{"id":37739,"date":"2026-03-09T17:18:00","date_gmt":"2026-03-09T09:18:00","guid":{"rendered":"http:\/\/192.168.10.115\/?p=37739"},"modified":"2026-03-10T08:39:22","modified_gmt":"2026-03-10T00:39:22","slug":"2026-03-09-%e6%9d%8e%e6%98%8a%e6%98%82%e3%80%81%e7%8e%8b%e8%b4%ba%e5%8d%87%e7%ad%89%e6%8f%90%e5%87%ba%e4%bc%9a%e5%81%9a%e6%a2%a6%e7%9a%84-slam%ef%bc%9a%e4%bb%8e%e8%a2%ab%e5%8a%a8","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2026\/03\/09\/37739\/","title":{"rendered":"2026-03-09 \u674e\u660a\u6602\u3001\u738b\u8d3a\u5347\u7b49\u63d0\u51fa\u201c\u4f1a\u505a\u68a6\u7684 SLAM\u201d\uff1a\u4ece\u88ab\u52a8\u611f\u77e5\u5230\u4e3b\u52a8\u60f3\u8c61\uff0c\u63a2\u7d22\u6548\u7387\u63d0\u5347\u8d85 30%\uff01"},"content":{"rendered":"\n<p>\u539f\u6587\u94fe\u63a5\uff1a<a href=\"https:\/\/zhuanlan.zhihu.com\/p\/2013011855552042379\">https:\/\/zhuanlan.zhihu.com\/p\/2013011855552042379<\/a><\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic2.zhimg.com\/v2-ba758c8ffdef2466017f0a1d6a2ae451_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p><strong><em>\u300c\u9760\u201c\u505a\u68a6\u201d\u5b9e\u73b0SOTA\u5efa\u56fe\u300d<\/em><\/strong><\/p>\n\n\n\n<p>\u5728\u7199\u7199\u6518\u6518\u7684\u5546\u573a\u3001\u4eba\u6765\u4eba\u5f80\u7684\u8f66\u7ad9\uff0c\u673a\u5668\u4eba\u5982\u4f55\u5728\u5145\u6ee1\u52a8\u6001\u53d8\u5316\u7684\u771f\u5b9e\u4e16\u754c\u91cc\u81ea\u7531\u7a7f\u884c\uff1f\u8fd9\u662f<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=271036008&amp;content_type=Article&amp;match_order=1&amp;q=SLAM%E6%8A%80%E6%9C%AF&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">SLAM\u6280\u672f<\/a>\u59cb\u7ec8\u5728\u6311\u6218\u7684\u96be\u9898\u3002<\/p>\n\n\n\n<p>\u4e00\u65e6\u6709\u4eba\u4ece\u673a\u5668\u4eba\u9762\u524d\u8d70\u8fc7\uff0c\u5b83\u53ef\u80fd\u628a\u4f60\u5f53\u6210\u6c38\u4e45\u969c\u788d\u7269\uff0c\u5728\u5730\u56fe\u4e0a\u7559\u4e0b\u4e00\u5757&#8221;\u5e7d\u7075\u533a\u57df&#8221;\uff1b\u66f4\u4e25\u91cd\u7684\u662f\uff0c\u5728\u81ea\u52a8\u9a7e\u9a76\u6216\u7d27\u6025\u6551\u63f4\u7b49\u573a\u666f\uff0c\u8fd9\u79cd\u5bf9\u52a8\u6001\u7269\u4f53\u7684&#8221;\u8bef\u89e3&#8221;\u53ef\u80fd\u5bfc\u81f4\u707e\u96be\u6027\u540e\u679c\u3002<\/p>\n\n\n\n<p>\u9488\u5bf9\u8fd9\u4e00\u6311\u6218\uff0c\u73b0\u6709\u65b9\u6cd5\u5904\u7406\u52a8\u6001\u7269\u4f53\uff0c\u901a\u5e38\u662f\u5c06\u5176\u8bc6\u522b\u540e\u76f4\u63a5\u5c4f\u853d\u2014\u2014\u8fd9\u662f\u4e00\u79cd&#8221;\u505a\u51cf\u6cd5&#8221;\u7684\u601d\u8def\uff0c\u4ee3\u4ef7\u662f\u4e22\u5931\u4e86\u5927\u91cf\u6709\u6548\u7684\u56fe\u50cf\u4fe1\u606f\u3002<\/p>\n\n\n\n<p>\u800c\u6765\u81ea<strong>\u9999\u6e2f\u79d1\u6280\u5927\u5b66\uff08\u5e7f\u5dde\uff09\u7684\u674e\u660a\u6602\u56e2\u961f\u3001\u4e0a\u6d77\u4ea4\u901a\u5927\u5b66\u738b\u8d3a\u5347\u8001\u5e08\u3001\u6155\u5c3c\u9ed1\u5de5\u4e1a\u5927\u5b66\uff08TUM\uff09\u3001\u8428\u62c9\u6208\u8428\u5927\u5b66<\/strong>\u7684\u7814\u7a76\u8005\u4eec\u63d0\u51fa\u7684Dream-SLAM\u5219\u53e6\u8f9f\u8e4a\u5f84\uff1a<\/p>\n\n\n\n<p>\u5b83\u4e0d\u5c4f\u853d\u52a8\u6001\u7269\u4f53\uff0c\u800c\u662f\u901a\u8fc7<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=271036008&amp;content_type=Article&amp;match_order=1&amp;q=%E7%94%9F%E6%88%90%E6%A8%A1%E5%9E%8B&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer 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class=\"wp-block-list\">\n<li><strong>\u6240\u8c13\u201c\u56de\u987e\u4e4b\u68a6\u201d<\/strong>\uff0c\u662f\u6307\u901a\u8fc7\u751f\u6210\u6a21\u578b\uff0c\u51ed\u7a7a\u521b\u9020\u51fa\u201c\u8de8\u65f6\u7a7a\u56fe\u50cf\u201d\uff08cross-spatio-temporal image\uff09\u3002\u60f3\u8c61\u4e00\u4e0b\uff0c\u5728t+1\u65f6\u523b\uff0c\u76f8\u673a\u89c2\u5bdf\u5230\u4e86\u4e00\u4e2a\u8fd0\u52a8\u7684\u4eba\uff0c\u4f46\u6b64\u65f6\u76843D\u5730\u56fe\u662f\u5728t\u65f6\u523b\u5efa\u7acb\u7684\uff0c\u4eba\u548c\u666f\u7269\u7684\u4f4d\u7f6e\u5df2\u7ecf\u53d1\u751f\u4e86\u53d8\u5316\u3002\u8fd9\u79cd\u4e0d\u4e00\u81f4\u6027\u4f1a\u5bfc\u81f4\u5b9a\u4f4d\u5931\u8d25\u3002<br>Dream-SLAM\u7684\u505a\u6cd5\u662f\uff0c\u8ba9\u7cfb\u7edf\u201c\u68a6\u89c1\u201d\u4e00\u5f20\u7279\u6b8a\u7684\u56fe\u7247\uff1a\u5b83\u63cf\u7ed8\u7684\u662ft\u65f6\u523b\u7684\u573a\u666f\u5185\u5bb9\uff0c\u4f46\u5374\u662f\u4ecet+1\u65f6\u523b\u7684\u76f8\u673a\u89c6\u89d2\u8fdb\u884c\u89c2\u5bdf\u7684\u3002\u8fd9\u5f20\u201c\u68a6\u201d\u51fa\u6765\u7684\u56fe\u7247\uff0c\u5b8c\u7f8e\u5bf9\u9f50\u4e86\u8fc7\u53bb\uff08t\u65f6\u523b\u7684\u5730\u56fe\uff09\u4e0e\u73b0\u5728\uff08t+1\u65f6\u523b\u7684\u89c2\u6d4b\uff09\uff0c\u4e3a\u673a\u5668\u4eba\u63d0\u4f9b\u4e86\u5904\u7406\u52a8\u6001\u7269\u4f53\u7684\u5173\u952e\u7ebf\u7d22\u3002<\/li>\n\n\n\n<li><strong>\u800c\u201c\u9884\u89c1\u4e4b\u68a6\u201d<\/strong>\uff0c\u5219\u662f\u5728\u63a2\u7d22\u672a\u77e5\u73af\u5883\u65f6\u53d1\u6325\u4f5c\u7528\u3002\u5f53\u673a\u5668\u4eba\u9700\u8981\u51b3\u5b9a\u4e0b\u4e00\u6b65\u53bb\u54ea\u91cc\u65f6\uff0c\u4f20\u7edf\u65b9\u6cd5\u53ea\u80fd\u57fa\u4e8e\u5df2\u5efa\u597d\u7684\u5730\u56fe\u505a\u51b3\u7b56\uff0c\u975e\u5e38\u77ed\u89c6\u3002<br>Dream-SLAM\u5219\u4f1a\u5927\u80c6\u201c\u60f3\u8c61\u201d\uff0c\u5728\u90a3\u4e9b\u5f85\u63a2\u7d22\u7684\u8def\u5f84\u70b9\u4e0a\u653e\u7f6e\u865a\u62df\u76f8\u673a\uff0c\u5e76\u5229\u7528\u751f\u6210\u6a21\u578b\u201c\u68a6\u89c1\u201d\u4ece\u8fd9\u4e9b\u865a\u62df\u89c6\u89d2\u53ef\u80fd\u770b\u5230\u7684\u666f\u8c61\uff0c\u5305\u62ec\u623f\u95f4\u7684\u7ed3\u6784\u3001\u5bb6\u5177\u7684\u6446\u653e\u7b49\u3002\u8fd9\u4e9b\u201c\u68a6\u5883\u201d\u88ab\u6574\u5408\u8fdb\u73b0\u6709\u5730\u56fe\uff0c\u5f62\u6210\u4e00\u5f20\u66f4\u5b8c\u6574\u7684\u201c\u672a\u6765\u5730\u56fe\u201d\uff0c\u673a\u5668\u4eba\u5f97\u4ee5\u5728\u6b64\u57fa\u7840\u4e0a\u505a\u51fa\u66f4\u957f\u8fdc\u3001\u66f4\u9ad8\u6548\u7684\u63a2\u7d22\u89c4\u5212\u3002<\/li>\n<\/ul>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pica.zhimg.com\/v2-2d3497b6e4fa6a706a5168756d69ddb0_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u56fe1 | Dream-SLAM\u7cfb\u7edf\u5168\u8c8c\u3002\u6574\u4e2a\u6846\u67b6\u7531\u4e24\u5927\u6838\u5fc3\u6a21\u5757\u6784\u6210\u3002(a) \u5b9a\u4f4d\u4e0e\u5efa\u56fe\u6a21\u5757\uff1a\u7cfb\u7edf\u901a\u8fc7&#8221;\u505a\u68a6&#8221;\u751f\u6210\u8de8\u65f6\u7a7a\u56fe\u50cf\uff0c\u5e76\u4ee5\u6b64\u6784\u5efa\u989d\u5916\u76843D-2D\u524d\u666f\u7ea6\u675f\uff0c\u6709\u6548\u8865\u507f\u52a8\u6001\u7269\u4f53\u5e26\u6765\u7684\u566a\u58f0\u5e72\u6270\uff1b\u540c\u65f6\uff0c\u4e00\u4e2a\u524d\u9988\u7f51\u7edc\u8d1f\u8d23\u540c\u6b65\u91cd\u5efa\u9759\u6001\u80cc\u666f\u4e0e\u52a8\u6001\u524d\u666f\u7684\u9010\u50cf\u7d20\u9ad8\u65af\u8868\u793a\uff0c\u5e76\u501f\u52a9\u8de8\u65f6\u7a7a\u56fe\u50cf\u4e0e\u771f\u5b9e\u56fe\u50cf\u7684\u591a\u89c6\u89d2\u7ea6\u675f\u5bf9\u9ad8\u65af\u8fdb\u884c\u7cbe\u5316\u3002(b) 