{"id":34489,"date":"2025-11-07T17:32:05","date_gmt":"2025-11-07T09:32:05","guid":{"rendered":"http:\/\/192.168.10.115\/?p=34489"},"modified":"2025-11-07T17:32:05","modified_gmt":"2025-11-07T09:32:05","slug":"2025-11-07-%e7%aa%81%e7%a0%b4generalization%e7%93%b6%e9%a2%88%ef%bc%81stereocarla%e9%ab%98%e4%bf%9d%e7%9c%9f%e6%95%b0%e6%8d%ae%e9%9b%86%e9%87%8d%e5%a1%91%e7%ab%8b%e4%bd%93%e5%8c%b9%e9%85%8d%e6%8a%80","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2025\/11\/07\/34489\/","title":{"rendered":"2025-11-07 \u7a81\u7834generalization\u74f6\u9888\uff01StereoCarla\u9ad8\u4fdd\u771f\u6570\u636e\u96c6\u91cd\u5851\u7acb\u4f53\u5339\u914d\u6280\u672f"},"content":{"rendered":"\n<p>\u539f\u6587\u94fe\u63a5\uff1a<a href=\"https:\/\/mp.weixin.qq.com\/s\/rfbRloGQ4u__AO9uaIpgbg\">https:\/\/mp.weixin.qq.com\/s\/rfbRloGQ4u__AO9uaIpgbg<\/a><\/p>\n\n\n\n<h2 class=\"wp-block-heading\"><strong>\u6838\u5fc3\u7ed3\u8bba<\/strong><\/h2>\n\n\n\n<p>StereoCarla \u662f\u57fa\u4e8eCARLA\u6a21\u62df\u5668\u6784\u5efa\u7684\u9ad8\u4fdd\u771f\u5408\u6210\u7acb\u4f53\u6570\u636e\u96c6\uff0c\u901a\u8fc7\u4e30\u5bcc\u7684\u76f8\u673a\u914d\u7f6e\u3001\u73af\u5883\u6761\u4ef6\u8bbe\u8ba1\uff0c\u89e3\u51b3\u4e86\u73b0\u6709\u6570\u636e\u96c6\u591a\u6837\u6027\u4e0d\u8db3\u7684\u95ee\u9898\uff0c\u5728 4 \u4e2a\u4e3b\u6d41\u57fa\u51c6\u6d4b\u8bd5\u4e2d\uff0c\u5176\u8bad\u7ec3\u6a21\u578b\u7684\u8de8\u57df\u6cdb\u5316\u7cbe\u5ea6\u663e\u8457\u8d85\u8d8a 11 \u4e2a\u73b0\u6709\u6570\u636e\u96c6\uff0c\u4e14\u517c\u5bb9\u591a\u6570\u636e\u96c6\u8054\u5408\u8bad\u7ec3\uff0c\u4e3a\u81ea\u52a8\u9a7e\u9a76\u9c81\u68d2\u6df1\u5ea6\u611f\u77e5\u63d0\u4f9b\u4e86\u5173\u952e\u652f\u6491\u3002<\/p>\n\n\n\n<p><strong>\u8bba\u6587\u5730\u5740<\/strong>\uff1a<code>https:\/\/arxiv.org\/pdf\/2509.12683<\/code><\/p>\n\n\n\n<h2 class=\"wp-block-heading\"><strong>\u4e00\u3001\u7814\u7a76\u80cc\u666f\u4e0e\u75db\u70b9<\/strong><\/h2>\n\n\n\n<h3 class=\"wp-block-heading\"><strong>\u7acb\u4f53\u89c6\u89c9\u7684\u6838\u5fc3\u4ef7\u503c<\/strong><\/h3>\n\n\n\n<p>\u7acb\u4f53\u5339\u914d\u6280\u672f\u662f\u81ea\u52a8\u9a7e\u9a76\u548c\u673a\u5668\u4eba\u6df1\u5ea6\u611f\u77e5\u7684\u6838\u5fc3\uff0c\u901a\u8fc7\u53cc\u76f8\u673a\u56fe\u50cf\u5bf9\u751f\u6210\u89c6\u5dee\u56fe\u6765\u4f30\u7b97\u6df1\u5ea6\u3002\u76f8\u6bd4\u6fc0\u5149\u96f7\u8fbe\uff08LiDAR\uff09\uff0c\u5b83\u5177\u6709\u6210\u672c\u4f4e\u3001 latency \u4f4e\u3001\u8f93\u51fa\u5bc6\u96c6\u7684\u4f18\u52bf\uff0c\u662f\u5b9e\u7528\u5316\u90e8\u7f72\u7684\u4f18\u9009\u65b9\u6848\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\"><strong>\u73b0\u6709\u6570\u636e\u96c6\u7684\u4e09\u5927\u5c40\u9650<\/strong><\/h3>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u573a\u666f\u5355\u4e00\uff1a\u591a\u805a\u7126\u4e8e\u56fa\u5b9a\u57ce\u5e02\u573a\u666f\uff08\u5982 KITTI\uff09\u6216\u5ba4\u5185\u5408\u6210\u573a\u666f\uff08\u5982 