{"id":33907,"date":"2025-10-23T17:35:00","date_gmt":"2025-10-23T09:35:00","guid":{"rendered":"http:\/\/192.168.10.115\/?p=33907"},"modified":"2025-10-24T08:18:18","modified_gmt":"2025-10-24T00:18:18","slug":"2025-10-23-tro%e6%9c%80%e6%96%b0%e4%bd%b3%e4%bd%9c%ef%bc%8cirmvlab%e5%bc%80%e6%ba%90i2pnet%ef%bc%9a%e7%94%a8%e4%ba%8e%e8%bd%a6%e8%be%86%e5%ae%9a%e4%bd%8d%e7%9a%84%e5%9b%be%e5%83%8f%e4%b8%8elidar","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2025\/10\/23\/33907\/","title":{"rendered":"2025-10-23 TRO\u6700\u65b0\u4f73\u4f5c\uff0cIRMVLab\u5f00\u6e90I2PNet\uff1a\u7528\u4e8e\u8f66\u8f86\u5b9a\u4f4d\u7684\u56fe\u50cf\u4e0eLiDAR \u70b9\u4e91\u7aef\u5230\u7aef\u914d\u51c6\u65b9\u6848"},"content":{"rendered":"\n<p>\u539f\u6587\u94fe\u63a5\uff1a<a href=\"https:\/\/mp.weixin.qq.com\/s\/0pX2xIq5t5l89meCRkUrWA\">https:\/\/mp.weixin.qq.com\/s\/0pX2xIq5t5l89meCRkUrWA<\/a><\/p>\n\n\n\n<p><strong>01<\/strong><br><strong>\u8bba\u6587\u4fe1\u606f<\/strong><\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u8bba\u6587\u6807\u9898<\/strong>\uff1aEnd-to-End 2D-3D Registration Between Image and LiDAR Point Cloud for Vehicle Localization<\/li>\n\n\n\n<li><strong>\u4f5c\u8005<\/strong>\uff1aWang, Guangming and Zheng, Yu and Wu, Yuxuan and Guo, Yanfeng and Liu, Zhe and Zhu, Yixiang and Burgard, Wolfram and Wang, Hesheng<\/li>\n\n\n\n<li><strong>\u9879\u76ee\u5730\u5740<\/strong>\uff1ahttps:\/\/github.com\/IRMVLab\/I2PNet<\/li>\n\n\n\n<li><strong>\u671f\u520a\u6765\u6e90<\/strong>\uff1aIEEE Transactions on Robotics<\/li>\n\n\n\n<li><strong>\u8bba\u6587\u94fe\u63a5<\/strong>\uff1ahttps:\/\/ieeexplore.ieee.org\/stamp\/stamp.jsp?arnumber=11078010<\/li>\n<\/ul>\n\n\n\n<p><strong>02<\/strong><\/p>\n\n\n\n<p><strong>\u6458\u8981<\/strong><\/p>\n\n\n\n<p>\u673a\u5668\u4eba\u5229\u7528\u5df2\u6784\u5efa\u7684\u5730\u56fe\u8fdb\u884c\u5b9a\u4f4d\u5bf9\u4e8e\u5305\u62ec\u7cbe\u786e\u5bfc\u822a\u548c\u79fb\u52a8\u64cd\u4f5c\u5728\u5185\u7684\u591a\u79cd\u4efb\u52a1\u81f3\u5173\u91cd\u8981\u3002\u4e00\u79cd\u6d41\u884c\u7684\u673a\u5668\u4eba\u5b9a\u4f4d\u65b9\u6cd5\u662f\u57fa\u4e8e\u56fe\u50cf\u5230\u70b9\u4e91\u914d\u51c6\uff0c\u8be5\u65b9\u6cd5\u7ed3\u5408\u4e86\u6297\u5149\u7167\u53d8\u5316\u7684\u57fa\u4e8e\u6fc0\u5149\u96f7\u8fbe\u7684\u5efa\u56fe\u548c\u7ecf\u6d4e\u7684\u57fa\u4e8e\u56fe\u50cf\u7684\u5b9a\u4f4d\u3002\u7136\u800c\uff0c\u6700\u8fd1\u5173\u4e8e\u56fe\u50cf\u5230\u70b9\u4e91\u914d\u51c6\u7684\u5de5\u4f5c\u8981\u4e48\u5c06\u914d\u51c6\u5206\u4e3a\u5355\u72ec\u7684\u6a21\u5757\uff0c\u8981\u4e48\u5c06\u70b9\u4e91\u6295\u5f71\u5230\u6df1\u5ea6\u56fe\u50cf\u4e0a\u4ee5\u914d\u51c6RGB\u548c\u6df1\u5ea6\u56fe\u50cf\u3002\u5728\u672c\u6587\u4e2d\uff0c\u6211\u4eec\u63d0\u51fa\u4e86I2PNet\uff0c\u8fd9\u662f\u4e00\u4e2a\u65b0\u9896\u7684\u7aef\u5230\u7aef2D-3D\u914d\u51c6\u7f51\u7edc\uff0c\u5b83\u76f4\u63a5\u4f7f\u7528\u5fae\u5206\u6a21\u5757\u548c\u7edf\u4e00\u76ee\u6807\u5c06\u539f\u59cb3D\u70b9\u4e91\u4e0e2D