{"id":35393,"date":"2025-12-09T17:35:26","date_gmt":"2025-12-09T09:35:26","guid":{"rendered":"http:\/\/192.168.10.115\/?p=35393"},"modified":"2025-12-09T17:35:26","modified_gmt":"2025-12-09T09:35:26","slug":"2025-12-09-%e6%b8%85%e5%8d%8e%e5%b0%8f%e7%b1%b3%e6%9c%80%e6%96%b0dggt%ef%bc%9a0-4%e7%a7%92%e5%ae%8c%e6%88%904d%e8%87%aa%e9%a9%be%e9%ab%98%e6%96%af%e9%87%8d%e5%bb%ba%ef%bc%8c%e6%80%a7%e8%83%bd","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2025\/12\/09\/35393\/","title":{"rendered":"2025-12-09 \u6e05\u534e&amp;\u5c0f\u7c73\u6700\u65b0DGGT\uff1a0.4\u79d2\u5b8c\u62104D\u81ea\u9a7e\u9ad8\u65af\u91cd\u5efa\uff0c\u6027\u80fd\u63d0\u534750%\uff01"},"content":{"rendered":"\n<p>\u539f\u6587\u94fe\u63a5\uff1a<a href=\"https:\/\/mp.weixin.qq.com\/s\/kXJSc9X7eHX8XJM18GUtdg\">https:\/\/mp.weixin.qq.com\/s\/kXJSc9X7eHX8XJM18GUtdg<\/a><\/p>\n\n\n\n<p>\u6e05\u534e\u5927\u5b66\u4e0e\u5c0f\u7c73\u6c7d\u8f66\u8054\u5408\u63a8\u51fa DGGT\uff08Driving Gaussian Grounded Transformer\uff09\uff1a\u4e00\u4e2apose-free\u3001feed-forward\u76844D\u52a8\u6001\u9a7e\u9a76\u573a\u666f\u91cd\u5efa\u6846\u67b6\u3002<\/p>\n\n\n\n<p>DGGT \u53ea\u9700\u672a\u6807\u5b9a\u7684\u7a00\u758f\u56fe\u50cf\uff0c\u5355\u6b21\u524d\u5411\u5373\u53ef\u540c\u65f6\u8f93\u51fa\u76f8\u673a\u4f4d\u59ff\u3001\u6df1\u5ea6\u3001\u52a8\u6001\u5b9e\u4f8b\u4e0e\u57fa\u4e8e 3D Gaussian \u7684\u53ef\u7f16\u8f91\u573a\u666f\u8868\u793a\u3002\u6a21\u578b\u5728 Waymo \u4e0a\u8bad\u7ec3\uff0c\u5374\u80fd\u5728 nuScenes \u4e0e Argoverse2 \u4e0a\u5b9e\u73b0\u5f3a\u52b2\u7684\u96f6\u6837\u672c\u6cdb\u5316\u2014\u2014\u5728\u5173\u952e\u611f\u77e5\u6307\u6807\u4e0a\u76f8\u6bd4STORM\u63d0\u5347\u8d85\u8fc7 50%\u3002\u6b64\u5916\uff0c\u7cfb\u7edf\u901a\u8fc7lifespan head\u5efa\u6a21\u573a\u666f\u968f\u65f6\u95f4\u7684\u5916\u89c2\u6f14\u53d8\uff0c\u5e76\u914d\u5408\u5355\u6b65\u6269\u6563\u7cbe\u4fee\uff0c\u6709\u6548\u6291\u5236\u8fd0\u52a8\u63d2\u503c\u4f2a\u5f71\uff0c\u63d0\u5347\u65f6\u7a7a\u4e00\u81f4\u6027\u4e0e\u6e32\u67d3\u81ea\u7136\u5ea6\u3002<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u8bba\u6587\u6807\u9898\uff1aDGGT: Feedforward 4D Reconstruction of Dynamic Driving Scenes using Unposed Images<\/li>\n\n\n\n<li>\u5f00\u6e90\u94fe\u63a5\uff1ahttps:\/\/github.com\/xiaomi-research\/dggt<\/li>\n\n\n\n<li>\u9879\u76ee\u4e3b\u9875\uff1ahttps:\/\/xiaomi-research.github.io\/dggt\/<\/li>\n<\/ul>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"271\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-71-1024x271.png\" alt=\"\" class=\"wp-image-35394\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-71-1024x271.