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class=\"wp-block-heading\"><strong>\u57fa\u4e8e\u201c\u56de\u987e\u4e4b\u68a6\u201d\u7684\u52a8\u6001\u573a\u666f\u9c81\u68d2\u5b9a\u4f4d<\/strong><\/h3>\n\n\n\n<p>\u4f20\u7edfSLAM\u5728\u52a8\u6001\u573a\u666f\u4e2d\u5b9a\u4f4d\u7cbe\u5ea6\u5dee\uff0c\u6839\u6e90\u5728\u4e8e\u65e0\u6cd5\u5904\u7406\u52a8\u6001\u7269\u4f53\uff08\u5982\u884c\u4eba\uff09\u9020\u6210\u7684\u524d\u666f\u4e0e\u80cc\u666f\u6a21\u578b\u4e4b\u95f4\u7684\u51b2\u7a81\u3002<\/p>\n\n\n\n<p>Dream-SLAM\u901a\u8fc7<strong>\u751f\u6210\u201c\u8de8\u65f6\u7a7a\u56fe\u50cf\u201d<\/strong>\uff0c\u5de7\u5999\u5730\u89e3\u51b3\u4e86\u8fd9\u4e2a\u95ee\u9898\u3002\u8fd9\u5f20\u201c\u68a6\u201d\u51fa\u6765\u7684\u56fe\u50cf\u4e3a\u5b9a\u4f4d\u63d0\u4f9b\u4e86\u989d\u5916\u7684\u3001\u5173\u4e8e\u52a8\u6001\u524d\u666f\u7684\u51e0\u4f55\u7ea6\u675f\u3002\u5982\u6b64\u4e00\u6765\uff0c\u7cfb\u7edf\u4e0d\u4ec5\u80fd\u5229\u7528\u7a33\u5b9a\u7684\u9759\u6001\u80cc\u666f\u4fe1\u606f\uff0c\u8fd8\u80fd\u5145\u5206\u5229\u7528\u52a8\u6001\u524d\u666f\u4fe1\u606f\uff0c\u4f7f\u5f97\u76f8\u673a\u4f4d\u59ff\u4f30\u8ba1\u5728\u590d\u6742\u52a8\u6001\u573a\u666f\u4e0b\u7684\u51c6\u786e\u6027\u548c\u9c81\u68d2\u6027\u90fd\u5f97\u5230\u4e86\u5927\u5e45\u63d0\u5347\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pica.zhimg.com\/v2-27ac219851ec28e0281c5af81c2a74d0_1440w.jpg\" alt=\"\"\/><figcaption class=\"wp-element-caption\">\u56fe2 | &amp;quot;\u56de\u987e\u4e4b\u68a6&amp;quot;\u7684\u751f\u6210\u6d41\u7a0b\u3002\u7ed9\u5b9a\u5f53\u524d\u5e27\u56fe\u50cf\uff0c\u7cfb\u7edf\u9996\u5148\u7528\u5206\u5272\u6a21\u578b\u63d0\u53d6\u52a8\u6001\u524d\u666f\uff08\u5982\u884c\u4eba\uff09\uff0c\u5e76\u5bf9\u524d\u666f\u63a9\u7801\u8fdb\u884c\u81a8\u80c0\uff0c\u5f97\u5230\u4fee\u590d\u63a9\u7801\u3002\u968f\u540e\uff0c\u5c06\u524d\u4e00\u5e27\u56fe\u50cf\u3001\u5f53\u524d\u5e27\u56fe\u50cf\u4ee5\u53ca\u4fee\u590d\u63a9\u7801\u5171\u540c\u8f93\u5165\u6269\u6563\u6a21\u578b\uff0c\u6a21\u578b\u4fbf&amp;quot;\u68a6&amp;quot;\u51fa\u8de8\u65f6\u7a7a\u56fe\u50cf\u2014\u2014\u4e00\u5f20\u7528\u5f53\u524d\u76f8\u673a\u89c6\u89d2\u3001\u5448\u73b0\u524d\u4e00\u65f6\u523b\u573a\u666f\u5185\u5bb9\u7684\u865a\u62df\u56fe\u50cf\u3002<\/figcaption><\/figure>\n\n\n\n<h3 class=\"wp-block-heading\"><strong>\u7edf\u4e00\u524d\u666f\u4e0e\u80cc\u666f\u7684\u9ad8\u8d28\u91cf3D\u5efa\u56fe<\/strong><\/h3>\n\n\n\n<p><strong>\u9664\u4e86\u5b9a\u4f4d\uff0c\u9ad8\u8d28\u91cf\u5efa\u56fe\u540c\u6837\u91cd\u8981\u3002<\/strong><\/p>\n\n\n\n<p>Dream-SLAM\u91c7\u7528<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=271036008&amp;content_type=Article&amp;match_order=1&amp;q=3D%E9%AB%98%E6%96%AF%E6%BA%85%E5%B0%84&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">3D\u9ad8\u65af\u6e85\u5c04<\/a>\uff08Gaussian