{"id":36349,"date":"2026-01-09T17:31:03","date_gmt":"2026-01-09T09:31:03","guid":{"rendered":"http:\/\/192.168.10.115\/?p=36349"},"modified":"2026-01-09T17:31:03","modified_gmt":"2026-01-09T09:31:03","slug":"2026-01-09-talo-%e6%94%af%e6%8c%81%e4%bb%bb%e6%84%8f3d%e5%9f%ba%e7%a1%80%e6%a8%a1%e5%9e%8b%e3%80%81%e4%bb%bb%e6%84%8f%e7%9b%b8%e6%9c%ba%e9%85%8d%e7%bd%ae%e7%9a%84%e5%ae%a4%e5%a4%96%e9%87%8d%e5%bb%ba","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2026\/01\/09\/36349\/","title":{"rendered":"2026-01-09 TALO: \u652f\u6301\u4efb\u610f3D\u57fa\u7840\u6a21\u578b\u3001\u4efb\u610f\u76f8\u673a\u914d\u7f6e\u7684\u5ba4\u5916\u91cd\u5efa\u7cfb\u7edf"},"content":{"rendered":"\n

\u539f\u6587\u94fe\u63a5\uff1ahttps:\/\/mp.weixin.qq.com\/s\/66iH_Qoyj1owhMK_kzWZIg<\/a><\/p>\n\n\n\n

3D\u89c6\u89c9\u57fa\u7840\u6a21\u578b\uff1a\u4ece\u79bb\u7ebf\u91cd\u5efa\u5230\u5728\u7ebf\u589e\u91cf\u91cd\u5efa<\/strong><\/p>\n\n\n\n

\u6700\u8fd1\uff0c3D\u89c6\u89c9\u57fa\u7840\u6a21\u578b<\/strong>\u7684\u51fa\u73b0\uff0c\u5982 VGGT\u3001\u03c0\u00b3\u3001MapAnything\uff0c\u6807\u5fd7\u7740\u4e09\u7ef4\u91cd\u5efa\u9886\u57df\u8fc8\u5165\u4e86\u4e00\u79cd\u7aef\u5230\u7aef\u3001\u6570\u636e\u9a71\u52a8\u7684\u65b0\u8303\u5f0f\u3002\u8fd9\u7c7b\u6a21\u578b\u80fd\u591f\u5728\u4e00\u6b21\u524d\u5411\u63a8\u7406\u4e2d\uff0c\u76f4\u63a5\u4ece\u8f93\u5165\u56fe\u50cf\u9884\u6d4b\u76f8\u673a\u5185\u53c2\u3001\u76f8\u673a\u4f4d\u59ff\u4ee5\u53ca\u7a20\u5bc6\u51e0\u4f55\u7ed3\u6784\uff0c\u6781\u5927\u5730\u7b80\u5316\u4e86\u4f20\u7edf\u4e09\u7ef4\u91cd\u5efa\u6d41\u7a0b\uff0c\u5e76\u5c55\u73b0\u51fa\u5f3a\u5927\u7684\u8de8\u573a\u666f\u6cdb\u5316\u80fd\u529b\u3002\u57fa\u7840\u6a21\u578b\u7684\u6210\u529f\u5efa\u7acb\u5728\u5927\u89c4\u6a21\u3001\u6709\u6807\u6ce8\u76843D\u6570\u636e\u96c6\u4ee5\u53ca\u5728\u5176\u4e0a\u8bad\u7ec3\u7684\u5927\u578b Transformer \u67b6\u6784\uff0c\u8fd9\u4f7f\u5f97\u6a21\u578b\u80fd\u591f\u540c\u65f6\u5b66\u4e60\u591a\u89c6\u51e0\u4f55\u3001\u89c6\u89d2\u5173\u7cfb\u4ee5\u53ca\u573a\u666f\u7ed3\u6784\u5148\u9a8c\u3002<\/p>\n\n\n\n

