{"id":34242,"date":"2025-10-30T17:34:31","date_gmt":"2025-10-30T09:34:31","guid":{"rendered":"http:\/\/192.168.10.115\/?p=34242"},"modified":"2025-10-30T17:34:31","modified_gmt":"2025-10-30T09:34:31","slug":"2025-10-30-%e6%9c%80%e6%96%b0sota-%e4%b8%9c%e5%8d%97%e5%a4%a7%e5%ad%a6%e5%8f%91%e5%b8%83lvd-gs%ef%bc%9a%e9%9d%a2%e5%90%91%e6%99%ba%e9%a9%be%ef%bc%8c%e6%8e%a8%e5%8a%a83dgs%e8%9e%8d%e5%90%88%e5%8a%a8","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2025\/10\/30\/34242\/","title":{"rendered":"2025-10-30 \u6700\u65b0SOTA | \u4e1c\u5357\u5927\u5b66\u53d1\u5e03LVD-GS\uff1a\u9762\u5411\u667a\u9a7e\uff0c\u63a8\u52a83DGS\u878d\u5408\u52a8\u6001SLAM"},"content":{"rendered":"\n

\u539f\u6587\u94fe\u63a5\uff1ahttps:\/\/mp.weixin.qq.com\/s\/X9a1fX0HMavOD0uAf732cQ<\/a><\/p>\n\n\n\n

1 \u52a8\u6001\u6237\u5916\u5c3a\u5ea6\u6f02\u79fb\u96be\u89e3\u51b3<\/strong><\/p>\n\n\n\n

3D \u9ad8\u65af\u6e85\u5c04\uff083DGS\uff09\u7684\u51fa\u73b0\uff0c\u4f7f\u81ea\u4e3b\u673a\u5668\u4eba SLAM \u7cfb\u7edf\u5177\u5907\u4e86\u9ad8\u4fdd\u771f\u7167\u7247\u7ea7\u5efa\u56fe\u80fd\u529b\uff0c\u6210\u4e3a\u5177\u8eab\u667a\u80fd\u7684\u6838\u5fc3\u6280\u672f\u4e4b\u4e00\u3002\u5728\u8be5\u9886\u57df\uff0c3D \u573a\u666f\u8868\u793a\u5df2\u6210\u4e3a\u5173\u952e\u7814\u7a76\u524d\u6cbf\uff0c\u50ac\u751f\u4e86\u591a\u79cd\u7a00\u758f\u4e0e\u7a20\u5bc6\u8868\u793a\u65b9\u6cd5\uff0c\u663e\u8457\u63d0\u5347\u4e86\u573a\u666f\u7406\u89e3\u80fd\u529b\u3002<\/p>\n\n\n\n

\u7136\u800c\uff0c\u73b0\u6709 3DGS-SLAM \u7cfb\u7edf\u56e0\u4f9d\u8d56\u5355\u4e00\u8868\u793a\u7ea6\u675f\uff0c\u5728\u590d\u6742\u6237\u5916\u573a\u666f\u4e2d\u6027\u80fd\u53d7\u9650\uff0c\u5c24\u5176\u5728\u5927\u89c4\u6a21\u52a8\u6001\u73af\u5883\u4e2d\u9762\u4e34\u7d2f\u79ef\u8bef\u5dee\u4e0e\u8f68\u8ff9\u6f02\u79fb<\/strong>\u95ee\u9898\uff0c\u4e25\u91cd\u5f71\u54cd 3DGS \u6240\u9700\u7684\u9ad8\u65af\u70b9\u4e91\u521d\u59cb\u5316\u3002<\/p>\n\n\n\n

\u672c\u6587\u5f52\u7eb3\u51fa\u4e24\u5927\u6838\u5fc3\u6311\u6218<\/strong>\uff1a<\/p>\n\n\n\n

    \n
  1. \u5355\u4e00\u8868\u793a\u7ea6\u675f\u7684\u5c40\u9650\u6027\uff1a\u6237\u5916\u573a\u666f\u5bcc\u542b\u8bed\u4e49\u4e0e\u5916\u89c2\u5224\u522b\u7279\u5f81\uff0c\u800c\u73b0\u6709\u7cfb\u7edf\u591a\u4ec5\u4f9d\u8d56\u50cf\u7d20\u7ea7\u5149\u5ea6\u6216\u51e0\u4f55\u91cd\u5efa\uff0c\u7f3a\u4e4f\u9ad8\u5c42\u8bed\u4e49\u4e0e\u5168\u5c40\u7279\u5f81\u7406\u89e3\u3002<\/li>\n\n\n\n
  2. \u52a8\u6001\u7269\u4f53\u5e72\u6270\uff1a\u6237\u5916\u73af\u5883\u9ad8\u5ea6\u52a8\u6001\uff0c\u7f3a\u4e4f\u52a8\u6001\u5efa\u6a21\u4f1a\u524a\u5f31\u540e\u7eed\u4f4d\u59ff\u4f30\u8ba1\u4e0e\u5730\u56fe\u91cd\u5efa\u3002\u73b0\u6709\u65b9\u6cd5\u591a\u91c7\u7528\u521a\u6027\u63a9\u819c\u79fb\u9664\u7b56\u7565\uff0c\u672a\u8003\u8651 ego-motion \u65f6\u7684\u7279\u5f81\u4e00\u81f4\u6027\u635f\u5931\uff0c\u4e5f\u7f3a\u4e4f\u5bf9\u52a8\u6001\u533a\u57df\u7684\u7ec6\u7c92\u5ea6\u5206\u6790\u3002<\/li>\n<\/ol>\n\n\n\n