Splatting\uff09\u4f5c\u4e3a3D\u573a\u666f\u7684\u8868\u8fbe\u65b9\u5f0f\uff0c\u5e76\u8bbe\u8ba1\u4e86\u4e00\u4e2a\u524d\u9988\u7f51\u7edc\u6765\u76f4\u63a5\u3001\u9ad8\u6548\u5730\u9884\u6d4b\u573a\u666f\u76843D\u9ad8\u65af\u8868\u793a\u3002<\/p>\n\n\n\n<p>\u66f4\u5173\u952e\u7684\u662f\uff0c\u5b83\u5229\u7528\u201c\u68a6\u201d\u51fa\u7684\u8de8\u65f6\u7a7a\u56fe\u50cf\u548c\u771f\u5b9e\u56fe\u50cf\u8fdb\u884c\u591a\u89c6\u89d2\u8054\u5408\u4f18\u5316\uff0c\u4ece\u800c\u7cbe\u7ec6\u5316\u6bcf\u4e00\u4e2a3D\u9ad8\u65af\u57fa\u5143\u7684\u5f62\u72b6\u548c\u989c\u8272\u3002\u8fd9\u79cd\u65b9\u6cd5\u4e0d\u4ec5\u80fd<strong>\u540c\u65f6\u91cd\u5efa\u9759\u6001\u80cc\u666f\u548c\u52a8\u6001\u524d\u666f\uff0c\u800c\u4e14\u91cd\u5efa\u8d28\u91cf\u6781\u9ad8\u3002<\/strong>\u76f8\u6bd4\u5176\u4ed6\u65b9\u6cd5\u8981\u4e48\u65e0\u6cd5\u91cd\u5efa\u524d\u666f\u3001\u8981\u4e48\u91cd\u5efa\u8d28\u91cf\u7c97\u7cd9\uff0cDream-SLAM\u751f\u6210\u7684\u5730\u56fe\u5728\u89c6\u89c9\u4e0a\u6e05\u6670\u3001\u9510\u5229\uff0c\u7ec6\u8282\u4e30\u5bcc\uff0c<strong>\u8fbe\u5230\u4e86SOTA\u6c34\u5e73\u3002<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic4.zhimg.com\/v2-ae485fbf748669424289c7d45f685587_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u56fe3 | \u8de8\u65f6\u7a7a\u56fe\u50cf\u5982\u4f55\u8ba9\u5b9a\u4f4d&#8221;\u770b\u89c1&#8221;\u52a8\u6001\u7269\u4f53\u3002(a) \u4f20\u7edf\u5b9a\u4f4d\u65b9\u6cd5\u53ea\u4f9d\u8d56\u9759\u6001\u80cc\u666f\u4f30\u8ba1\u76f8\u673a\u4f4d\u59ff\uff0c\u52a8\u6001\u524d\u666f\u4fe1\u606f\u88ab\u5b8c\u5168\u4e22\u5f03\u3002(b) Dream-SLAM\u5219\u540c\u65f6\u5229\u7528\u52a8\u6001\u524d\u666f\u4e0e\u9759\u6001\u80cc\u666f\u2014\u2014\u901a\u8fc7\u5c06t\u65f6\u523b\u7684\u9ad8\u65af\u6e32\u67d3\u7ed3\u679c\u4e0e&#8221;\u68a6&#8221;\u51fa\u7684\u8de8\u65f6\u7a7a\u56fe\u50cf\u5bf9\u9f50\uff0c\u8be5\u56fe\u50cf\u63cf\u7ed8\u7684\u662f\u4ece\u7b2c(t+1)\u5e27\u76f8\u673a\u89c6\u89d2\u89c2\u5bdf\u5230\u7684t\u65f6\u523b\u573a\u666f\uff0c\u4ece\u800c\u4e3a\u5b9a\u4f4d\u63d0\u4f9b\u4e86\u66f4\u4e30\u5bcc\u3001\u66f4\u9c81\u68d2\u7684\u7ea6\u675f\u4fe1\u53f7\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\"><strong>\u57fa\u4e8e\u201c\u9884\u89c1\u4e4b\u68a6\u201d\u7684\u8fdc\u89c1\u63a2\u7d22\u89c4\u5212<\/strong><\/h3>\n\n\n\n<p>\u4e3b\u52a8SLAM\u7684\u6838\u5fc3\u662f\u201c\u770b\u5f97\u66f4\u8fdc\u201d\u3002<\/p>\n\n\n\n<p>Dream-SLAM\u7684\u201c\u9884\u89c1\u4e4b\u68a6\u201d\u673a\u5236\u8d4b\u4e88\u4e86\u5176\u65e0\u4e0e\u4f26\u6bd4\u7684\u8fdc\u89c1\u3002\u901a\u8fc7\u5728\u672a\u77e5\u9053\u8def\u4e0a\u201c\u8111\u8865\u201d\u51fa\u5408\u7406\u7684\u573a\u666f\u7ed3\u6784\uff0c\u5b83\u6253\u7834\u4e86\u4f20\u7edf\u63a2\u7d22\u65b9\u6cd5\u7684\u4fe1\u606f\u58c1\u5792\u3002\u7cfb\u7edf\u4e0d\u518d\u662f\u201c\u6478\u7740\u77f3\u5934\u8fc7\u6cb3\u201d\uff0c\u800c\u662f\u5728\u4e00\u5f20\u201c\u9884\u8a00\u5730\u56fe\u201d\u7684\u6307\u5f15\u4e0b\u884c\u52a8\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic1.zhimg.com\/v2-6b52fc134410e04f7f52f112ef544f82_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u56fe4 | \u57fa\u4e8e3D\u9ad8\u65af\u7684\u201d\u9884\u89c1\u4e4b\u68a6\u201c\u3002(a) \u7ed9\u5b9a\u76f8\u90bb\u4e24\u5e27\u56fe\u50cf\uff0c\u524d\u9988\u7f51\u7edc\u540c\u65f6\u9884\u6d4b\u4e24\u4e2a\u65f6\u523b\u7684\u52a8\u6001\u9ad8\u65af\u8868\u793a\uff0c\u5b9e\u73b0\u5bf9\u52a8\u6001\u573a\u666f\u7684\u9ad8\u6548\u5efa\u6a21\u3002(b) \u4e3a\u8fdb\u4e00\u6b65\u63d0\u5347\u7cbe\u5ea6\uff0c\u7cfb\u7edf\u5229\u7528\u591a\u5f20\u63cf\u7ed8\u540c\u4e00\u573a\u666f\u5185\u5bb9\u3001\u4f46\u5206\u522b\u6765\u81ea\u524d\u4e00\u5e27\u3001\u5f53\u524d\u5e27\u548c\u540e\u4e00\u5e27\u89c6\u89d2\u7684\u56fe\u50cf\uff08\u5305\u62ec\u771f\u5b9e\u56fe\u50cf\u4e0e&#8221;\u68a6&#8221;\u51fa\u7684\u8de8\u65f6\u7a7a\u56fe\u50cf\uff09\uff0c\u5bf9\u9ad8\u65af\u8fdb\u884c\u591a\u89c6\u89d2\u5149\u5ea6\u7ea6\u675f\u4e0b\u7684\u8054\u5408\u7cbe\u5316\uff0c\u4ece\u800c\u83b7\u5f97\u66f4\u8fde\u8d2f\u3001\u66f4\u9ad8\u8d28\u91cf\u76843D\u573a\u666f\u8868\u793a\u3002<\/p>\n\n\n\n<p>\u8fd9\u79cd\u57fa\u4e8e\u201c\u68a6\u5883\u201d\u7684\u89c4\u5212\uff0c\u4f7f\u5f97\u673a\u5668\u4eba\u80fd\u591f\u907f\u514d\u9677\u5165\u6b7b\u80e1\u540c\uff0c\u89c4\u5212\u51fa\u66f4\u77ed\u3001\u66f4\u9ad8\u6548\u7684\u5168\u5c40\u8def\u5f84\u3002\u5728Gibson\u548cHM3D\u7b49\u5927\u89c4\u6a21\u4eff\u771f\u73af\u5883\u4e2d\u7684\u5b9e\u9a8c\u8bc1\u660e\uff0cDream-SLAM\u7684\u63a2\u7d22\u6548\u7387\uff08\u4ee5\u8986\u76d6\u7387\u4e3a\u6307\u6807\uff09\u5e73\u5747\u8fbe\u5230\u4e86<strong>96.8%<\/strong>\uff0c\u8fdc\u8d85\u5176\u4ed6\u65b9\u6cd5\uff0c\u540c\u65f6\u63a2\u7d22\u8def\u5f84\u957f\u5ea6\u5e73\u5747\u7f29\u77ed\u4e86<strong>30%<\/strong>\u4ee5\u4e0a\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pica.zhimg.com\/v2-da015e70d606e36d9cf84add8f554670_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u56fe5 | &#8220;\u9884\u89c1\u4e4b\u68a6&#8221;\u2014\u2014\u5728\u672a\u77e5\u533a\u57df\u63d0\u524d\u5efa\u56fe\u3002\u5728\u5c1a\u672a\u5230\u8fbe\u7684\u8def\u5f84\u70b9\u5904\uff0c\u7cfb\u7edf\u653e\u7f6e\u865a\u62df\u76f8\u673a\u4ece\u591a\u4e2a\u89d2\u5ea6\u6e32\u67d3\u5f53\u524d\u4e0d\u5b8c\u6574\u7684\u573a\u666f\uff0c\u5e76\u7b5b\u9009\u51fa\u5408\u9002\u7684\u89c6\u89d2\u56fe\u50cf\u3002\u968f\u540e\uff0c\u6269\u6563\u6a21\u578b\u5bf9\u8fd9\u4e9b\u56fe\u50cf\u4e2d\u7684\u7f3a\u5931\u533a\u57df\u8fdb\u884c\u8bed\u4e49\u5408\u7406\u7684\u4fee\u590d\uff0c\u518d\u5c06\u4fee\u590d\u7ed3\u679c\u53cd\u63a8\u4e3a3D\u9ad8\u65af\u8868\u793a\uff0c\u878d\u5408\u8fdb\u73b0\u6709\u5730\u56fe\u3002\u7ecf\u8fc7\u8fd9\u4e00&#8221;\u68a6\u5883\u8865\u5168&#8221;\u8fc7\u7a0b\uff0c\u673a\u5668\u4eba\u5f97\u4ee5\u5728\u771f\u6b63\u62b5\u8fbe\u4e4b\u524d\uff0c\u5c31\u62e5\u6709\u4e00\u5f20\u66f4\u5b8c\u6574\u7684\u73af\u5883\u7ed3\u6784\u56fe\uff0c\u4e3a\u957f\u8fdc\u89c4\u5212\u63d0\u4f9b\u6709\u529b\u652f\u6491\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\"><strong><em>03 <\/em>\u5b9e\u9a8c\u4e0e\u8868\u73b0<\/strong><\/h2>\n\n\n\n<p>Dream-SLAM\u7684\u5353\u8d8a\u6027\u80fd\u5728\u591a\u4e2a\u516c\u5f00\u6570\u636e\u96c6\u548c\u81ea\u91c7\u96c6\u6570\u636e\u4e0a\u5f97\u5230\u4e86\u5145\u5206\u9a8c\u8bc1\u3002\u65e0\u8bba\u662f\u5b9a\u4f4d\u7cbe\u5ea6\u3001\u5efa\u56fe\u8d28\u91cf\u8fd8\u662f\u63a2\u7d22\u6548\u7387\uff0c\u5b83\u90fd\u5c55\u73b0\u51fa\u4e86\u78be\u538b\u6027\u7684\u4f18\u52bf\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/picx.zhimg.com\/v2-8b84b65d3a7b957c55300cedc1d99a8b_1440w.jpg\" alt=\"\"\/><figcaption class=\"wp-element-caption\">\u56fe6 | \u5b9a\u4f4d\u7cbe\u5ea6\u5168\u9762\u9886\u5148\u2014\u2014TUM\u4e0eBonn\u6570\u636e\u96c6\u76f8\u673a\u5b9a\u4f4d\u5bf9\u6bd4\u3002\u5728\u4e24\u4e2a\u4e3b\u6d41\u52a8\u6001SLAM\u57fa\u51c6\u6570\u636e\u96c6\u4e0a\uff0cDream-SLAM\u7684\u5e73\u5747\u7edd\u5bf9\u8f68\u8ff9\u8bef\u5dee\uff08RMSE\uff09\u5747\u8fbe\u5230\u6700\u4f18\uff1aTUM\u6570\u636e\u96c6\u4e0a\u4ec5\u4e3a1.27\u5398\u7c73\uff0cBonn\u6570\u636e\u96c6\u4e0a\u4ec5\u4e3a1.67\u5398\u7c73\uff0c\u5728\u6240\u6709\u6d4b\u8bd5\u5e8f\u5217\u4e2d\u7a33\u5c45\u699c\u9996\uff0c\u5145\u5206\u9a8c\u8bc1\u4e86&amp;quot;\u505a\u68a6&amp;quot;\u673a\u5236\u5bf9\u52a8\u6001\u573a\u666f\u5b9a\u4f4d\u7cbe\u5ea6\u7684\u663e\u8457\u63d0\u5347\u3002<\/figcaption><\/figure>\n\n\n\n<p>\u5728\u5efa\u56fe\u8d28\u91cf\u65b9\u9762\uff0c\u5982\u4e0b\u56fe\u6240\u793a\uff0c\u5728TUM\u52a8\u6001\u6570\u636e\u96c6\u7684\u4e00\u4e2a\u5178\u578b\u573a\u666f\u4e2d\uff0c\u5176\u4ed6\u65b9\u6cd5\uff08\u5982MonST3R\u3001WildGS-SLAM\uff09\u7684\u91cd\u5efa\u7ed3\u679c\u8981\u4e48\u65e0\u6cd5\u5904\u7406\u52a8\u6001\u524d\u666f\uff08a\uff09\uff0c\u8981\u4e48\u80cc\u666f\u6a21\u7cca\u3001\u524d\u666f\u4e22\u5931\uff08b\uff09\uff0c\u800cPG-SLAM\u867d\u7136\u80fd\u540c\u65f6\u91cd\u5efa\uff0c\u4f46\u8d28\u91cf\u8f83\u4f4e\uff08c\uff09\u3002\u76f8\u6bd4\u4e4b\u4e0b\uff0cDream-SLAM\uff08d\uff09\u80fd\u591f\u6e05\u6670\u3001\u5b8c\u6574\u5730\u91cd\u5efa\u6574\u4e2a\u52a8\u6001\u573a\u666f\uff0c\u65e0\u8bba\u662f\u9759\u6001\u7684\u684c\u6905\u8fd8\u662f\u52a8\u6001\u7684\u4eba\uff0c\u90fd\u6829\u6829\u5982\u751f\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/picx.zhimg.com\/v2-1446e422f3d2e0a7141bdee3813c5ebb_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u56fe7 | \u5efa\u56fe\u8d28\u91cf\u4e00\u76ee\u4e86\u7136\u2014\u2014TUM\u6570\u636e\u96c6\u52a8\u6001\u573a\u666f\u65b0\u89c6\u89d2\u6e32\u67d3\u5bf9\u6bd4\u3002\u56db\u79cd\u65b9\u6cd5\u5728\u540c\u4e00\u52a8\u6001\u5e8f\u5217\u4e0a\u7684\u5efa\u56fe\u6548\u679c\u5dee\u5f02\u663e\u8457\uff1aMonST3R\uff08a\uff09\u53d7\u9650\u4e8e\u70b9\u4e91\u8868\u793a\uff0c\u65e0\u6cd5\u751f\u6210\u7167\u7247\u7ea7\u771f\u5b9e\u611f\u6e32\u67d3\uff1bWildGS-SLAM\uff08b\uff09\u5b8c\u5168\u4e22\u5931\u4e86\u52a8\u6001\u524d\u666f\u7684\u91cd\u5efa\uff1bPG-SLAM\uff08c\uff09\u867d\u80fd\u540c\u65f6\u91cd\u5efa\u524d\u666f\u4e0e\u80cc\u666f\uff0c\u4f46\u90e8\u5206\u533a\u57df\u6e32\u67d3\u8d28\u91cf\u504f\u4f4e\uff1bDream-SLAM\uff08d\uff09\u4e0d\u4ec5\u5b8c\u6574\u91cd\u5efa\u4e86\u52a8\u6001\u524d\u666f\u4e0e\u9759\u6001\u80cc\u666f\uff0c\u6e32\u67d3\u8d28\u91cf\u4e5f\u5168\u9762\u6700\u4f18\uff0c\u7ec6\u8282\u6e05\u6670\u3001\u573a\u666f\u8fde\u8d2f\u3002<\/p>\n\n\n\n<p>\u5728\u63a2\u7d22\u6548\u7387\u65b9\u9762\uff0c\u4e0b\u56fe\u76f4\u89c2\u5730\u5c55\u793a\u4e86Dream-SLAM\u4e0e\u9876\u5c16\u4e3b\u52a8SLAM\u65b9\u6cd5<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=271036008&amp;content_type=Article&amp;match_order=1&amp;q=ActiveSplat&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">ActiveSplat<\/a>\u7684\u5bf9\u6bd4\u3002\u5728\u76f8\u540c\u7684\u63a2\u7d22\u65f6\u95f4\u5185\uff0cDream-SLAM\uff08\u4e0b\u56fe\uff09\u8986\u76d6\u7684\u5730\u56fe\u9762\u79ef\u660e\u663e\u66f4\u5927\uff0c\u63a2\u7d22\u8def\u5f84\uff08\u7d2b\u8272\u8f68\u8ff9\uff09\u4e5f\u66f4\u4e3a\u76f4\u63a5\u3001\u9ad8\u6548\u3002\u6700\u7ec8\uff0cDream-SLAM\u7528\u66f4\u77ed\u7684\u65f6\u95f4\uff081164\u79d2 vs 