\u7136\u800c\uff0c\u73b0\u6709\u7684\u5927\u591a\u6570\u57fa\u7840\u6a21\u578b\u4e3b\u8981\u88ab\u8bbe\u8ba1\u7528\u4e8e\u79bb\u7ebf\u573a\u666f\u91cd\u5efa<\/strong>\uff0c\u5373\u5728\u63a8\u7406\u9636\u6bb5\u53ef\u4ee5\u4e00\u6b21\u6027\u8bbf\u95ee\u5b8c\u6574\u7684\u56fe\u50cf\u5e8f\u5217<\/strong>\u3002\u800c\u5728\u81ea\u52a8\u9a7e\u9a76\u3001\u673a\u5668\u4eba\u64cd\u4f5c\u7b49\u73b0\u5b9e\u5e94\u7528\u573a\u666f\u4e2d\uff0c\u7cfb\u7edf\u901a\u5e38\u9700\u8981\u5177\u5907\u5728\u7ebf\u91cd\u5efa\u80fd\u529b<\/strong>\uff1a\u6a21\u578b\u5e94\u5f53\u80fd\u591f\u968f\u7740\u65b0\u6570\u636e\u7684\u5230\u6765\uff0c\u589e\u91cf\u5f0f\u5730\u91cd\u5efa\u65b0\u533a\u57df<\/strong>\uff0c\u800c\u975e\u5728\u83b7\u53d6\u5168\u90e8\u56fe\u50cf\u540e\u518d\u7edf\u4e00\u5904\u7406\u3002\u5c3d\u7ba1\u5df2\u6709\u5c11\u6570\u5de5\u4f5c\u5982 CUT3R \u5c1d\u8bd5\u5728\u6a21\u578b\u5c42\u9762\u76f4\u63a5\u652f\u6301\u5728\u7ebf\u589e\u91cf\u5f0f\u91cd\u5efa\uff0c\u4f46\u5b9e\u9a8c\u7ed3\u679c\u8868\u660e\uff0c\u5f53\u5e8f\u5217\u957f\u5ea6\u4e0d\u65ad\u589e\u52a0\u65f6\uff0c\u5176\u7a33\u5b9a\u6027\u4f1a\u663e\u8457\u9000\u5316\uff0c\u8fd9\u4f7f\u5176\u96be\u4ee5\u5e94\u5bf9\u5927\u89c4\u6a21\u7684\u5ba4\u5916\u771f\u5b9e\u573a\u666f\u3002\u56e0\u6b64\uff0c\u5982\u4f55\u5c06\u901a\u7528\u7684\u57fa\u7840\u6a21\u578b\u6269\u5c55\u4e3a\u9c81\u68d2\u7684\u5728\u7ebf\u589e\u91cf\u91cd\u5efa\u7cfb\u7edf<\/strong>\uff0c\u6210\u4e3a\u5f53\u524d\u7814\u7a76\u4e2d\u7684\u4e00\u4e2a\u5173\u952e\u95ee\u9898\u3002<\/p>\n\n\n\n

\u73b0\u6709\u5de5\u4f5c\u603b\u7ed3\uff1a\u4ece Sim3 \u5bf9\u9f50\u5230 SL4 \u5bf9\u9f50<\/strong><\/p>\n\n\n\n

\u4e00\u79cd\u6700\u76f4\u89c2\u7684\u601d\u8def\u662f\uff1a\u5c06\u8fde\u7eed\u957f\u5e8f\u5217\u6309\u7167\u56fa\u5b9a\u95f4\u9694\u5212\u5206\u4e3a\u5b50\u5730\u56fe<\/strong>\uff0c\u5e76\u5bf9\u6bcf\u4e2a\u5b50\u5730\u56fe\u5206\u522b\u4f7f\u7528\u57fa\u7840\u6a21\u578b\u8fdb\u884c\u63a8\u7406\u5e76\u5bf9\u9f50\u3002\u7136\u800c\u8fd9\u4e00\u5bf9\u9f50\u8fc7\u7a0b\u5e76\u4e0d\u7b80\u5355\u3002\u7531\u4e8e\u5404\u4e2a\u5b50\u5730\u56fe\u662f\u72ec\u7acb\u9884\u6d4b\u7684\uff0c\u5f53\u524d\u57fa\u7840\u6a21\u578b\u96be\u4ee5\u5728\u4e0d\u540c\u5b50\u5730\u56fe\u4e4b\u95f4\u5929\u7136\u5730\u4fdd\u6301\u4e00\u81f4\u6027\uff0c\u56e0\u6b64\u5fc5\u987b\u6709\u9488\u5bf9\u6027\u5730\u8bbe\u8ba1\u5b50\u5730\u56fe\u5bf9\u9f50\u673a\u5236\u3002VGGT-Long<\/strong> \u548c VGGT-SLAM<\/strong> \u662f\u6700\u65e9\u7cfb\u7edf\u6027\u63a2\u7d22\u8fd9\u4e00\u65b9\u5411\u7684\u4e24\u9879\u5de5\u4f5c\u3002\u4e8c\u8005\u5747\u91c7\u7528\u5982\u4e0b\u601d\u8def\uff1a\u5728\u76f8\u90bb\u5b50\u5730\u56fe\u7684\u91cd\u53e0\u533a\u57df\u5185\uff0c\u5bf9\u4e24\u4e2a\u5b50\u5730\u56fe\u5206\u522b\u9884\u6d4b\u5f97\u5230\u7684\u70b9\u4e91\u6c42\u89e3\u4e00\u4e2a\u4e09\u7ef4\u7ebf\u6027\u53d8\u6362<\/strong>\uff0c\u901a\u8fc7\u5bf9\u9f50\u91cd\u53e0\u533a\u57df\u7684\u70b9\u4e91\u6765\u5b9e\u73b0\u5b50\u5730\u56fe\u4e4b\u95f4\u7684\u4e00\u81f4\u6027\uff1b\u5176\u4e3b\u8981\u5dee\u5f02\u5728\u4e8e\u6240\u91c7\u7528\u7684\u4e09\u7ef4\u7ebf\u6027\u53d8\u6362\u6a21\u578b\u4e0d\u540c\u3002<\/p>\n\n\n\n