SceneFlow\uff09\uff0c\u7f3a\u4e4f\u771f\u5b9e\u9a7e\u9a76\u7684\u590d\u6742\u53d8\u5316\u3002<\/li>\n\n\n\n<li>\u914d\u7f6e\u56fa\u5316\uff1a\u76f8\u673a\u57fa\u7ebf\u3001\u89c6\u89d2\u7b49\u53c2\u6570\u53d8\u5316\u5c11\uff0c\u65e0\u6cd5\u9002\u914d\u4e0d\u540c\u786c\u4ef6\u548c\u884c\u9a76\u59ff\u6001\u3002<\/li>\n\n\n\n<li>\u73af\u5883\u5355\u4e00\uff1a\u7f3a\u5c11\u5929\u6c14\u3001\u5149\u7167\u7b49\u52a8\u6001\u73af\u5883\u53d8\u5316\uff0c\u5bfc\u81f4\u6a21\u578b\u6cdb\u5316\u80fd\u529b\u5f31\u3002<\/li>\n<\/ul>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"419\" height=\"364\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/11\/\u56fe\u7247-83.png\" alt=\"\" class=\"wp-image-34521\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/11\/\u56fe\u7247-83.png 419w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/11\/\u56fe\u7247-83-300x261.png 300w\" sizes=\"(max-width: 419px) 100vw, 419px\" \/><\/figure>\n\n\n\n<p><em>\u56fe1\uff08\u6587\u6863\u5f15\u8a00\u90e8\u5206\uff09\uff1a\u76f4\u89c2\u5c55\u793a\u4e0d\u540c\u6570\u636e\u96c6\u8bad\u7ec3\u6a21\u578b\u7684\u96f6\u6837\u672c\u6cdb\u5316\u6027\u80fd\uff0cStereoCarla \u5168\u573a\u666f\u8bef\u5dee\u6700\u4f4e\uff0c\u4f18\u52bf\u663e\u8457\u3002<\/em><\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"861\" height=\"297\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/11\/\u56fe\u7247-84.png\" alt=\"\" class=\"wp-image-34522\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/11\/\u56fe\u7247-84.png 861w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/11\/\u56fe\u7247-84-300x103.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/11\/\u56fe\u7247-84-768x265.png 768w\" sizes=\"(max-width: 861px) 100vw, 861px\" \/><\/figure>\n\n\n\n<p><em>\u8868I\uff08\u76f8\u5173\u5de5\u4f5c\u90e8\u5206\uff09\uff1a\u6a2a\u5411\u5bf9\u6bd4 17 \u4e2a\u6570\u636e\u96c6\u7684\u573a\u666f\u7c7b\u578b\u3001\u5206\u8fa8\u7387\u3001\u57fa\u7ebf\u7b49\u6838\u5fc3\u53c2\u6570\uff0c\u51f8\u663e StereoCarla \u5728\u591a\u6837\u6027\u548c\u914d\u7f6e\u7075\u6d3b\u6027\u4e0a\u7684\u7a81\u7834\u3002<\/em><\/p>\n\n\n\n<h2 class=\"wp-block-heading\"><strong>\u4e8c\u3001StereoCarla \u6570\u636e\u96c6\u6838\u5fc3\u8bbe\u8ba1<\/strong><\/h2>\n\n\n\n<h3 class=\"wp-block-heading\"><strong>\u6838\u5fc3\u4f18\u52bf\uff1a\u5168\u65b9\u4f4d\u591a\u6837\u6027<\/strong><\/h3>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u76f8\u673a\u914d\u7f6e\u591a\u6837\u6027\uff1a\u57fa\u7ebf\u8986\u76d6 10-300cm\uff08\u8fdc\u8d85\u73b0\u6709\u6570\u636e\u96c6\u7684\u56fa\u5b9a\u8303\u56f4\uff09\uff0c\u652f\u6301 0\u00b0\/5\u00b0\/15\u00b0\/30\u00b0 \u6a2a\u6eda\u89d2\u3001\u6c34\u5e73\/30\u00b0 \u4e0b\u503e\u89d2\uff0c\u4f20\u611f\u5668\u9ad8\u5ea6\u53ef\u7075\u6d3b\u8c03\u6574\u3002<\/li>\n\n\n\n<li>\u73af\u5883\u6761\u4ef6\u4e30\u5bcc\u6027\uff1a\u5305\u542b\u6674\u5929\u3001\u591a\u4e91\u3001\u96fe\u3001\u96e8\u3001\u591c\u95f4\u3001\u98ce\u66b4\u3001\u65e5\u843d 7 \u79cd\u5929\u6c14\uff0c\u6a21\u62df\u771f\u5b9e\u9a7e\u9a76\u4e2d\u7684\u5149\u7167\u548c\u80fd\u89c1\u5ea6\u53d8\u5316\u3002<\/li>\n\n\n\n<li>\u9ad8\u89c4\u683c\u6570\u636e\u8d28\u91cf\uff1a\u56fe\u50cf\u5206\u8fa8\u7387\u8fbe 1600\u00d7900 \u50cf\u7d20\uff0c\u63d0\u4f9b\u5bc6\u96c6\u89c6\u5dee\u56fe\u548c\u6df1\u5ea6\u56fe\u4f5c\u4e3a\u771f\u503c\uff0c\u5355\u6570\u636e\u96c6\u6837\u672c\u91cf\u8fbe 69.3 \u4e07\u5bf9\uff08\u8986\u76d6 CARLA 8 \u4e2a\u57ce\u9547\u573a\u666f\uff09\u3002<\/li>\n<\/ul>\n\n\n\n<h3 