RGB\u56fe\u50cf\u8fdb\u884c\u914d\u51c6\u3002\u6211\u4eec\u63d0\u51fa\u4e86\u4e00\u4e2a\u7528\u4e8e\u5fae\u52062D-3D\u5173\u8054\u76842D-3D\u4ee3\u4ef7\u4f53\u79ef\u6a21\u5757\uff0c\u4ee5\u8fde\u63a5\u7279\u5f81\u63d0\u53d6\u548c\u59ff\u6001\u56de\u5f52\u3002\u57282D-3D\u4ee3\u4ef7\u4f53\u79ef\u6a21\u5757\u4e2d\uff0c\u8f6f\u70b9\u5230\u50cf\u7d20\u7684\u5bf9\u5e94\u5173\u7cfb\u9690\u5f0f\u5730\u6784\u5efa\u5728\u5185\u5728\u72ec\u7acb\u7684\u5f52\u4e00\u5316\u5e73\u9762\u4e0a\u3002\u6b64\u5916\uff0c\u6211\u4eec\u5f15\u5165\u4e86\u4e00\u4e2a\u5f02\u5e38\u503c\u63a9\u7801\u9884\u6d4b\u6a21\u5757\uff0c\u5728\u59ff\u6001\u56de\u5f52\u4e4b\u524d\u8fc7\u6ee42D-3D\u5173\u8054\u4e2d\u7684\u5f02\u5e38\u503c\u3002\u6b64\u5916\uff0c\u6211\u4eec\u63d0\u51fa\u4e86\u4e00\u4e2a\u7c97\u5230\u7cbe\u76842D-3D\u914d\u51c6\u67b6\u6784\uff0c\u4ee5\u63d0\u9ad8\u5b9a\u4f4d\u7cbe\u5ea6\u3002\u6211\u4eec\u5728KITTI\u3001nuScenes\u3001M2DGR\u3001Argoverse\u3001Waymo\u548cLyft5\u6570\u636e\u96c6\u4e0a\u8fdb\u884c\u4e86\u5e7f\u6cdb\u7684\u5b9a\u4f4d\u5b9e\u9a8c\u3002\u7ed3\u679c\u8868\u660e\uff0cI2PNet\u5927\u5e45\u8d85\u8d8a\u4e86\u73b0\u6709\u6280\u672f\uff0c\u5e76\u4e14\u6bd4\u4ee5\u5f80\u7684\u5de5\u4f5c\u5177\u6709\u66f4\u9ad8\u7684\u6548\u7387\u3002\u6b64\u5916\uff0c\u6211\u4eec\u5c06I2PNet\u7684\u5e94\u7528\u6269\u5c55\u5230\u76f8\u673a-\u6fc0\u5149\u96f7\u8fbe\u5728\u7ebf\u6807\u5b9a\uff0c\u5e76\u8bc1\u660e\u4e86I2PNet\u5728\u5728\u7ebf\u6807\u5b9a\u4efb\u52a1\u4e0a\u4f18\u4e8e\u6700\u8fd1\u7684\u65b9\u6cd5\u3002<\/p>\n\n\n\n<p><strong>03<\/strong><br><strong>\u4e3b\u8981\u8d21\u732e<\/strong><\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u63d0\u51fa\u4e86\u4e00\u79cd\u7528\u4e8e\u8f66\u8f86\u5b9a\u4f4d\u7684\u65b0\u578b\u7aef\u5230\u7aef2D-3D\u914d\u51c6\u67b6\u6784\uff0c\u547d\u540d\u4e3aI2PNet\u3002\u4e0e\u73b0\u6709\u65b9\u6cd5\u4e0d\u540c\uff0c\u8be5\u67b6\u6784\u4e2d\u7684\u6240\u6709\u6a21\u5757\u90fd\u901a\u8fc7\u7edf\u4e00\u76ee\u6807\u8054\u5408\u4f18\u5316\uff0c\u5e76\u4e14\u4fdd\u7559\u5b8c\u6574\u76843D\u70b9\u4e91\u4ee5\u5b9e\u73b0\u5927\u8303\u56f4\u5b9a\u4f4d\u3002<\/li>\n\n\n\n<li>\u63d0\u51fa\u4e86\u65b0\u9896\u76842D-3D\u4ee3\u4ef7\u4f53\u79ef\u6a21\u5757\uff0c\u4ee5\u5b9e\u73b0\u7aef\u5230\u7aef\u76842D-3D\u914d\u51c6\u30022D-3D\u4ee3\u4ef7\u4f53\u79ef\u6a21\u5757\u5728\u76f8\u673a\u5185\u53c2\u65e0\u5173\u7684\u7a7a\u95f4\u4e2d\u5fae\u5206\u5730\u5173\u80543D\u70b9\u548c2D\u50cf\u7d20\u3002<\/li>\n\n\n\n<li>\u5728KITTI\u3001nuScenes\u3001M2DGR\u3001Argoverse\u3001Waymo\u548cLyft5\u6570\u636e\u96c6\u4ee5\u53ca\u5404\u79cd\u5b9a\u4f4d\u8303\u56f4\u5185\u8fdb\u884c\u4e86\u5e7f\u6cdb\u7684\u673a\u5668\u4eba\u5b9a\u4f4d\u5b9e\u9a8c\uff0c\u4ee5\u5c55\u793aI2PNet\u7684\u4f18\u8d8a\u6027\u548c\u6cdb\u5316\u80fd\u529b\u3002\u6b64\u5916\uff0c\u8bc4\u4f30\u4e86I2PNet\u7684\u6548\u7387\uff0c\u5e76\u8bc1\u660e\u7aef\u5230\u7aef\u6d41\u7a0b\u53ef\u4ee5\u540c\u65f6\u63d0\u5347\u6027\u80fd\u548c\u6548\u7387\u3002<\/li>\n\n\n\n<li>\u5c06I2PNet\u7684\u5e94\u7528\u6269\u5c55\u5230\u76f8\u