VGGT-Long \u91c7\u7528 Sim(3)<\/strong>\uff08Similarity Transform\uff09\u5bf9\u9f50\u7b56\u7565\u3002Sim(3) \u5177\u67097\u4e2a\u81ea\u7531\u5ea6\uff0c\u5728\u4fdd\u6301\u89d2\u5ea6\u4e0e\u5f62\u72b6\u6bd4\u4f8b\u4e0d\u53d8\u7684\u540c\u65f6\uff0c\u4ec5\u5141\u8bb8\u6574\u4f53\u5c3a\u5ea6\u7f29\u653e\uff0c\u56e0\u6b64\u5177\u6709\u8f83\u597d\u7684\u7a33\u5b9a\u6027\u3002VGGT-SLAM \u8fdb\u4e00\u6b65\u89c2\u5bdf\u5230\uff0c\u57fa\u7840\u6a21\u578b\u5728\u4e0d\u540c\u5b50\u5730\u56fe\u95f4\u5f80\u5f80\u4f1a\u9884\u6d4b\u51fa\u4e0d\u4e00\u81f4\u7684\u76f8\u673a\u5185\u53c2\uff0c\u8fd9\u4f7f\u5f97 Sim(3) \u96be\u4ee5\u5b9e\u73b0\u7cbe\u786e\u7684\u51e0\u4f55\u5bf9\u9f50\u3002\u4e3a\u6b64\uff0cVGGT-SLAM \u5c06\u5bf9\u9f50\u7a7a\u95f4\u4ece Sim(3) \u6269\u5c55\u81f3 SL(4)<\/strong>\u3002SL(4) \u662f\u4e09\u7ef4\u6295\u5f71\u53d8\u6362\uff083D Projective Transform\uff09\u7684\u4e00\u4e2a\u5b50\u96c6\uff0c\u62e5\u670915\u4e2a\u81ea\u7531\u5ea6\uff0c\u4e0d\u4fdd\u6301\u89d2\u5ea6\u6216\u5f62\u72b6\u4e0d\u53d8\uff0c\u80fd\u591f\u5efa\u6a21\u66f4\u4e3a\u590d\u6742\u751a\u81f3\u9ad8\u5ea6\u975e\u521a\u6027\u7684\u51e0\u4f55\u7578\u53d8\uff0c\u56e0\u6b64\u5177\u6709\u66f4\u5f3a\u7684\u8868\u8fbe\u80fd\u529b\uff0c\u4f46\u4e5f\u66f4\u5bb9\u6613\u5f15\u5165\u6570\u503c\u4e0d\u7a33\u5b9a\u6027\u3002<\/p>\n\n\n\n

\u5b9e\u9a8c\u7ed3\u679c\u8868\u660e\uff0c\u5728\u5ba4\u5916\u591a\u76f8\u673a\u8bbe\u7f6e\u4e0b\uff0cSL(4) \u5bf9\u9f50\u65b9\u5f0f\u9ad8\u5ea6\u8106\u5f31\uff1a\u5728\u8de8\u591a\u4e2a\u6570\u636e\u96c6\u548c\u57fa\u7840\u6a21\u578b\u7684\u7cfb\u7edf\u6027\u8bc4\u6d4b\u4e2d\uff0c\u8d85\u8fc760%\u7684\u573a\u666f\u91cd\u5efa\u5931\u8d25<\/strong>\u3002\u76f8\u6bd4\u4e4b\u4e0b\uff0cSim(3) \u5728\u6570\u503c\u4e0a\u867d\u7136\u66f4\u4e3a\u7a33\u5b9a\u3001\u4e0d\u6613\u51fa\u73b0\u707e\u96be\u6027\u5931\u8d25\uff0c\u4f46\u4ecd\u7136\u9762\u4e34\u660e\u663e\u7684\u8f68\u8ff9\u6f02\u79fb<\/strong>\u548c\u51e0\u4f55\u4f2a\u5f71<\/strong>\uff08\u4f8b\u5982 Duplicated-layer Surface \u73b0\u8c61\u7b49\uff09\u3002<\/p>\n\n\n\n

