\uff09\uff1b\u68af\u5ea6\u4ec5\u7b56\u7565\uff08\u03b1=0.0\uff09\u4f1a\u4e22\u5931\u5173\u952e\u7269\u4f53\u7ec6\u8282\uff0c\u8bed\u4e49\u4ec5\u7b56\u7565\uff08\u03b1=1.0\uff09\u4f1a\u7834\u574f\u80cc\u666f\u5b8c\u6574\u6027\u3002<\/p>\n\n\n\n

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

          \u526a\u679d\u7387\u654f\u611f\u6027<\/strong>\uff1afigure 5\u663e\u793a\uff0c\u81f4\u5bc6\u5316\u9636\u6bb5\u526a\u679d\u73870.6\u3001\u5fae\u8c03\u9636\u6bb50.3\u4e3a\u6700\u4f18\u914d\u7f6e\uff0c\u53ef\u5728PSNR 34.63\u4e0e\u8bad\u7ec3\u65f6\u95f482\u5206\u949f\u95f4\u5b9e\u73b0\u5e73\u8861\uff0c\u526a\u679d\u7387\u8fc7\u9ad8\u4f1a\u964d\u4f4e\u4fdd\u771f\u5ea6\uff0c\u8fc7\u4f4e\u5219\u5ef6\u957f\u8bad\u7ec3\u65f6\u95f4\u3002<\/p>\n\n\n\n

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

          \u56db\u3001\u7814\u7a76\u7ed3\u8bba<\/strong><\/p>\n\n\n\n

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            \n
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            [1]PAGS: PRIORITY-ADAPTIVE GAUSSIANSPLATTINGFORDYNAMICDRIVINGSCENES
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