673a-\u6fc0\u5149\u96f7\u8fbe\u5728\u7ebf\u6807\u5b9a\uff0c\u5e76\u5728\u5404\u79cd\u4efb\u52a1\u4e2d\u8bc1\u660e\u4e86I2PNet\u7684\u6709\u6548\u6027\u3002<\/li>\n<\/ul>\n\n\n\n<p><strong>04<\/strong><\/p>\n\n\n\n<p><strong>\u7b97\u6cd5\u67b6\u6784\u4e0e\u6838\u5fc3\u6a21\u5757<\/strong><\/p>\n\n\n\n<p><strong>1. \u7b97\u6cd5\u6846\u67b6<\/strong><\/p>\n\n\n\n<p>I2PNet\u4ee5RGB\u56fe\u50cf\u548c\u539f\u59cb\u6fc0\u5149\u96f7\u8fbe\u70b9\u4e91\u4f5c\u4e3a\u8f93\u5165\u3002\u901a\u8fc7\u7279\u5f81\u63d0\u53d6\u91d1\u5b57\u5854\u3001\u7c97\u914d\u51c6\u548c\u7cbe\u914d\u51c6\uff0c\u7f51\u7edc\u6700\u7ec8\u9884\u6d4b\u56fe\u50cf\u548c\u70b9\u4e91\u4e4b\u95f4\u7684\u76f8\u5bf9\u4f4d\u59ff\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"369\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/10\/\u56fe\u7247-46-1024x369.png\" alt=\"\" class=\"wp-image-33949\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/\u56fe\u7247-46-1024x369.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/\u56fe\u7247-46-300x108.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/\u56fe\u7247-46-768x277.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/\u56fe\u7247-46.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p><strong>2. \u7c97\u5148\u9a8c\u5173\u8054<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"830\" height=\"526\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/10\/\u56fe\u7247-47.png\" alt=\"\" class=\"wp-image-33950\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/\u56fe\u7247-47.png 830w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/\u56fe\u7247-47-300x190.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/\u56fe\u7247-47-768x487.png 768w\" sizes=\"(max-width: 830px) 100vw, 830px\" \/><\/figure>\n\n\n\n<p>Detailed structure of the coarse prior association<\/p>\n\n\n\n<p><strong>3. 2D-3D\u4ee3\u4ef7\u4f53\u79ef\u6a21\u5757<\/strong><\/p>\n\n\n\n<p>IC\u751f\u6210\u6a21\u5757\u4f7f\u7528\u57fa\u4e8e\u5168\u8fde\u63a5\u6216KNN\u7684\u70b9\u50cf\u7d20\u6df7\u5408\uff0c\u5728\u9488\u5b54\u76f8\u673a\u6a21\u578b\u7684\u5f52\u4e00\u5316\u5e73\u9762\u4e0a\u5339\u914d\u70b9\u548c\u50cf\u7d20\u3002\u7136\u540e\uff0c\u8ba1\u7b97\u6bcf\u5bf9\u70b9\u50cf\u7d20\u7684\u76f8\u4f3c\u6027\u5e76\u805a\u5408\u4ee5\u751f\u6210\u9010\u70b9IC\u7279\u5f81\u3002\u57fa\u4e8eIC\u7279\u5f81\uff0cPST\u5d4c\u5165\u6a21\u5757\u805a\u5408\u6bcf\u4e2a\u70b9\u7684\u90bb\u5c45\u7684IC\u7279\u5f81\uff0c\u4ee5\u4f30\u8ba1\u8865\u4e01\u7a7a\u95f4\u53d8\u6362\u4fe1\u606f\u5e76\u5c06\u5176\u5d4c\u5165\u5230PST\u5d4c\u5165\u7279\u5f81\u4e2d\u3002\u8be5\u6a21\u5757\u6700\u7ec8\u8f93\u51faPST\u5d4c\u5165\u7279\u5f81\u4f5c\u4e3a2D-3D\u4ee3\u4ef7\u4f53\u79ef\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"276\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/10\/\u56fe\u7247-48-1024x276.png\" alt=\"\" class=\"wp-image-33951\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/\u56fe\u7247-48-1024x276.