\u5c40\u9650\u6027\u5206\u6790<\/strong><\/p>\n\n\n\n

\u901a\u8fc7\u7cfb\u7edf\u5206\u6790\uff0c\u672c\u6587\u603b\u7ed3\u4e86\u73b0\u6709\u57fa\u4e8e\u5168\u5c40\u7ebf\u6027\u5bf9\u9f50\u65b9\u6cd5\u7684\u4e09\u9879\u6839\u672c\u6027\u5c40\u9650\u3002<\/p>\n\n\n\n

    \n
  1. \u8fd9\u7c7b\u65b9\u6cd5\u9690\u542b\u5730\u5047\u8bbe\uff1a\u4e0d\u540c\u5b50\u5730\u56fe\u4e4b\u95f4\u7684\u51e0\u4f55\u5dee\u5f02\u5728\u7a7a\u95f4\u4e0a\u662f\u5168\u5c40\u4e00\u81f4<\/strong>\u7684\uff0c\u56e0\u800c\u53ef\u4ee5\u901a\u8fc7\u4e00\u4e2a\u5355\u4e00\u7684\u5168\u5c40\u7ebf\u6027\u53d8\u6362<\/strong>\u6765\u8fdb\u884c\u5bf9\u9f50\u3002\u7136\u800c\uff0c\u5728\u771f\u5b9e\u7684\u6237\u5916\u573a\u666f\u4e2d\uff0c\u8fd9\u4e00\u5047\u8bbe\u5f80\u5f80\u96be\u4ee5\u6210\u7acb\u3002\u5c24\u5176\u662f\u5728\u591a\u76f8\u673a\u914d\u7f6e\u548c\u8f83\u5c0f\u5b50\u5730\u56fe\u89c4\u6a21\u4e0b\uff0c\u5b50\u5730\u56fe\u4e4b\u95f4\u7684\u51e0\u4f55\u8bef\u5dee\u901a\u5e38\u968f\u7a7a\u95f4\u4f4d\u7f6e\u53d1\u751f\u53d8\u5316<\/strong>\u3002\u5728\u8fd9\u79cd\u60c5\u51b5\u4e0b\uff0c\u65e0\u8bba\u662f Sim(3) \u8fd8\u662f SL(4)\uff0c\u5f3a\u884c\u65bd\u52a0\u4e00\u4e2a\u5168\u5c40\u7ebf\u6027\u53d8\u6362\uff0c\u90fd\u4f1a\u4e0d\u53ef\u907f\u514d\u5730\u5728\u67d0\u4e9b\u533a\u57df\u8fc7\u62df\u5408\u3001\u800c\u5728\u53e6\u4e00\u4e9b\u533a\u57df\u7559\u4e0b\u660e\u663e\u6b8b\u5dee\uff0c\u8fd9\u5b9e\u9645\u4e0a\u662f\u727a\u7272\u8f68\u8ff9\u7cbe\u5ea6\u6765\u8865\u507f\u5c40\u90e8\u51e0\u4f55\u4e0d\u4e00\u81f4\u6027\u3002<\/li>\n\n\n\n
  2. \u73b0\u6709\u65b9\u6cd5\u4ec5\u5728\u76f8\u90bb\u5b50\u5730\u56fe\u4e4b\u95f4\u6267\u884c\u4e24\u4e24\u5bf9\u9f50<\/strong>\uff0c\u8fd9\u53ea\u80fd\u4fdd\u8bc1\u77ed\u671f\u6700\u4f18<\/strong>\u3002\u5728\u89e6\u53d1\u56de\u73af\u4e4b\u524d\uff0c\u6765\u81ea\u975e\u76f8\u90bb\u5b50\u5730\u56fe\u7684\u4fe1\u606f\u5b8c\u5168\u65e0\u6cd5\u88ab\u5229\u7528\uff0c\u8fd9\u9650\u5236\u4e86\u7cfb\u7edf\u5b9e\u73b0\u5168\u5c40\u4e00\u81f4\u6027\u7684\u80fd\u529b\u3002<\/li>\n\n\n\n
  3. SL(4) \u7531\u4e8e\u5176\u6b20\u7ea6\u675f\u7684\u9ad8\u81ea\u7531\u5ea6\u7279\u6027\uff0c\u5bf9\u57fa\u7840\u6a21\u578b\u9884\u6d4b\u51e0\u4f55\u4e2d\u7684\u566a\u58f0\u6781\u4e3a\u654f\u611f<\/strong>\uff0c\u6613\u4ea7\u751f\u9000\u5316\u89e3<\/strong>\uff0c\u4f8b\u5982\u5f02\u5e38\u7684\u76f8\u673a\u4f4d\u59ff\u548c\u51e0\u4f55\u7ed3\u6784\u3002<\/li>\n<\/ol>\n\n\n\n
    \"\"<\/figure>\n\n\n\n