    \u6587\u7ae0\u6807\u9898<\/strong>\uff1aLVD-GS: Gaussian Splatting SLAM for Dynamic Scenes via Hierarchical Explicit-Implicit Representation Collaboration Rendering<\/p>\n\n\n\n

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

    \u4e3a\u6b64\uff0c\u6211\u4eec\u63d0\u51fa LVD-GS SLAM<\/strong>\uff0c\u4e00\u79cd\u9762\u5411\u52a8\u6001\u6237\u5916\u573a\u666f\u7684\u65b0\u578b\u6fc0\u5149-\u89c6\u89c9 3D \u9ad8\u65af\u6e85\u5c04\u6846\u67b6\u3002\u57fa\u4e8e\u89c6\u89c9\u57fa\u7840\u6a21\u578b\uff08VFMs\uff09\uff0c\u6211\u4eec\u8bbe\u8ba1\u4e86\u8868\u793a\u534f\u540c\u673a\u5236<\/strong>\uff0c\u5728\u6620\u5c04\u8fc7\u7a0b\u4e2d\u76f8\u4e92\u589e\u5f3a\uff0c\u6709\u6548\u7f13\u89e3\u5c3a\u5ea6\u6b67\u4e49\u5e76\u63d0\u5347\u91cd\u5efa\u4fdd\u771f\u5ea6\uff1b\u968f\u540e\u63d0\u51fa\u8054\u5408\u52a8\u6001\u5efa\u6a21\u6a21\u5757<\/strong>\uff0c\u5229\u7528\u5f00\u653e\u4e16\u754c\u5206\u5272\u4e0e\u9690\u5f0f\u6b8b\u5dee\u7ea6\u675f\u751f\u6210\u66f4\u7cbe\u7ec6\u7684\u52a8\u6001\u7269\u4f53\u63a9\u819c\u3002<\/p>\n\n\n\n

    \u4e3b\u8981\u8d21\u732e<\/strong>\uff1a<\/p>\n\n\n\n

      \n
    1. \u63d0\u51fa\u9762\u5411\u52a8\u6001\u573a\u666f\u7684\u6fc0\u5149-\u89c6\u89c9 3D \u9ad8\u65af\u6e85\u5c04 SLAM \u6846\u67b6\u00a0LVD-GS<\/strong>\uff0c\u901a\u8fc7\u51e0\u4f55\u3001\u8bed\u4e49\u4e0e DINO \u7279\u5f81\u7684\u5c42\u7ea7\u8868\u793a\u534f\u540c\uff0c\u5b9e\u73b0\u9ad8\u5c42\u7406\u89e3\u4e0e\u9ad8\u4fdd\u771f\u5efa\u56fe\u3002<\/li>\n\n\n\n
    2. \u63d0\u51fa\u8054\u5408\u52a8\u6001\u5efa\u6a21\u65b9\u6cd5\uff0c\u5229\u7528 DINO-Depth \u7279\u5f81\u4e0d\u786e\u5b9a\u5ea6\u4f30\u8ba1\uff0c\u7ed3\u5408\u5f00\u653e\u4e16\u754c\u5206\u5272\u4e0e\u9690\u5f0f\u6b8b\u5dee\u7ea6\u675f\uff0c\u751f\u6210\u7ec6\u7c92\u5ea6\u52a8\u6001\u63a9\u819c\u3002<\/li>\n\n\n\n
    3. \u5728 KITTI\u3001nuScenes \u53ca\u81ea\u91c7\u6570\u636e\u96c6\u4e0a\u7684\u5927\u91cf\u5b9e\u9a8c\u8868\u660e\uff0c\u672c\u6587\u65b9\u6cd5\u5728\u73b0\u6709 3DGS-SLAM \u7cfb\u7edf\u4e2d\u5b9e\u73b0\u6700\u4f18\u7684\u4f4d\u59ff\u4f30\u8ba1\u7cbe\u5ea6\u4e0e\u65b0\u89c6\u89d2\u5408\u6210\u6027\u80fd<\/strong>\u3002<\/li>\n<\/ol>\n\n\n\n