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/\u56fe\u7247-48-300x81.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/\u56fe\u7247-48-768x207.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/\u56fe\u7247-48.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u7ed9\u5b9a\u56fe\u50cf\u548c\u70b9\u4e91\u7684\u7279\u5f81\u53ca\u5176\u4f4d\u7f6e\u4fe1\u606f\uff0c\u8be5\u6a21\u5757\u4f30\u8ba1PST\u5d4c\u5165\u7279\u5f81\u4f5c\u4e3a2D-3D\u4ee3\u4ef7\u4f53\u79ef\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"323\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/10\/\u56fe\u7247-49-1024x323.png\" alt=\"\" class=\"wp-image-33952\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/\u56fe\u7247-49-1024x323.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/\u56fe\u7247-49-300x95.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/\u56fe\u7247-49-768x242.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/\u56fe\u7247-49.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u7528\u4e8e\u7c97\u914d\u51c6\u7684\u5168\u8fde\u63a5\u70b9\u50cf\u7d20\u6df7\u5408\u3002\u5168\u8fde\u63a5\u6df7\u5408\u5c06\u6240\u6709\u50cf\u7d20\u89c6\u4e3a\u70b9\u7684\u5bf9\u5e94\u70b9\u5019\u9009\u3002\u6b64\u5916\uff0c\u91c7\u7528\u9006\u76f8\u4f3c\u6027\u4ee5\u5b9e\u73b0\u9c81\u68d2\u7684\u5bf9\u5e94\u70b9\u751f\u6210\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"999\" height=\"692\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/10\/\u56fe\u7247-50.png\" alt=\"\" class=\"wp-image-33953\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/\u56fe\u7247-50.png 999w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/\u56fe\u7247-50-300x208.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/\u56fe\u7247-50-768x532.png 768w\" sizes=\"(max-width: 999px) 100vw, 999px\" \/><\/figure>\n\n\n\n<p>\u57fa\u4e8eKNN\u7684\u70b9\u50cf\u7d20\u6df7\u5408\u3002\u8fd9\u79cd\u7c7b\u578b\u7684\u70b9\u50cf\u7d20\u6df7\u5408\u5c06K\u4e2a\u6700\u8fd1\u7684\u50cf\u7d20\u90bb\u57df\u89c6\u4e3a\u50cf\u7d20\u5bf9\u5e94\u70b9\u7684\u5019\u9009\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"998\" height=\"479\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/10\/\u56fe\u7247-51.png\" alt=\"\" class=\"wp-image-33954\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/\u56fe\u7247-51.png 998w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/\u56fe\u7247-51-300x144.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/\u56fe\u7247-51-768x369.png 768w\" sizes=\"(max-width: 998px) 100vw, 998px\" \/><\/figure>\n\n\n\n<p><strong>05<\/strong><\/p>\n\n\n\n<p><strong>\u5b9e\u9a8c\u4eff\u771f<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"261\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/10\/\u56fe\u7247-52-1024x261.png\" alt=\"\" class=\"wp-image-33955\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/\u56fe\u7247-52-1024x261.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/\u56fe\u7247-52-300x76.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/\u56fe\u7247-52-768x196.