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-71-300x79.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-71-768x203.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-71.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u56fe1.\u5de6\uff1a\u4ece\u672a\u6807\u5b9a\u7a00\u758f\u56fe\u50cf\u57280.4 s\u5185\u91cd\u5efa\u52a8\u6001\u573a\u666f\uff0c\u5e76\u8f93\u51fa\u76f8\u673a\u59ff\u6001\u3001\u6df1\u5ea6\u3001\u52a8\u6001\u56fe\u30013D Gaussian\u8ffd\u8e2a\u7b49\u53ef\u7f16\u8f91\u8d44\u4ea7\uff1b\u53f3\uff1a\u5728\u901f\u5ea6\u4e0e\u7cbe\u5ea6\u4e0a\u76f8\u8f83\u524d\u5411\/\u4f18\u5316\u65b9\u6cd5\u5904\u4e8e\u66f4\u4f18\u4f4d\u7f6e<\/p>\n\n\n\n<p><strong>\u4eae\u70b9\u901f\u89c8<\/strong><\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u65e0\u9700\u5916\u53c2\uff08Pose-Free\uff09<\/strong>\uff1a \u5c06\u76f8\u673a\u4f4d\u59ff<strong>\u4ece\u8f93\u5165\u8f6c\u4e3a\u6a21\u578b\u8f93\u51fa<\/strong>\uff0c\u7aef\u5230\u7aef\u9884\u6d4b\u5185\u5916\u53c2\u5e76\u878d\u5165\u573a\u666f\u8868\u793a\uff0c\u6253\u7834\u8de8\u6570\u636e\u96c6\u90e8\u7f72\u7684\u6821\u51c6\u58c1\u5792\u3002<\/li>\n\n\n\n<li><strong>Feed-forward 4D\u8868\u793a<\/strong>\uff1a \u91c7\u7528\u591a\u5934\u8054\u5408\u9884\u6d4b\u7ed3\u6784\uff08\u76f8\u673a\u30014D Gaussian\u3001<strong>lifespan<\/strong>\u3001\u52a8\u6001\/\u8fd0\u52a8\u3001\u5929\u7a7a\u7b49\uff09\uff0c\u4e00\u6b21\u524d\u5411\u5373\u53ef\u5f97\u5230<strong>\u65f6\u7a7a\u4e00\u81f4<\/strong>\u7684\u53ef\u7f16\u8f91\u8868\u793a\u3002<\/li>\n\n\n\n<li><strong>\u8de8\u6570\u636e\u96c6\u96f6\u6837\u672c\u6cdb\u5316<\/strong>\uff1a \u4ec5\u5728 Waymo \u8bad\u7ec3\uff0c\u65e0\u9700\u5728\u76ee\u6807\u6570\u636e\u96c6\u4e0a\u5fae\u8c03\u5373\u53ef\u5728 nuScenes \u4e0e Argoverse2 \u4e0a\u83b7\u5f97\u4f18\u4e8eSOTA\u7684\u5b9a\u91cf\u4e0e\u5b9a\u6027\u7ed3\u679c\uff08LPIPS \u964d\u5e45 52%\u201361%\uff09\u3002<\/li>\n\n\n\n<li><strong>\u53ef\u7f16\u8f91\u6027\u5f3a<\/strong>\uff1a \u652f\u6301\u76f4\u63a5\u5728 Gaussian \u5c42\u9762\u6dfb\u52a0\/\u5220\u9664\/\u79fb\u52a8\u8f66\u8f86\u3001\u884c\u4eba\u7b49\u5b9e\u4f8b\uff0c\u6269\u6563\u7cbe\u4fee\u81ea\u52a8\u8865\u6d1e\uff0c\u8f93\u51fa\u53ef\u7528\u4e8e\u4eff\u771f\u4e0e\u6570\u636e\u5408\u6210\u3002<\/li>\n\n\n\n<li><strong>\u901f\u5ea6\u4e0e\u8d28\u91cf\u517c\u987e<\/strong>\uff1a\u5728Waymo\u4e0a20 \u5e27\/\u89c6\u89d2\uff0c\u5355\u573a\u666f\u7ea6 0.39 s\uff1bPSNR 27.41 \/ SSIM 0.846\uff0c\u4e0e\u4f18\u5316\u7c7b\u65b9\u6cd5\u76f8\u6bd4\u663e\u8457\u52a0\u901f\uff0c\u4e0e\u524d\u5411\u65b9\u6cd5\u76f8\u6bd4\u66f4\u9ad8\u4fdd\u771f\u3002<\/li>\n<\/ul>\n\n\n\n<p><strong>DGGT\u8be6\u89e3<\/strong><\/p>\n\n\n\n<p><strong>DGGT \u7684\u6838\u5fc3\u601d\u60f3\u662f<\/strong>\uff1a\u4e00\u6b21\u524d\u5411\u5c31\u9884\u6d4b\u51fa\u201c\u5b8c\u6574\u76844D\u573a\u666f\u72b6\u6001\u201d\uff0c\u5e76\u628a\u76f8\u673a\u4f4d\u59ff\u4ece\u524d\u63d0\u53d8\u6210\u7ed3\u679c\u3002\u8fd9\u4f7f\u5f97\u7cfb\u7edf\u65e0\u9700\u5916\u53c2\u6807\u5b9a\u5373\u53ef\u4ece\u7a00\u758f\u3001\u672a\u6807\u5b9a\u56fe\u50cf\u91cc\u6062\u590d\u52a8\u6001\u573a\u666f\uff0c\u800c\u4e14\u80fd\u81ea\u7136\u8de8\u6570\u636e\u96c6\u90e8\u7f72\u3002\u56fe1\u5c55\u793a\u4e86DGGT \u7684\u6574\u4f53\u80fd\u529b\u4e0e\u901f\u5ea6-\u7cbe\u5ea6\u4f4d\u7f6e\uff1a\u5728<strong>0.4 \u79d2<\/strong>\u91cf\u7ea7\u5b8c\u6210\u91cd\u5efa\u7684\u540c\u65f6\uff0cDGGT \u5728\u91cd\u5efa\u8d28\u91cf\u4e0a\u8d85\u8d8a\u4e00\u7cfb\u5217\u524d\u5411\u4e0e\u4f18\u5316\u65b9\u6cd5\uff0c\u5e76\u5c06<strong>\u76f8\u673a\u59ff\u6001\u3001\u6df1\u5ea6\u3001\u52a8\u6001\u5206\u5272\u30013D Gaussian\u3001\u8ffd\u8e2a<\/strong>\u7b49\u8f93\u51fa\u4e00\u5e76\u7ed9\u51fa\uff0c\u4fbf\u4e8e\u540e\u7eed<strong>\u5b9e\u4f8b\u7ea7\u573a\u666f\u7f16\u8f91<\/strong>\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"379\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-72-1024x379.png\" alt=\"\" class=\"wp-image-35395\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-72-1024x379.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-72-300x111.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-72-768x284.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-72.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u56fe2.DGGT \u6846\u67b6\u7ed3\u6784\u56fe ViT \u7f16\u7801\u878d\u5408DINO\u5148\u9a8c\uff0c\u8054\u5408\u76f8\u673a\/\u9ad8\u65af\/\u5bff\u547d\/\u52a8\u6001\/\u8fd0\u52a8\/\u5929\u7a7a\u516d\u4e2a\u9884\u6d4b\u5934\uff1b\u6e32\u67d3\u540e\u63a5\u5355\u6b65\u6269\u6563\u7cbe\u4fee\uff0c\u4e00\u6b21\u524d\u5411\u5b8c\u6210\u65f6\u7a7a\u4e00\u81f4\u91cd\u5efa\u3002<\/p>\n\n\n\n<p>\u5728<strong>\u7cfb\u7edf\u7ed3\u6784<\/strong>\u4e0a\uff08\u56fe2\uff09\uff0cDGGT \u91c7\u7528 ViT \u7f16\u7801\u5668\u878d\u5408 