    \u672c\u6587\u65b9\u6cd5\u53ca\u8d21\u732e<\/strong><\/p>\n\n\n\n

    \u4e3a\u4e86\u89e3\u51b3\u4e0a\u8ff0\u95ee\u9898\uff0c\u672c\u6587\u63d0\u51fa\u4e00\u79cd\u5373\u63d2\u5373\u7528<\/strong>\u7684\u5bf9\u9f50\u6846\u67b6\u00a0TALO<\/strong>\uff0c\u65e8\u5728\u6269\u5c55\u901a\u7528\u57fa\u7840\u6a21\u578b\u5b9e\u73b0\u5168\u5c40\u4e00\u81f4\u7684\u5728\u7ebf\u589e\u91cf\u91cd\u5efa\u3002TALO \u901a\u8fc7\u5f15\u5165\u5728\u7a7a\u95f4\u4e0a\u5747\u5300\u5206\u5e03\u3001\u5728\u65f6\u95f4\u4e0a\u5168\u5c40\u4f20\u64ad\u7684\u7a00\u758f\u63a7\u5236\u70b9\uff0c\u8de8\u5b50\u5730\u56fe\u7d2f\u79ef\u5e76\u878d\u5408\u591a\u89c6\u89d2\u89c2\u6d4b\uff0c\u7ed3\u5408\u8584\u677f\u6837\u6761\uff08Thin Plate Spline\uff0cTPS\uff09\u53d8\u6362\u6a21\u578b\uff0c\u5b9e\u73b0\u5bf9\u5b50\u5730\u56fe\u7cbe\u7ec6\u4e14\u7a7a\u95f4\u81ea\u9002\u5e94\u7684\u51e0\u4f55\u5bf9\u9f50\uff0c\u663e\u8457\u589e\u5f3a\u5168\u5c40\u4e00\u81f4\u6027\u3002\u4e0e\u6b64\u540c\u65f6\uff0cTALO\u91c7\u7528\u4e00\u79cd\u70b9\u4e91\u65e0\u5173\u7684\u5b50\u5730\u56fe\u6ce8\u518c\u7b56\u7565\uff1a\u4e0d\u4f9d\u8d56\u566a\u58f0\u8f83\u5927\u7684\u70b9\u4e91\uff0c\u800c\u662f\u901a\u8fc7\u5bf9\u91cd\u53e0\u5e27\u4e4b\u95f4\u7684\u76f8\u5bf9\u76f8\u673a\u4f4d\u59ff\u8fdb\u884c\u5e73\u5747\u6765\u5bf9\u9f50\u5b50\u5730\u56fe\u95f4\u7684\u5750\u6807\u7cfb\uff0c\u4ece\u800c\u83b7\u5f97\u5bf9\u57fa\u7840\u6a21\u578b\u9884\u6d4b\u7684\u51e0\u4f55\u566a\u58f0\u5177\u6709\u5929\u7136\u9c81\u68d2\u6027\u7684\u8f68\u8ff9\u4f30\u8ba1\u3002<\/p>\n\n\n\n

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

    \u672c\u6587\u7684\u4e3b\u8981\u8d21\u732e<\/strong>\u603b\u7ed3\u5982\u4e0b\uff1a<\/p>\n\n\n\n