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/\u56fe\u7247-52.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>LARGE-RANGE LOCALIZATION ERROR ON \u00a0THE KITTI ODOMETRY AND NUSCENES DATASETS<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"206\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/10\/\u56fe\u7247-53-1024x206.png\" alt=\"\" class=\"wp-image-33956\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/\u56fe\u7247-53-1024x206.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/\u56fe\u7247-53-300x60.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/\u56fe\u7247-53-768x154.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/\u56fe\u7247-53.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>LARGE-RANGE LOCALIZATION EVALUATED ON M2DGR DATASET<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"181\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/10\/\u56fe\u7247-54-1024x181.png\" alt=\"\" class=\"wp-image-33957\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/\u56fe\u7247-54-1024x181.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/\u56fe\u7247-54-300x53.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/\u56fe\u7247-54-768x136.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/\u56fe\u7247-54.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>GENERALIZATION EXPERIMENTS FROM KITTI ODOMETRY DATASET TO NUSCENES AND M2DGR DATASETS<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"561\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/10\/\u56fe\u7247-55-1024x561.png\" alt=\"\" class=\"wp-image-33958\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/\u56fe\u7247-55-1024x561.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/\u56fe\u7247-55-300x164.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/\u56fe\u7247-55-768x421.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/\u56fe\u7247-55.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>Visualization of large-range localization results on KITTI Odometry and nuScenes datasets. This figure presents the large-range localization results on the KITTI Odometry and nuScenes datasets through the visualization of image-to-point cloud registration. The color bar shows the depth of each LiDAR point. (a) KITTI Odometry (b) nuScenes.<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"250\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/10\/\u56fe\u7247-56-1024x250.png\" alt=\"\" class=\"wp-image-33959\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/\u56fe\u7247-56-1024x250.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/\u56fe\u7247-56-300x73.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/\u56fe\u7247-56-768x188.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/\u56fe\u7247-56.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>SMALL-RANGE LOCALIZATION ERROR ON KITTI ODOMETRY DATASET<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"289\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/10\/\u56fe\u7247-57-1024x289.png\" alt=\"\" class=\"wp-image-33960\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/\u56fe\u7247-57-1024x289.