class=\"wp-block-heading\"><strong>\u6570\u636e\u5206\u5e03\u7ec6\u8282<\/strong><\/h3>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"610\" height=\"343\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/11\/\u56fe\u7247-85.png\" alt=\"\" class=\"wp-image-34523\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/11\/\u56fe\u7247-85.png 610w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/11\/\u56fe\u7247-85-300x169.png 300w\" sizes=\"(max-width: 610px) 100vw, 610px\" \/><\/figure>\n\n\n\n<p><em>\u8868 II\uff08\u6570\u636e\u96c6\u90e8\u5206\uff09\uff1a\u660e\u786e\u4e0d\u540c\u57ce\u9547\u3001\u76f8\u673a\u59ff\u6001\uff08\u6a2a\u6eda\u3001\u4fef\u4ef0\uff09\u4e0b\u7684\u6837\u672c\u6570\u91cf\uff0c\u5176\u4e2d\u6b63\u5e38\u914d\u7f6e\u6837\u672c 12.4 \u4e07\u5bf9\uff0c\u591a\u89d2\u5ea6\u914d\u7f6e\u6837\u672c\u5747\u8d85 11 \u4e07\u5bf9\uff0c\u6570\u636e\u5206\u5e03\u5747\u8861\u3002<\/em><\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"435\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/11\/\u56fe\u7247-86-1024x435.png\" alt=\"\" class=\"wp-image-34524\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/11\/\u56fe\u7247-86-1024x435.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/11\/\u56fe\u7247-86-300x128.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/11\/\u56fe\u7247-86-768x326.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/11\/\u56fe\u7247-86.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p><em>\u56fe 2\uff08\u6570\u636e\u96c6\u90e8\u5206\uff09\uff1a\u5c55\u793a\u4e0d\u540c\u57fa\u7ebf\u3001\u89c6\u89d2\u4e0b\u7684\u56fe\u50cf\u793a\u4f8b\u53ca\u5bf9\u5e94\u6df1\u5ea6\u56fe\/\u89c6\u5dee\u56fe\uff0c\u76f4\u89c2\u5448\u73b0\u6570\u636e\u591a\u6837\u6027\u3002<\/em><\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"578\" height=\"405\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/11\/\u56fe\u7247-87.png\" alt=\"\" class=\"wp-image-34525\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/11\/\u56fe\u7247-87.png 578w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/11\/\u56fe\u7247-87-300x210.png 300w\" sizes=\"(max-width: 578px) 100vw, 578px\" \/><\/figure>\n\n\n\n<p><em>\u56fe 3\uff08\u6570\u636e\u96c6\u90e8\u5206\uff09\uff1a\u793a\u610f\u76f8\u673a\u57fa\u7ebf\u914d\u7f6e\u65b9\u6848\uff0c\u6e05\u6670\u8bf4\u660e\u591a\u57fa\u7ebf\u8bbe\u8ba1\u903b\u8f91\u3002<\/em><\/p>\n\n\n\n<h2 class=\"wp-block-heading\"><strong>\u4e09\u3001\u5b9e\u9a8c\u9a8c\u8bc1\u4e0e\u6838\u5fc3\u6210\u679c<\/strong><\/h2>\n\n\n\n<h3 class=\"wp-block-heading\"><strong>\u5b9e\u9a8c\u8bbe\u8ba1<\/strong><\/h3>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u57fa\u7ebf\u6a21\u578b\uff1a\u91c7\u7528 NMRF-Stereo\uff08SwinTransformer \u00a0backbone\uff09\uff0c\u57fa\u4e8e OpenStereo \u6846\u67b6\u8bad\u7ec3\u3002<\/li>\n\n\n\n<li>\u6d4b\u8bd5\u57fa\u51c6\uff1a\u8de8\u57df\u6d4b\u8bd5\u8986\u76d6 KITTI2012\u3001KITTI2015\u3001Middlebury\u3001ETH3D \u56db\u5927\u4e3b\u6d41\u6570\u636e\u96c6\u3002<\/li>\n\n\n\n<li>\u8bc4\u4f30\u6307\u6807\uff1aKITTI \u7528 D1-all \u8bef\u5dee\uff0cMiddlebury \u7528 Bad 2.0 \u8bef\u5dee\uff0cETH3D \u7528 Bad 1.0 \u8bef\u5dee\uff0c\u5168\u9762\u8861\u91cf\u6cdb\u5316\u80fd\u529b\u3002<\/li>\n<\/ul>\n\n\n\n<h3 class=\"wp-block-heading\"><strong>\u4e09\u5927\u6838\u5fc3\u5b9e\u9a8c\u7ed3\u679c<\/strong><\/h3>\n\n\n\n<ol class=\"wp-block-list\">\n<li><strong>\u5355\u6570\u636e\u96c6\u6cdb\u5316<\/strong>\uff1a\u8868 III\uff08\u5b9e\u9a8c\u90e8\u5206\uff09\u663e\u793a\uff0cStereoCarla \u8bad\u7ec3\u6a21\u578b\u7684\u5e73\u5747\u8bef\u5dee\u4ec5 5.32\uff0c\u8f83\u7b2c\u4e8c\u540d Tartanair\uff087.02\uff09\u964d\u4f4e 24%\uff0c\u5728 ETH3D \u6570\u636e\u96c6\u4e0a\u8bef\u5dee\u4f4e\u81f3 3.17\uff0c\u8fdc\u8d85\u5176\u4ed6\u6570\u636e\u96c6\u3002<\/li>\n<\/ol>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"622\" height=\"409\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/11\/\u56fe\u7247-88.png\" alt=\"\" class=\"wp-image-34526\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/11\/\u56fe\u7247-88.png 622w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/11\/\u56fe\u7247-88-300x197.png 300w\" sizes=\"(max-width: 622px) 100vw, 622px\" \/><\/figure>\n\n\n\n<p><strong>\u591a\u6570\u636e\u96c6\u8054\u5408\u8bad\u7ec3<\/strong>\uff1a\u8868 IV\uff08\u5b9e\u9a8c\u90e8\u5206\uff09\u8bc1\u660e\uff0cStereoCarla \u4f5c\u4e3a\u57fa\u7840\u6570\u636e\u96c6\uff0c\u4e0e 2-3 \u4e2a\u5176\u4ed6\u6570\u636e\u96c6\u7ec4\u5408\uff08MIX 3\/4\uff09\u5373\u53ef\u5b9e\u73b0\u9ad8\u6027\u80fd\uff0c\u5168\u6570\u636e\u96c6\u7ec4\u5408\uff08MIX 9\uff09\u5e73\u5747\u8bef\u5dee\u8fbe 4.22\uff0c\u521b\u6700\u4f73\u8bb0\u5f55\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"309\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/11\/\u56fe\u7247-89-1024x309.png\" alt=\"\" class=\"wp-image-34527\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/11\/\u56fe\u7247-89-1024x309.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/11\/\u56fe\u7247-89-300x91.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/11\/\u56fe\u7247-89-768x232.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/11\/\u56fe\u7247-89.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<ol start=\"3\" class=\"wp-block-list\">\n<li><strong>\u6d88\u878d\u5b9e\u9a8c\u9a8c\u8bc1\u5173\u952e\u8bbe\u8ba1<\/strong>\uff1a\n<ul class=\"wp-block-list\">\n<li>\u57fa\u7ebf\u591a\u6837\u6027\uff1a\u8868 VI\uff08\u5b9e\u9a8c\u90e8\u5206\uff09\u663e\u793a\uff0c\u878d\u5408\u6240\u6709\u57fa\u7ebf\u8bad\u7ec3\u7684\u6a21\u578b\uff0c\u57df\u5185\u5e73\u5747 EPE \u4ec5 1.69\uff0c\u8de8\u57df\u6027\u80fd\u6700\u4f18\uff0c\u8bc1\u660e\u591a\u57fa\u7ebf\u8bbe\u8ba1\u7684\u5fc5\u8981\u6027\u3002<\/li>\n<\/ul>\n<\/li>\n<\/ol>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"260\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/11\/\u56fe\u7247-90-1024x260.png\" alt=\"\" class=\"wp-image-34528\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/11\/\u56fe\u7247-90-1024x260.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/11\/\u56fe\u7247-90-300x76.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/11\/\u56fe\u7247-90-768x195.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/11\/\u56fe\u7247-90.png 1050w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" 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