      2 \u5177\u4f53\u65b9\u6cd5<\/strong><\/h2>\n\n\n\n
      \"\"<\/figure>\n\n\n\n
      \"\"<\/figure>\n\n\n\n

      2.1 \u5c42\u7ea7\u8868\u793a\u534f\u540c\u5efa\u56fe<\/strong><\/p>\n\n\n\n

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

      2.2 \u663e-\u9690\u8054\u5408\u52a8\u6001\u5efa\u6a21<\/strong><\/p>\n\n\n\n

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

      3 \u5b9e\u9a8c\u7ed3\u679c<\/strong><\/p>\n\n\n\n

      3.1 \u5b9e\u73b0\u4e0e\u5b9e\u9a8c\u8bbe\u7f6e<\/strong><\/p>\n\n\n\n

      \u5b9e\u9a8c\u5728 nuScenes\u3001KITTI \u53ca\u81ea\u91c7\u6570\u636e\u96c6\u4e0a\u8fdb\u884c\u3002\u6e32\u67d3\u6027\u80fd\u91c7\u7528 PSNR\u3001SSIM \u8bc4\u4f30\uff1b\u4f4d\u59ff\u4f30\u8ba1\u6027\u80fd\u91c7\u7528 ATE-RMSE(m) \u8bc4\u4f30\u3002\u5bf9\u6bd4\u65b9\u6cd5\u5305\u62ec MonoGS\u3001SplaTAM\u3001LoopSplat\u3001OPENGS\u3001S3POGS\u3002\u5b9e\u73b0\u57fa\u4e8e PyTorch\uff0c\u5728 NVIDIA RTX3090Ti GPU \u4e0a\u6d4b\u8bd5\u3002<\/p>\n\n\n\n

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

      \uff08\u8868\u683c 1\uff1a\u4f4d\u59ff\u4f30\u8ba1\u6027\u80fd\u5bf9\u6bd4\uff09<\/p>\n\n\n\n

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

      \uff08\u56fe 3\uff1a\u8f68\u8ff9\u53ef\u89c6\u5316\uff09<\/p>\n\n\n\n

      3.2 \u5b9e\u9a8c\u7ed3\u679c<\/strong><\/h3>\n\n\n\n

      3.2.1 \u4f4d\u59ff\u4f30\u8ba1\u7ed3\u679c<\/strong><\/h4>\n\n\n\n

      \u5728 KITTI \u4e0e\u81ea\u91c7\u6570\u636e\u96c6\u4e0a\u7684\u8bc4\u4f30\u8868\u660e\uff0c\u672c\u6587\u65b9\u6cd5\u5728\u6240\u6709\u5e8f\u5217\u4e2d\u5747\u53d6\u5f97\u6700\u4f18\u8ddf\u8e2a\u7cbe\u5ea6\u3002\u901a\u8fc7\u591a\u5c3a\u5ea6\u8868\u793a\u4e0e\u6fc0\u5149\u70b9\u4e91\u521d\u59cb\u5316\uff0c\u7cfb\u7edf\u5229\u7528\u591a\u7ea7\u7279\u5f81\u4f18\u5316\u4f4d\u59ff\uff0c\u589e\u5f3a\u6a21\u578b\u6536\u655b\u3002\u53d7\u5185\u5b58\u9650\u5236\uff0c\u5176\u4ed6\u65b9\u6cd5\u4ec5\u8bc4\u4f30\u6bcf\u5e8f\u5217\u524d 350 \u5e27\uff0c\u4e14\u6237\u5916\u4f4d\u59ff\u8bef\u5dee\u8f83\u5927\u3002\u672c\u6587\u5c42\u7ea7\u8868\u793a\u534f\u540c\u901a\u8fc7\u6355\u83b7\u4e30\u5bcc\u4e0a\u4e0b\u6587\u4fe1\u606f\uff0c\u5b9e\u73b0\u66f4\u9c81\u68d2\u5b9a\u4f4d\u3002<\/p>\n\n\n\n