      \n
    • \u672c\u6587\u5bf9\u73b0\u6709\u57fa\u7840\u6a21\u578b\u5bf9\u9f50\u7b56\u7565\u8fdb\u884c\u4e86\u7cfb\u7edf\u6027\u5206\u6790\uff0c\u63ed\u793a\u4e86\u5176\u5728\u5047\u8bbe\u5408\u7406\u6027\u3001\u5bf9\u9f50\u4f5c\u7528\u8303\u56f4\u4ee5\u53ca\u566a\u58f0\u9c81\u68d2\u6027\u65b9\u9762\u7684\u6839\u672c\u5c40\u9650\u3002<\/li>\n\n\n\n
    • \u672c\u6587\u63d0\u51fa\u4e86\u4e00\u79cd\u57fa\u4e8e\u5168\u5c40\u63a7\u5236\u70b9\u4f20\u64ad\u4e0e\u8584\u677f\u6837\u6761\u53d8\u6362\u7684\u7cbe\u7ec6\u51e0\u4f55\u5bf9\u9f50\u7b56\u7565\uff0c\u4ee5\u53ca\u4e00\u79cd\u57fa\u4e8e\u91cd\u53e0\u76f8\u673a\u4f4d\u59ff\u5e73\u5747\u7684\u9c81\u68d2\u5b50\u5730\u56fe\u6ce8\u518c\u7b56\u7565\uff0c\u4ece\u800c\u5b9e\u73b0\u5168\u5c40\u4e00\u81f4\u7684\u5728\u7ebf\u589e\u91cf\u91cd\u5efa\u3002<\/li>\n\n\n\n
    • \u672c\u6587\u6784\u5efa\u4e86\u4e00\u4e2a\u5373\u63d2\u5373\u7528\u7684\u57fa\u7840\u6a21\u578b\u5bf9\u9f50\u7cfb\u7edf TALO\uff0c\u53ef\u65e0\u7f1d\u652f\u6301\u591a\u79cd\u57fa\u7840\u6a21\u578b\uff08\u5982 VGGT\u3001\u03c0\u00b3\u3001MapAnything\uff09\u4ee5\u53ca\u4efb\u610f\u76f8\u673a\u914d\u7f6e\uff08\u5982\u5355\u76ee\u6216\u73af\u89c6\uff09\u3002<\/li>\n\n\n\n
    • \u5728\u591a\u4e2a\u6570\u636e\u96c6\u3001\u57fa\u7840\u6a21\u578b\u548c\u76f8\u673a\u8bbe\u7f6e\u4e0b\u7684\u5927\u91cf\u5b9e\u9a8c\u7ed3\u679c\u8868\u660e\uff0cTALO \u80fd\u591f\u7a33\u5b9a\u5730\u4ea7\u751f\u66f4\u4e00\u81f4\u7684\u51e0\u4f55\u7ed3\u6784\u548c\u66f4\u4f4e\u7684\u8f68\u8ff9\u8bef\u5dee\uff0c\u5145\u5206\u4f53\u73b0\u4e86\u5176\u9c81\u68d2\u6027\u4e0e\u901a\u7528\u6027\u3002<\/li>\n<\/ul>\n\n\n\n

      \u6838\u5fc3\u6a21\u57571\uff1a\u57fa\u4e8e\u91cd\u53e0\u76f8\u673a\u4f4d\u59ff\u5e73\u5747\u7684\u9c81\u68d2\u5b50\u5730\u56fe\u6ce8\u518c<\/strong><\/p>\n\n\n\n

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

      \u6838\u5fc3\u6a21\u57572\uff1a\u63a7\u5236\u70b9\u7684\u6784\u9020\u4e0e\u5168\u5c40\u4f20\u64ad<\/strong><\/p>\n\n\n\n

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

      \u6838\u5fc3\u6a21\u57573\uff1a\u57fa\u4e8e TPS \u7684\u7cbe\u7ec6\u51e0\u4f55\u5bf9\u9f50<\/strong><\/p>\n\n\n\n

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

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

      \u6211\u4eec\u5728 Waymo<\/strong> \u548c nuScenes<\/strong> \u4e24\u4e2a\u4ee3\u8868\u6027\u7684\u81ea\u52a8\u9a7e\u9a76\u6570\u636e\u96c6\u4e0a\uff0c\u5bf9 TALO \u4e0e VGGT-Long\u3001VGGT-SLAM \u8fdb\u884c\u4e86\u7cfb\u7edf\u6027\u7684\u5bf9\u6bd4\u5b9e\u9a8c\u3002\u7531\u4e8e\u540e\u4e24\u8005\u5747\u4ec5\u9488\u5bf9\u5355\u76ee\u89c6\u9891\u8bbe\u8ba1\uff0c\u4e14\u4ec5\u4ee5 VGGT \u4f5c\u4e3a\u57fa\u7840\u6a21\u578b\uff0c\u6211\u4eec\u57fa\u4e8e\u5176\u5b98\u65b9\u4ee3\u7801\u5728\u7edf\u4e00\u7684\u5b9e\u9a8c\u6846\u67b6\u4e0b\u5bf9\u4e8c\u8005\u8fdb\u884c\u4e86\u96c6\u6210\uff0c\u5e76\u91c7\u7528\u5b8c\u5168\u4e00\u81f4\u7684\u540e\u7aef\u4f18\u5316\u548c\u56de\u73af\u673a\u5236\u4ee5\u53ca\u76f8\u540c\u7684\u5b9e\u9a8c\u8bbe\u7f6e\u3002<\/p>\n\n\n\n

      \u540c\u65f6\uff0c\u6211\u4eec\u5c06\u8be5\u7ba1\u7ebf\u6269\u5c55\u81f3\u591a\u76f8\u673a\u5e8f\u5217\uff0c\u5e76\u652f\u6301\u5305\u62ec \u03c0\u00b3 \u548c MapAnything \u5728\u5185\u7684\u5176\u4ed63D\u89c6\u89c9\u57fa\u7840\u6a21\u578b\u3002\u4e0a\u8ff0\u5b9e\u73b0\u4f7f\u6211\u4eec\u80fd\u591f\u5728\u4e0d\u540c\u6570\u636e\u96c6\u548c\u4e0d\u540c\u57fa\u7840\u6a21\u578b\u4e4b\u95f4\u5bf9\u5b50\u5730\u56fe\u5bf9\u9f50\u884c\u4e3a\u8fdb\u884c\u6e05\u6670\u53ef\u63a7\u7684\u5bf9\u6bd4\u7814\u7a76\u3002<\/p>\n\n\n\n