DINO \u5148\u9a8c\uff0c\u901a\u8fc7\u4ea4\u66ff\u6ce8\u610f\u529b\u5f97\u5230\u5171\u4eab\u7279\u5f81\uff0c\u518d\u7531\u591a\u4e2a\u9884\u6d4b\u5934\u5e76\u884c\u8f93\u51fa\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\uff081\uff09<strong>\u76f8\u673a\u5934<\/strong>\u4f30\u8ba1\u5404\u5e27\u5185\u5916\u53c2\uff1b<\/li>\n\n\n\n<li>\uff082\uff09<strong>Gaussian \u5934<\/strong>\u7ed9\u51fa\u9010\u50cf\u7d20 Gaussian \u53c2\u6570\uff08\u989c\u8272\/\u4f4d\u7f6e\/\u65cb\u8f6c\/\u5c3a\u5ea6\/\u4e0d\u900f\u660e\u5ea6\uff09\uff1b<\/li>\n\n\n\n<li>\uff083\uff09<strong>lifespan \u5934<\/strong>\u7528\u5bff\u547d\u53c2\u6570\u8c03\u5236\u65f6\u95f4\u7ef4\u5ea6\u53ef\u89c1\u6027\uff0c\u7cbe\u786e\u523b\u753b\u9759\u6001\u533a\u57df\u5728\u4e0d\u540c\u65f6\u95f4\u7684\u5916\u89c2\u53d8\u5316\uff1b<\/li>\n\n\n\n<li>\uff084\uff09<strong>\u52a8\u6001\u5934+\u8fd0\u52a8\u5934<\/strong>\u663e\u5f0f\u4f30\u8ba1\u52a8\u6001\u533a\u57df\u4e0e 3D \u8fd0\u52a8\u8f68\u8ff9\uff0c\u652f\u6301\u4efb\u610f\u65f6\u95f4\u70b9\u7684\u8fd0\u52a8\u63d2\u503c\uff1b<\/li>\n\n\n\n<li>\uff085\uff09<strong>\u5929\u7a7a\u5934<\/strong>\u7a33\u5b9a\u5efa\u6a21\u8fdc\u666f\u80cc\u666f\u3002\u6e32\u67d3\u540e\uff0c\u518d\u901a\u8fc7<strong>\u5355\u6b65\u6269\u6563\u7cbe\u4fee<\/strong>\u6291\u5236\u906e\u6321\/\u63d2\u503c\u4ea7\u751f\u7684\u4f2a\u5f71\u4e0e\u7ec6\u8282\u7f3a\u5931\u3002<\/li>\n<\/ul>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"500\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-73-1024x500.png\" alt=\"\" class=\"wp-image-35396\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-73-1024x500.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-73-300x146.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-73-768x375.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-73.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u88681. Waymo\u5b9a\u91cf\u7ed3\u679c DGGT\u65e0\u9700\u76f8\u673a\u4f4d\u59ff\u8f93\u5165\u7684\u540c\u65f6\uff0c\u5bf9\u573a\u666f\u4e2d\u52a8\u9759\u6001\u8fdb\u884c\u5224\u65ad\uff0c\u5728Waymo\u6570\u636e\u96c6\u4e0a\u83b7\u5f97\u66f4\u9ad8PSNR\/SSIM\u4e0e\u66f4\u4f4e\u6df1\u5ea6\u8bef\u5dee\uff0c\u5355\u573a\u666f\u63a8\u7406\u4ec5\u7ea60.4s<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"112\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-74-1024x112.png\" alt=\"\" class=\"wp-image-35397\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-74-1024x112.