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/\u56fe\u7247-57-300x85.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/\u56fe\u7247-57-768x217.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/\u56fe\u7247-57.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>GENERALIZATION EXPERIMENTS ON KITTI ODOMETRY, NUSCENES, ARGOVERSE, WAYMO, AND LYFT5 DATASETS ON SMALL-RANGE LOCALIZATION TASK<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"1007\" height=\"391\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/10\/\u56fe\u7247-58.png\" alt=\"\" class=\"wp-image-33961\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/\u56fe\u7247-58.png 1007w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/\u56fe\u7247-58-300x116.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/\u56fe\u7247-58-768x298.png 768w\" sizes=\"(max-width: 1007px) 100vw, 1007px\" \/><\/figure>\n\n\n\n<p>EFFICIENCY COMPARISON<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"456\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/10\/\u56fe\u7247-59-1024x456.png\" alt=\"\" class=\"wp-image-33962\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/\u56fe\u7247-59-1024x456.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/\u56fe\u7247-59-300x134.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/\u56fe\u7247-59-768x342.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/10\/\u56fe\u7247-59.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>NETWORK HYPERPARAMETERS OF I2PNET<\/p>\n\n\n\n<p><strong>06<\/strong><br><strong>\u603b\u7ed3<\/strong><\/p>\n\n\n\n<p>\u5728\u672c\u6587\u4e2d\uff0c\u4ecb\u7ecd\u4e86\u4e00\u79cd\u7528\u4e8e\u8f66\u8f86\u5b9a\u4f4d\u7684\u65b0\u578b\u56fe\u50cf\u5230\u70b9\u4e91\u914d\u51c6\u67b6\u6784I2PNet\u3002I2PNet\u57fa\u4e8e\u7aef\u5230\u7aef\u76842D-3D\u914d\u51c6\uff0c\u5728\u6fc0\u5149\u96f7\u8fbe\u70b9\u4e91\u5730\u56fe\u4e2d\u5b9e\u73b0\u4e86\u9ad8\u7cbe\u5ea6\u548c\u9ad8\u6548\u7684\u5927\u8303\u56f4\u57fa\u4e8e\u56fe\u50cf\u7684\u673a\u5668\u4eba\u5b9a\u4f4d\u3002\u901a\u8fc7\u65b0\u9896\u76842D-3D\u4ee3\u4ef7\u4f53\u79ef\u6a21\u5757\u548c\u5f02\u5e38\u503c\u63a9\u7801\u9884\u6d4b\u6a21\u5757\u5b9e\u73b0\u4e86\u7aef\u5230\u7aef\u76842D-3D\u914d\u51c6\u3002\u7aef\u5230\u7aef\u76842D-3D\u914d\u51c6\u4f7f\u5f97\u6bcf\u4e2a\u6a21\u5757\u90fd\u53ef\u4ee5\u901a\u8fc7\u7edf\u4e00\u76ee\u6807\u8fdb\u884c\u4f18\u5316\u3002\u6b64\u5916\uff0c\u5728\u67b6\u6784\u4e2d\u4fdd\u7559\u4e86\u5b8c\u6574\u76843D\u70b9\u4e91\u7ed3\u6784\u4ee5\u8fdb\u884c\u56fe\u50cf\u5230\u70b9\u4e91\u7684\u5173\u8054\u3002\u56e0\u6b64\uff0c\u5b9e\u73b0\u4e86\u66f4\u597d\u7684\u914d\u51c6\u7cbe\u5ea6\u3002<\/p>\n\n\n\n<p>\u5728\u591a\u4e2a\u6570\u636e\u96c6\u548c\u4efb\u52a1\u4e0a\u8fdb\u884c\u4e86\u5e7f\u6cdb\u7684\u5b9e\u9a8c\uff0c\u4ee5\u8bc1\u660eI2PNet\u5728\