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

      \u76f8\u673a\u8f68\u8ff9\u7cbe\u5ea6\u8bc4\u4f30\u7ed3\u679c\u5982\u88681\u548c\u88682\u6240\u793a\u3002\u7ed3\u679c\u8868\u660e\uff0cTALO \u5728\u6240\u6709\u6570\u636e\u96c6\u548c\u57fa\u7840\u6a21\u578b\u8bbe\u7f6e\u4e0b\u5747\u53d6\u5f97\u4e86\u6700\u4f18\u7ed3\u679c\uff0c\u4e14\u672a\u51fa\u73b0\u4efb\u4f55\u91cd\u5efa\u5931\u8d25\u573a\u666f\u3002\u5728\u6240\u6709\u6d4b\u8bd5\u4e2d\uff0cTALO \u7684\u5e73\u5747\u7edd\u5bf9\u8f68\u8ff9\u8bef\u5dee\uff08ATE\uff09\u7a33\u5b9a\u5728\u7ea61 m\u5de6\u53f3\u3002\u66f4\u4e3a\u91cd\u8981\u7684\u662f\uff0cTALO \u5728\u65cb\u8f6c\u7cbe\u5ea6\u4e0a\u7684\u63d0\u5347\u5c24\u4e3a\u663e\u8457\u3002<\/p>\n\n\n\n

      \u4f8b\u5982\u5728 Waymo \u6570\u636e\u96c6\u4e0a\uff0cTALO \u5c06\u76f8\u5bf9\u65cb\u8f6c\u8bef\u5dee\uff08RRE\uff09\u4ece VGGT-Long \u7684 0.71\u00b0 \u964d\u4f4e\u81f3 0.14\u00b0\uff0c\u5b9e\u73b0\u4e86\u8fd1 5 \u500d\u7684\u6539\u8fdb\u3002\u7ed3\u5408\u540e\u6587\u7684\u53ef\u89c6\u5316\u7ed3\u679c\u53ef\u4ee5\u89c2\u5bdf\u5230\uff0c\u5c3d\u7ba1 VGGT-Long \u5728\u90e8\u5206\u573a\u666f\u4e2d\u4e0e TALO \u5177\u6709\u63a5\u8fd1\u7684 ATE \u6570\u503c\uff0c\u4f46\u5176\u8f68\u8ff9\u4ecd\u7136\u5b58\u5728\u660e\u663e\u7684\u65b9\u5411\u6f02\u79fb\uff1b\u76f8\u6bd4\u4e4b\u4e0b\uff0cTALO \u80fd\u591f\u66f4\u597d\u5730\u4fdd\u6301\u6b63\u786e\u7684\u884c\u8fdb\u65b9\u5411\uff0c\u4ece\u800c\u83b7\u5f97\u663e\u8457\u66f4\u4f4e\u7684 RRE\u3002\u76f8\u6bd4\u4e4b\u4e0b\uff0cVGGT-SLAM \u4e2d\u91c7\u7528\u7684 SL4 \u5bf9\u9f50\u65b9\u5f0f\uff0c\u5728\u5ba4\u5916\u3001\u591a\u76f8\u673a\u3001\u957f\u5e8f\u5217\u573a\u666f\u4e0b\u8868\u73b0\u51fa\u6781\u7aef\u4e0d\u7a33\u5b9a\u6027\uff0c\u5728\u6d4b\u8bd5\u5e8f\u5217\u4e2d\u8d85\u8fc7 60% \u7684\u573a\u666f\u53d1\u751f\u91cd\u5efa\u5931\u8d25\u3002VGGT-Long \u91c7\u7528\u7684 Sim3 \u5bf9\u9f50\u65b9\u5f0f\u4ec5\u51fa\u73b0\u5c11\u6570\u5931\u8d25\u6848\u4f8b\uff0c\u4f46\u5728\u7f3a\u4e4f\u56de\u73af\u95ed\u5408\u7684\u573a\u666f\u4e0b\uff0c\u4ecd\u7136\u5bb9\u6613\u7d2f\u79ef\u660e\u663e\u7684\u8f68\u8ff9\u6f02\u79fb\u3002<\/p>\n\n\n\n