1536\u79d2\uff09\u548c\u66f4\u77ed\u7684\u8def\u5f84\u5b8c\u6210\u4e86100%\u7684\u63a2\u7d22\uff0c\u5145\u5206\u8bc1\u660e\u4e86\u5176\u201c\u8fdc\u89c1\u201d\u5e26\u6765\u7684\u5de8\u5927\u4f18\u52bf\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/picx.zhimg.com\/v2-ce7b0a35dff853a39445aece13003f83_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u56fe8 | \u63a2\u7d22\u6548\u7387\u7684\u5dee\u8ddd\u4e00\u76ee\u4e86\u7136\u3002\u56fe\u4e2d\u5c55\u793a\u4e86ActiveSplat\u4e0eDream-SLAM\u5728<a href=\"https:\/\/zhida.zhihu.com\/search?content_id=271036008&amp;content_type=Article&amp;match_order=1&amp;q=HM3D%E6%95%B0%E6%8D%AE%E9%9B%86&amp;zhida_source=entity\" target=\"_blank\" rel=\"noreferrer noopener\">HM3D\u6570\u636e\u96c6<\/a>\u540c\u4e00\u573a\u666f\u5e8f\u5217\u4e0a\u7684\u63a2\u7d22\u8fdb\u5ea6\u4fef\u89c6\u5bf9\u6bd4\u3002\u6bcf\u5f20\u5730\u56fe\u4e0b\u65b9\u7684\u4e09\u4e2a\u6570\u5b57\u4f9d\u6b21\u4ee3\u8868\uff1a\u573a\u666f\u8986\u76d6\u7387\u3001\u5df2\u884c\u9a76\u8def\u5f84\u957f\u5ea6\u3001\u4ee5\u53ca\u5df2\u884c\u9a76\u8def\u5f84\u5360\u603b\u8def\u5f84\u7684\u6bd4\u4f8b\uff1b\u8f68\u8ff9\u989c\u8272\u5219\u53cd\u6620\u4e86\u63a2\u7d22\u7684\u65f6\u95f4\u6d88\u8017\u3002\u53ef\u4ee5\u6e05\u6670\u770b\u5230\uff0c\u5728\u76f8\u540c\u65f6\u95f4\u8282\u70b9\u4e0b\uff0cDream-SLAM\u7684\u8986\u76d6\u9762\u79ef\u59cb\u7ec8\u9886\u5148\uff0c\u4e14\u6700\u7ec8\u4ee5\u66f4\u77ed\u7684\u8def\u5f84\u3001\u66f4\u5c11\u7684\u65f6\u95f4\u5b8c\u6210\u4e86100%\u7684\u63a2\u7d22\uff0c\u800cActiveSplat\u5219\u9700\u8981\u66f4\u957f\u7684\u8fc2\u56de\u624d\u80fd\u8fbe\u5230\u540c\u7b49\u8986\u76d6\u6548\u679c\u3002<\/p>\n\n\n\n<p>\u6b64\u5916\uff0c\u8bba\u6587\u8fd8\u901a\u8fc7\u8be6\u5c3d\u7684\u6d88\u878d\u5b9e\u9a8c\u8bc1\u660e\u4e86\u201c\u505a\u68a6\u201d\u673a\u5236\u7684\u4e0d\u53ef\u6216\u7f3a\u6027\u3002\u4e00\u65e6\u79fb\u9664\u201c\u56de\u987e\u4e4b\u68a6\u201d\uff08\u7528\u4e8e\u5b9a\u4f4d\uff09\u6216\u201c\u9884\u89c1\u4e4b\u68a6\u201d\uff08\u7528\u4e8e\u89c4\u5212\uff09\uff0c\u7cfb\u7edf\u7684\u5404\u9879\u6027\u80fd\u6307\u6807\u5747\u51fa\u73b0\u663e\u8457\u4e0b\u964d\uff0c\u8fd9\u96c4\u8fa9\u5730\u8bc1\u660e\u4e86\u201c\u505a\u68a6\u201d\u6b63\u662fDream-SLAM\u6210\u529f\u7684\u5173\u952e\u6240\u5728\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/pic4.zhimg.com\/v2-a4e88fbe766e6cc2af15562c47209021_1440w.jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u56fe9| &#8220;\u505a\u68a6&#8221;\u5bf9\u5efa\u56fe\u8d28\u91cf\u7684\u8d21\u732e\u2014\u2014\u6d88\u878d\u5b9e\u9a8c\u5bf9\u6bd4\u3002\u56fe\u4e2d\u5bf9\u6bd4\u4e86\u5728Bonn\u4e0eTUM\u6570\u636e\u96c6\u7684\u5178\u578b\u52a8\u6001\u5e8f\u5217\u4e0a\uff0c\u5f15\u5165\u8de8\u65f6\u7a7a\u56fe\u50cf\u524d\u540e\u7684\u9ad8\u65af\u5730\u56fe\u6e32\u67d3\u6548\u679c\u3002\u53ef\u4ee5\u660e\u663e\u770b\u51fa\uff0c\u53bb\u6389&#8221;\u505a\u68a6&#8221;\u673a\u5236\u540e\uff0c\u52a8\u6001\u524d\u666f\u533a\u57df\u51fa\u73b0\u6a21\u7cca\u3001\u6b8b\u5f71\u7b49\u4f2a\u5f71\uff1b\u800c\u52a0\u5165\u8de8\u65f6\u7a7a\u56fe\u50cf\u7684\u591a\u89c6\u89d2\u7ea6\u675f\u540e\uff0c\u573a\u666f\u7ec6\u8282\u66f4\u52a0\u6e05\u6670\uff0c\u52a8\u6001\u7269\u4f53\u7684\u91cd\u5efa\u4e5f\u66f4\u4e3a\u5b8c\u6574\u51c6\u786e\uff0c\u6709\u529b\u8bc1\u660e\u4e86&#8221;\u505a\u68a6&#8221;\u673a\u5236\u5bf9\u5efa\u56fe\u8d28\u91cf\u63d0\u5347\u7684\u5173\u952e\u4f5c\u7528\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\"><strong><em>04 <\/em>\u603b\u7ed3\u4e0e\u5ef6\u4f38<\/strong><\/h2>\n\n\n\n<p>Dream-SLAM\u7684\u63d0\u51fa\uff0c\u4ee3\u8868\u4e86SLAM\u6280\u672f\u4ece\u201c\u88ab\u52a8\u611f\u77e5\u201d\u5411\u201c\u4e3b\u52a8\u60f3\u8c61\u201d\u7684\u91cd\u5927\u8303\u5f0f\u8f6c\u53d8\u3002\u5b83\u901a\u8fc7\u5f15\u5165\u751f\u6210\u6a21\u578b\u8d4b\u80fd\u7684\u201c\u505a\u68a6\u201d\u673a\u5236\uff0c\u5c06\u770b\u4f3c\u5206\u79bb\u7684\u5b9a\u4f4d\u3001\u5efa\u56fe\u548c\u63a2\u7d22\u4efb\u52a1\u65e0\u7f1d\u5730\u7edf\u4e00\u5728\u4e00\u4e2a\u6846\u67b6\u4e0b\uff0c\u4e3a\u89e3\u51b3\u52a8\u6001\u73af\u5883\u4e0b\u4e3b\u52a8SLAM\u7684\u6839\u672c\u6027\u96be\u9898\u63d0\u4f9b\u4e86\u4e00\u4e2a\u4f18\u96c5\u4e14\u5f3a\u5927\u7684\u89e3\u51b3\u65b9\u6848\u3002\u8fd9\u9879\u5de5\u4f5c\u4e0d\u4ec5\u5728\u6280\u672f\u6307\u6807\u4e0a\u53d6\u5f97\u4e86\u7a81\u7834\uff0c\u66f4\u5728\u7406\u5ff5\u4e0a\u4e3a\u5177\u8eab\u667a\u80fd\u7684\u53d1\u5c55\u5e26\u6765\u4e86\u6df1\u523b\u542f\u793a\uff1a\u672a\u6765\u7684\u667a\u80fd\u4f53\u6216\u8bb8\u4e0d\u4ec5\u9700\u8981\u611f\u77e5\u4e16\u754c\uff0c\u66f4\u9700\u8981\u5177\u5907\u201c\u60f3\u8c61\u201d\u4e16\u754c\u7684\u80fd\u529b\u3002<\/p>\n\n\n\n<p>\u8fd9\u9879\u6280\u672f\u672a\u6765\u6709\u671b\u5e94\u7528\u4e8e\u5bb6\u5ead\u670d\u52a1\u673a\u5668\u4eba\u3001\u4ed3\u50a8\u7269\u6d41\u3001\u81ea\u52a8\u9a7e\u9a76\u4e43\u81f3\u5143\u5b87\u5b99\u7684\u6784\u5efa\u4e2d\uff0c\u8ba9\u673a\u5668\u4eba\u5728\u590d\u6742\u591a\u53d8\u7684\u771f\u5b9e\u4e16\u754c\u91cc\u66f4\u52a0\u667a\u80fd\u3001\u81ea\u4e3b\u3002\u5f53\u7136\uff0c\u5982\u4f55\u8ba9\u201c\u68a6\u5883\u201d\u66f4\u903c\u771f\u3001\u66f4\u53ef\u63a7\uff0c\u5982\u4f55\u5904\u7406\u66f4\u957f\u65f6\u7a0b\u3001\u66f4\u590d\u6742\u7684\u52a8\u6001\u53d8\u5316\uff0c\u5c06\u662f\u672a\u6765\u503c\u5f97\u7ee7\u7eed\u63a2\u7d22\u7684\u65b9\u5411\u3002<\/p>\n\n\n\n<p><em>REF<\/em><\/p>\n\n\n\n<p><em>\u8bba\u6587\u6807\u9898: Dream-SLAM: Dreaming the Unseen for Active SLAM in Dynamic Environments<\/em><\/p>\n\n\n\n<p><em>\u8bba\u6587\u94fe\u63a5: <a href=\"https:\/\/link.zhihu.com\/?target=https%3A\/\/arxiv.org\/abs\/2602.21967\" target=\"_blank\" rel=\"noreferrer noopener\">https:\/\/arxiv.org\/abs\/2602.21967<\/a><\/em><\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u539f\u6587\u94fe\u63a5\uff1ahttps:\/\/zhuanlan.z [&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-37739","post","type-post","status-publish","format-standard","hentry","category-technology-frontier","category-home"],"views":0,"_links":{"self":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/37739"}],"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=37739"}],"version-history":[{"count":1,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/37739\/revisions"}],"predecessor-version":[{"id":37740,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/37739\/revisions\/37740"}],"wp:attachment":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/media?parent=37739"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/categories?post=37739"},{"taxonomy":"post_tag","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/tags?post=37739"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}