u6fc0\u5149\u96f7\u8fbe\u70b9\u4e91\u5730\u56fe\u4e2d\u4e00\u6d41\u7684\u76f8\u673a\u5b9a\u4f4d\u80fd\u529b\u3002\u5728KITTI\u91cc\u7a0b\u8ba1\u6570\u636e\u96c6\u4e0a\uff0cI2PNet\u5728360\u00b0\u548c10\u7c73\u7684\u5927\u5b9a\u4f4d\u8303\u56f4\u5185\u5b9e\u73b0\u4e860.83\u00b0\u7684\u5e73\u5747\u65cb\u8f6c\u8bef\u5dee\uff08RRE\uff09\u548c0.21\u7c73\u7684\u5e73\u5747\u5e73\u79fb\u8bef\u5dee\uff08RTE\uff09\uff0c\u6bd4\u4e4b\u524d\u7684\u4e00\u6d41\u65b9\u6cd5\u5206\u522b\u63d0\u9ad8\u4e8660.0%\u7684\u5e73\u5747RRE\u548c71.6%\u7684\u5e73\u5747RTE\u3002\u6b64\u5916\uff0c\u5728nuScenes\u6570\u636e\u96c6\u4e0a\u6267\u884c\u76f8\u540c\u4efb\u52a1\u7684\u6027\u80fd\u4e5f\u8d85\u8fc7\u4e86\u4e4b\u524d\u7684\u65b9\u6cd5\u3002\u6b64\u5916\uff0c\u57fa\u4e8e\u7aef\u5230\u7aef\u67b6\u6784\uff0cI2PNet\u7684\u6548\u7387\u8fbe\u5230\u4e8620\u8d6b\u5179\uff0c\u4f18\u4e8e\u4e4b\u524d\u7684\u65b9\u6cd5\u3002\u5728\u5c0f\u8303\u56f4\u5b9a\u4f4d\u4efb\u52a1\u4e2d\uff0cI2PNet\u4e5f\u4f18\u4e8e\u4e4b\u524d\u7684\u57fa\u4e8e\u7aef\u5230\u7aef2D-2D\u914d\u51c6\u7684\u65b9\u6cd5\u3002I2PNet\u7684\u4e2d\u4f4d\u65cb\u8f6c\u8bef\u5dee\u548c\u4e2d\u4f4d\u5e73\u79fb\u8bef\u5dee\u5206\u522b\u4e3a0.67\u00b0\u548c0.07\u7c73\uff0c\u5206\u522b\u6bd4\u4e4b\u524d\u65b9\u6cd5\u7684\u6700\u4f730.70\u00b0\u4e2d\u4f4d\u65cb\u8f6c\u8bef\u5dee\u548c0.18\u7c73\u4e2d\u4f4d\u5e73\u79fb\u8bef\u5dee\u63d0\u9ad8\u4e864.3%\u548c61.1%\u3002\u8fd8\u5728\u5404\u79cd\u6570\u636e\u96c6\u4e0a\u8fdb\u884c\u4e86\u6cdb\u5316\u6d4b\u8bd5\uff0c\u5e76\u8bc1\u660eI2PNet\u5728\u4e24\u9879\u4efb\u52a1\u4e0a\u90fd\u6bd4\u4e4b\u524d\u7684\u6240\u6709\u65b9\u6cd5\u5177\u6709\u66f4\u597d\u7684\u6cdb\u5316\u80fd\u529b\u3002\u81f3\u4e8e\u5c06I2PNet\u6269\u5c55\u5230\u76f8\u673a-\u6fc0\u5149\u96f7\u8fbe\u5728\u7ebf\u6807\u5b9a\uff0cI2PNet\u8fbe\u5230\u4e8698.17%\u7684\u5e73\u5747\u91cd\u65b0\u6807\u5b9a\u7387\uff0c\u8d85\u8fc7\u4e86\u4e4b\u524d\u5728\u7ebf\u6807\u5b9a\u65b9\u6cd5\u7684\u6700\u4f7377.47%\u7684\u5e73\u5747\u91cd\u65b0\u6807\u5b9a\u738726.7%\u3002<\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u539f\u6587\u94fe\u63a5\uff1ahttps:\/\/mp.weixin. [&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-33907","post","type-post","status-publish","format-standard","hentry","category-technology-frontier","category-home"],"views":12,"_links":{"self":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/33907"}],"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=33907"}],"version-history":[{"count":3,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/33907\/revisions"}],"predecessor-version":[{"id":33963,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/33907\/revisions\/33963"}],"wp:attachment":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/media?parent=33907"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/categories?post=33907"},{"taxonomy":"post_tag","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/tags?post=33907"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}