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

      \u70b9\u4e91\u91cd\u5efa\u8d28\u91cf\u8bc4\u4f30\u7ed3\u679c\u5982\u88683\u548c\u88684\u6240\u793a\u3002\u4e3a\u907f\u514d\u53d1\u6563\u7ed3\u679c\u5bf9\u8bc4\u4ef7\u6307\u6807\u9020\u6210\u4e3b\u5bfc\u5f71\u54cd\uff0c\u5355\u70b9\u8bef\u5dee\u88ab\u88c1\u526a\u81f3 10 m\u3002\u7ed3\u679c\u663e\u793a\uff0cTALO \u5728\u5927\u591a\u6570\u573a\u666f\u548c\u57fa\u7840\u6a21\u578b\u8bbe\u7f6e\u4e0b\u5747\u53d6\u5f97\u6700\u4f18\u8868\u73b0\u3002\u9700\u8981\u6307\u51fa\u7684\u662f\uff0c\u6b63\u5982VGGT-Long\u6587\u7ae0\u4e2d\u5206\u6790\u7684\u90a3\u6837\uff0c\u8fd9\u4e9b\u5b9a\u91cf\u70b9\u4e91\u8bc4\u4ef7\u6307\u6807\u5e76\u4e0d\u80fd\u5b8c\u5168\u53cd\u6620\u771f\u5b9e\u7684\u51e0\u4f55\u8d28\u91cf\uff0c\u56e0\u4e3a\u771f\u503c\u70b9\u4e91\u7531 LiDAR \u626b\u63cf\u7d2f\u79ef\u83b7\u5f97\uff0c\u5176\u8986\u76d6\u8303\u56f4\u901a\u5e38\u663e\u8457\u533a\u522b\u4e8e\u57fa\u4e8e\u56fe\u50cf\u9884\u6d4b\u7684\u70b9\u4e91\u8303\u56f4\u3002<\/p>\n\n\n\n

      \u56e0\u6b64\uff0c\u5728\u67d0\u4e9b\u573a\u666f\u4e2d\uff0c\u5373\u4fbf VGGT-Long \u7531\u4e8e\u8f68\u8ff9\u6f02\u79fb\u5bfc\u81f4\u51e0\u4f55\u7ed3\u6784\u53d1\u751f\u626d\u66f2\uff0c\u5176\u9884\u6d4b\u70b9\u4e91\u4ecd\u53ef\u80fd\u843d\u5728 LiDAR \u8986\u76d6\u533a\u57df\u5185\uff0c\u4f9d\u65e7\u80fd\u53d6\u5f97\u8f83\u4f4e\u7684 Accuracy \u548c Completeness\u3002\u76f8\u6bd4\u4e4b\u4e0b\uff0c\u540e\u6587\u4e2d\u7684\u53ef\u89c6\u5316\u7ed3\u679c\u8868\u660e\uff0cTALO \u80fd\u591f\u6062\u590d\u66f4\u52a0\u51c6\u786e\u4e14\u8fb9\u754c\u6e05\u6670\u7684\u51e0\u4f55\u7ed3\u6784\uff0c\u6709\u6548\u6d88\u9664\u4ee5\u5f80\u65b9\u6cd5\u4e2d\u5e38\u89c1\u7684\u591a\u5c42\u4f2a\u5f71\u73b0\u8c61\u3002<\/p>\n\n\n\n

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

      \u56fe1\uff1a\u57fa\u4e8eVGGT\u5728Waymo\u6570\u636e\u96c6\u4e0a\u7684\u91cd\u5efa\u7ed3\u679c\u53ef\u89c6\u5316\u5bf9\u6bd4<\/p>\n\n\n\n

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

      \u56fe2\uff1a\u57fa\u4e8eVGGT\u5728nuScenes\u6570\u636e\u96c6\u4e0a\u7684\u91cd\u5efa\u7ed3\u679c\u53ef\u89c6\u5316\u5bf9\u6bd4<\/p>\n\n\n\n

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

      \u56fe3\uff1a\u57fa\u4e8e\u03c0\u00b3\u5728Waymo\u6570\u636e\u96c6\u4e0a\u7684\u91cd\u5efa\u7ed3\u679c\u53ef\u89c6\u5316\u5bf9\u6bd4<\/p>\n\n\n\n

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

      \u56fe4\uff1a\u57fa\u4e8e\u03c0\u00b3\u5728nuScenes\u6570\u636e\u96c6\u4e0a\u7684\u91cd\u5efa\u7ed3\u679c\u53ef\u89c6\u5316\u5bf9\u6bd4<\/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":[28,1],"tags":[],"class_list":["post-36349","post","type-post","status-publish","format-standard","hentry","category-professional-information","category-home"],"views":0,"_links":{"self":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/36349"}],"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=36349"}],"version-history":[{"count":2,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/36349\/revisions"}],"predecessor-version":[{"id":36389,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/36349\/revisions\/36389"}],"wp:attachment":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/media?parent=36349"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/categories?post=36349"},{"taxonomy":"post_tag","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/tags?post=36349"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}