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-74-300x33.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-74-768x84.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-74.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u88682. \u5176\u4ed6\u6d88\u878d\u5b9e\u9a8c\u548c\u6307\u6807\u6d4b\u8bd5 \u6269\u6563\u6a21\u578b\u867d\u7136\u5728\u6027\u80fd\u4e0a\u63d0\u5347\u8f83\u5c0f\uff0c\u4f46\u662f\u751f\u6210\u7684\u7ed3\u679c\u89c6\u89c9\u6548\u679c\u66f4\u597d\uff0c\u66f4\u9002\u914d\u4e8e\u4e0b\u6e38\u4efb\u52a1\uff1b\u540c\u65f6DGGT\u5728Waymo\u4e0aEPE3D\u8fbe0.183 m<\/p>\n\n\n\n<p>\u5728Waymo\u6570\u636e\u96c6\u4e0a\u7684\u5b9a\u6027\u4e0e\u5b9a\u91cf\u8bc4\u4f30\uff08\u89c1\u88681\uff09\u8868\u660e\uff1a\u4ee5\u5f80\u7684\u524d\u9988\u5f0f\u9759\u6001\u91cd\u5efa\u65b9\u6cd5\uff08\u5982 MVSplat\u3001NoPoSplat\u3001DepthSplat\uff09\u5728\u5b58\u5728\u5927\u8303\u56f4\u8fd0\u52a8\u76ee\u6807\u7684\u573a\u666f\u4e2d\u96be\u4ee5\u7ef4\u6301\u65f6\u95f4\u4e00\u81f4\u6027\uff0c\u4e14\u4f1a\u4ea7\u751f\u660e\u663e\u7684\u9519\u914d\u4e0e\u4f2a\u5f71\uff1b\u800cSTORM\u867d\u7136\u901a\u8fc7\u524d\u9988\u5f0f\u5efa\u6a21\u7f13\u89e3\u4e86\u5bf9\u9010\u573a\u666f\u4f18\u5316\u7684\u4f9d\u8d56\uff0c\u4f46\u5728\u5904\u7406\u66f4\u957f\u7684\u65f6\u5e8f\u8de8\u5ea6\u6216\u66f4\u590d\u6742\u7684\u52a8\u6001\u884c\u4e3a\u65f6\u4ecd\u53ef\u80fd\u51fa\u73b0\u6027\u80fd\u9000\u5316\u3002\u76f8\u6bd4\u4e4b\u4e0b\uff0cDGGT\u80fd\u591f\u5728\u6e32\u67d3\u7ea7\u522b\u4e0a\u5b9e\u73b0\u5bf9\u9759\u6001\u4e0e\u52a8\u6001\u6210\u5206\u7684\u6709\u6548\u5206\u79bb\uff0c\u4fdd\u6301\u5e27\u95f4\u5916\u89c2\u4e0e\u51e0\u4f55\u7684\u4e00\u81f4\u6027\uff0c\u4ece\u800c\u663e\u8457\u63d0\u5347\u6574\u4f53\u89c6\u89c9\u8d28\u91cf\u4e0e\u91cd\u5efa\u7a33\u5b9a\u6027\u3002\u5728\u5b9a\u91cf\u6307\u6807\u4e0a\uff08\u88682\uff09\uff0cDGGT \u5728\u573a\u666f\u6d41\u4f30\u8ba1\u4e0a\u7684EPE_3D\u4e3a0.183 m\uff0c\u660e\u663e\u4f18\u4e8e\u591a\u79cd\u65e2\u6709\u65b9\u6cd5\uff0c\u8bc1\u660e\u4e86\u901a\u8fc7\u6e32\u67d3\u76d1\u7763\u5b66\u5f97\u7684\u7a20\u5bc6\u4e09\u7ef4\u5bf9\u5e94\u5177\u6709\u826f\u597d\u7684\u53ef\u9760\u6027\u4e0e\u7cbe\u5ea6\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"461\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-75-1024x461.png\" alt=\"\" class=\"wp-image-35398\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-75-1024x461.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-75-300x135.