      3.2.2 \u65b0\u89c6\u89d2\u5408\u6210<\/strong><\/h4>\n\n\n\n

      \u5982\u8868\u683c 2 \u6240\u793a\uff0c\u672c\u6587\u65b9\u6cd5\u5728\u5168\u90e8\u6570\u636e\u96c6\u4e0a\u53d6\u5f97\u6700\u4f18\u65b0\u89c6\u89d2\u5408\u6210\u6027\u80fd\u3002\u76f8\u6bd4\u73b0\u6709 3DGS-SLAM \u57fa\u7ebf\uff0cPSNR \u63d0\u5347\uff1anuScenes +4.48 dB\uff0cKITTI +1.51 dB\uff0c\u81ea\u91c7 +3.79 dB\u3002\u56fe 4 \u5c55\u793a\u4e86\u57ce\u5e02\u573a\u666f\u3001\u9ad8\u901f\u516c\u8def\u53ca\u6821\u56ed\u573a\u666f\u7684\u6e32\u67d3\u7ed3\u679c\uff0c\u672c\u6587\u65b9\u6cd5\u5728\u8f66\u8f86\u8f6e\u5ed3\u3001\u5efa\u7b51\u7ed3\u6784\u4e0e\u9053\u8def\u7ec6\u8282\u65b9\u9762\u5747\u751f\u6210\u7167\u7247\u7ea7\u91cd\u5efa\uff0c\u5728\u9ad8\u5ea6\u52a8\u6001\u533a\u57df\u6709\u6548\u6ee4\u9664\u77ac\u6001\u7269\u4f53\uff0c\u51cf\u5c11\u8ddf\u8e2a\u6f02\u79fb\uff0c\u4fdd\u6301\u65f6\u5e8f\u4e00\u81f4\u6027\u3002<\/p>\n\n\n\n

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

      \uff08\u56fe 4\uff1a\u65b0\u89c6\u89d2\u5408\u6210\u53ef\u89c6\u5316\uff09<\/p>\n\n\n\n

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

      \uff08\u8868\u683c 2\uff1a\u65b0\u89c6\u89d2\u5408\u6210\u7ed3\u679c\uff09<\/p>\n\n\n\n

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

      \u8868\u683c 3 \u4e0e\u56fe 5 \u663e\u793a\uff0c\u52a8\u6001\u5efa\u6a21<\/strong>\u4e0e\u8868\u793a\u534f\u540c<\/strong>\u4e24\u6a21\u5757\u5747\u80fd\u6709\u6548\u964d\u4f4e\u6237\u5916\u73af\u5883\u7d2f\u79ef\u6f02\u79fb\u3002\u8868\u793a\u534f\u540c\u5728\u5927\u89c4\u6a21\u6237\u5916\u573a\u666f\u6027\u80fd\u66f4\u4f18\uff0cSem-Geo-DINO \u7ebf\u7d22\u663e\u8457\u63d0\u5347\u5efa\u56fe\u8d28\u91cf\u3002<\/p>\n\n\n\n

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

      \uff08\u8868\u683c 3\uff1a\u4e24\u6838\u5fc3\u6a21\u5757\u6d88\u878d\u5b9e\u9a8c\uff09<\/p>\n\n\n\n

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

      \uff08\u56fe 5\uff1a\u6d88\u878d\u53ef\u89c6\u5316, \u52a8\u6001\u5efa\u6a21\uff09<\/p>\n\n\n\n

      4 \u603b\u7ed3\u4e00\u4e0b<\/strong><\/h2>\n\n\n\n

      \u6211\u4eec\u63d0\u51fa LVD-GS SLAM<\/strong>\uff0c\u662f\u4e00\u79cd\u9762\u5411\u52a8\u6001\u6237\u5916\u573a\u666f\u7684\u6fc0\u5149-\u89c6\u89c9 3D \u9ad8\u65af\u6e85\u5c04\u7cfb\u7edf\uff0c\u901a\u8fc7\u8868\u793a\u534f\u540c\u7ea6\u675f\u5efa\u56fe\u4f18\u5316\uff0c\u5e76\u96c6\u6210\u663e-\u9690\u8054\u5408\u6a21\u5757\u79fb\u9664\u52a8\u6001\u7269\u4f53\uff0c\u6709\u6548\u5e94\u5bf9\u5c3a\u5ea6\u6f02\u79fb\u95ee\u9898\u3002\u672a\u6765\u5de5\u4f5c\u5c06\u6784\u5efa\u5b9e\u4f8b\u7ea7\u8ba4\u77e5\u5bfc\u822a 3DGS \u5730\u56fe<\/strong>\u3002<\/p>\n","protected":false},"excerpt":{"rendered":"

      \u539f\u6587\u94fe\u63a5\uff1ahttps:\/\/mp.weixin. […]<\/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-34242","post","type-post","status-publish","format-standard","hentry","category-technology-frontier","category-home"],"views":6,"_links":{"self":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/34242"}],"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=34242"}],"version-history":[{"count":2,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/34242\/revisions"}],"predecessor-version":[{"id":34258,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/34242\/revisions\/34258"}],"wp:attachment":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/media?parent=34242"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/categories?post=34242"},{"taxonomy":"post_tag","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/tags?post=34242"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}