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-75-768x346.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-75.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u88683. \u96f6\u6837\u672c\u8de8\u5e93\u6cdb\u5316 \u4ec5\u7528Waymo\u8bad\u7ec3\uff0cDGGT\u5728nuScenes\/Argoverse2\u4e0a\u65e0\u9700\u5fae\u8c03\u5373\u663e\u8457\u4f18\u4e8eSTORM\uff1aLPIPS\u5206\u522b\u4e0b\u964d 61.4% \u4e0e 52.5%<\/p>\n\n\n\n<p>\u8de8\u6570\u636e\u96c6\u7684\u96f6\u6837\u672c\u6cdb\u5316\u80fd\u529b\u662f DGGT \u7684\u53e6\u4e00\u9879\u6838\u5fc3\u4f18\u52bf\u3002\u6a21\u578b\u4ec5\u5728Waymo\u4e0a\u8bad\u7ec3\uff0c\u4f46\u5728\u672a\u505a\u4efb\u4f55\u5fae\u8c03\u7684\u60c5\u51b5\u4e0b\uff0c\u5728nuScenes\u4e0eArgoverse2\u4e0a\u5747\u53d6\u5f97\u8d85\u8d8a\u73b0\u6709SOTA\u7684\u7ed3\u679c\uff08\u89c1\u88683\uff09\uff1a\u5982\u5728nuScenes\u4e0a LPIPS\u4ece0.394 \u964d\u81f30.152\uff08\u4e0b\u964d 61.4%\uff09\uff1b\u5728 Argoverse2\u4e0a\u4ece0.326\u964d\u81f3 0.155\uff08\u4e0b\u964d52.5%\uff09\u3002\u8fd9\u79cd\u8de8\u57df\u9c81\u68d2\u6027\u4e3b\u8981\u5f97\u76ca\u4e8eDGGT \u7684pose-free \u8bbe\u8ba1\uff1a\u5c06\u4f4d\u59ff\u4ece\u8f93\u5165\u8f6c\u4e3a\u6a21\u578b\u8f93\u51fa\uff0c\u51cf\u5c11\u4e86\u5bf9\u56fa\u5b9a\u62cd\u6444\u8f68\u8ff9\u4e0e\u76f8\u673a\u914d\u7f6e\u7684\u4f9d\u8d56\uff0c\u4ece\u800c\u964d\u4f4e\u4e86\u5bf9\u7279\u5b9a\u6570\u636e\u91c7\u96c6\u8bbe\u7f6e\u7684\u8fc7\u62df\u5408\u98ce\u9669\uff0c\u4f7f\u6a21\u578b\u5728\u4e0d\u540c\u4f20\u611f\u5668\u5e03\u7f6e\u4e0e\u884c\u9a76\u8def\u5f84\u4e0b\u4ecd\u80fd\u7ef4\u6301\u826f\u597d\u6027\u80fd\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"302\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-76-1024x302.png\" alt=\"\" class=\"wp-image-35399\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-76-1024x302.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-76-300x88.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-76-768x226.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-76.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u88684. \u8f93\u5165\u89c6\u89d2\u6570\u6d88\u878d \u5f53\u89c6\u89d2\u6570\u4ece 4\u21928\u219216 \u589e\u52a0\u65f6\uff0cDGGT\u7684\u91cd\u5efa\/NVS\u6307\u6807\u4fdd\u6301\u7a33\u5b9a\uff1bSTORM\u51fa\u73b0\u660e\u663e\u4e0b\u6ed1\uff0cDGGT\u66f4\u9002\u5408\u5927\u89c4\u6a21\u65e5\u5fd7\u5904\u7406<\/p>\n\n\n\n<p>\u5728\u53ef\u6269\u5c55\u6027\u65b9\u9762\uff0cDGGT \u80fd\u81ea\u7136\u652f\u6301<strong>\u4efb\u610f\u6570\u91cf\u7684\u8f93\u5165\u89c6\u89d2\u4e0e\u957f\u5e8f\u5217<\/strong>\u3002\u4ece\u88684\u53ef\u4ee5\u770b\u5230\uff0c\u5f53\u8f93\u5165\u89c6\u89d2\u4ece 4 \u2192 8 \u2192 16 \u6269\u589e\u65f6\uff0cDGGT \u7684<strong>\u91cd\u5efa\u4e0e\u65b0\u89c6\u89d2\u63d2\u503c<\/strong>\uff08NVS\uff09\u6307\u6807\u57fa\u672c\u4e0d\u53d8\uff0c\u800c\u5bf9\u6bd4\u65b9\u6cd5\u4f1a\u660e\u663e\u4e0b\u6ed1\u3002\u8fd9\u610f\u5473\u7740 DGGT\u00a0<strong>\u4e0d\u4ec5\u9002\u5408\u7814\u7a76\u573a\u666f<\/strong>\uff0c<strong>\u66f4\u9002\u5408\u5728\u5927\u89c4\u6a21\u8f93\u5165\u4e2d\u505a\u5de5\u7a0b\u7ea7\u9884\u5904\u7406\u4e0e\u6279\u91cf\u91cd\u5efa<\/strong>\uff0c\u89c6\u89d2\u53d8\u591a\u65f6\u4e0d\u9700\u8981\u989d\u5916\u6539\u6a21\u578b\u6216\u8c03\u53c2\u6570\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"392\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-77-1024x392.png\" alt=\"\" class=\"wp-image-35400\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-77-1024x392.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-77-300x115.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-77-768x294.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-77.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u56fe3. Lifespan head \u4ef7\u503c \u53bb\u9664lifespan\u540ePSNR\u4e0b\u964d3.2 dB\uff0c\u9759\u6001\u533a\u57df\u7684\u5149\u7167\/\u53cd\u5c04\u65f6\u95f4\u53d8\u5316\u96be\u4ee5\u523b\u753b\uff0c\u65f6\u7a7a\u4e00\u81f4\u6027\u53d7\u635f<\/p>\n\n\n\n<p>Lifespan head \u7684\u4f5c\u7528\u5728\u56fe3\u4e2d\u7684\u6d88\u878d\u5bf9\u6bd4\u975e\u5e38\u76f4\u63a5\uff1a<strong>\u53bb\u6389 lifespan \u540e\uff0cPSNR \u4ece 27.41 \u964d\u81f3 24.21<\/strong>\uff0c\u539f\u56e0\u5728\u4e8e\u7cfb\u7edf\u5931\u53bb\u4e86\u5bf9<strong>\u9759\u6001\u533a\u57df\u5728\u65f6\u95f4\u7ef4\u5ea6\u4e0a\u7684\u7ec6\u5fae\u53d8\u5316<\/strong>\uff08\u5982\u4eae\u5ea6\u3001\u53cd\u5c04\u3001\u9634\u5f71\u8fc7\u6e21\u7b49\uff09\u7684\u5efa\u6a21\u80fd\u529b\u3002\u4e16\u754c\u5750\u6807\u9759\u6001\u7684\u5730\u65b9\u4e00\u65e6\u65e0\u6cd5\u968f\u65f6\u95f4\u6b63\u786e\u66f4\u65b0\uff0c\u5c31\u4f1a\u7834\u574f\u6e32\u67d3\u7684<strong>\u65f6\u7a7a\u4e00\u81f4\u6027\u4e0e\u771f\u5b9e\u611f<\/strong>\uff0c\u4ece\u800c\u663e\u8457\u62c9\u4f4e\u6700\u7ec8\u753b\u9762\u8d28\u91cf\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"367\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-78-1024x367.png\" alt=\"\" class=\"wp-image-35401\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-78-1024x367.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-78-300x108.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-78-768x275.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-78.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u56fe4. 3D\u8ffd\u8e2a\u53ef\u89c6\u5316 \u76f8\u90bb\u65f6\u523b\u7b49\u8272\u70b9\u4e00\u4e00\u5bf9\u5e94\uff0c\u5c55\u73b0\u53ef\u9760\u7684\u7a20\u5bc6\u65f6\u7a7a\u5173\u8054<\/p>\n\n\n\n<p>Motion head\u8d1f\u8d23\u628a\u52a8\u6001\u50cf\u7d20\u5728\u65f6\u95f4\u4e0a\u5bf9\u9f50\uff08\u56fe4\uff09\uff1a\u5b83\u76f4\u63a5\u9884\u6d4b\u50cf\u7d20\u7ea7\u7684 3D \u4f4d\u79fb\uff0c\u7528\u4e8e\u5c06\u540c\u4e00\u7269\u4f53\u5728\u76f8\u90bb\u5e27\u4e2d\u5bf9\u9f50\u5e76\u505a\u63d2\u503c\u3002\u4e5f\u5c31\u662f\u8bf4\uff0c\u6a21\u578b\u4e0d\u53ea\u662f\u9884\u6d4b\u9759\u6001\u5f62\u72b6\uff0c\u800c\u662f\u5b66\u4f1a\u4e86\u50cf\u7d20\u5230\u50cf\u7d20\u7684\u65f6\u5e8f\u5bf9\u5e94\uff0c\u4ece\u800c\u5728\u751f\u6210\u4e2d\u95f4\u5e27\u6216\u6267\u884c\u7f16\u8f91\u65f6\u663e\u8457\u51cf\u5c11\u9519\u914d\u4e0e\u62d6\u5f71\uff0c\u4fdd\u8bc1\u8fd0\u52a8\u7269\u4f53\u5728\u65f6\u95f4\u4e0a\u7684\u8fde\u7eed\u6027\u4e0e\u89c6\u89c9\u81ea\u7136\u5ea6\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"341\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-79-1024x341.png\" alt=\"\" class=\"wp-image-35402\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-79-1024x341.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-79-300x100.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-79-768x256.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2025\/12\/\u56fe\u7247-79.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u56fe5. \u5b9e\u4f8b\u7ea7\u7f16\u8f91\uff1a\u52a0\/\u5220\/\u79fb\u52a8\u8f66\u8f86\u3001\u8de8\u573a\u666f\u63d2\u5165\u65b0\u8f66\u4e0e\u9a91\u884c\u8005 \u5728Gaussian\u5c42\u9762\u5bf9\u76ee\u6807\u8fdb\u884c\u52a0\u3001\u5220\u3001\u5e73\u79fb\u64cd\u4f5c\uff1b\u6269\u6563\u7cbe\u4fee\u81ea\u52a8\u8865\u6d1e\u4e0e\u5e73\u6ed1\u8fb9\u754c\uff0c\u5408\u6210\u7ed3\u679c\u81ea\u7136\u53ef\u4fe1\uff0c\u63d0\u5347\u53ef\u7528\u6027\u4e0e\u89c2\u611f\u3002<\/p>\n\n\n\n<p>\u5728\u573a\u666f\u7f16\u8f91\u4e0e\u6269\u6563\u7cbe\u4fee\u65b9\u9762\uff08\u56fe5\uff09\uff0cDGGT \u76f4\u63a5\u5728 3D Gaussian 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