{"id":7653,"date":"2024-01-17T14:15:10","date_gmt":"2024-01-17T06:15:10","guid":{"rendered":"http:\/\/192.168.10.115\/?p=7653"},"modified":"2024-01-17T14:18:45","modified_gmt":"2024-01-17T06:18:45","slug":"2024-01-17","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2024\/01\/17\/7653\/","title":{"rendered":"2024-01-17\u3010MIT\u65b0\u4f5c\u3011SOS-SLAM\uff1a\u975e\u7ed3\u6784\u5316\u73af\u5883\u4e2d\u57fa\u4e8e\u5206\u5272\u7684\u5f00\u653e\u96c6SLAM"},"content":{"rendered":"\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"533\" height=\"89\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/01\/\u56fe\u7247-107.png\" alt=\"\" class=\"wp-image-7654\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/01\/\u56fe\u7247-107.png 533w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/01\/\u56fe\u7247-107-300x50.png 300w\" sizes=\"(max-width: 533px) 100vw, 533px\" \/><\/figure>\n\n\n\n<p>\u8bba\u6587\u94fe\u63a5\uff1ahttps:\/\/arxiv.org\/pdf\/2401.04791.pdf<\/p>\n\n\n\n<p>\u4ee3\u7801\u548c\u6570\u636e\u96c6\u94fe\u63a5\uff1ahttps:\/\/acl.mit.edu\/SOS-SLAM\/<\/p>\n\n\n\n<p>\u6458\u8981<\/p>\n\n\n\n<p>\u672c\u6587\u4ecb\u7ecd\u4e86SOS-SLAM\uff1a\u975e\u7ed3\u6784\u5316\u73af\u5883\u4e2d\u57fa\u4e8e\u5206\u5272\u7684\u5f00\u653e\u96c6SLAM\u3002\u672c\u6587\u63d0\u51fa\u4e86\u4e00\u79cd\u975e\u7ed3\u6784\u5316\u73af\u5883\u4e2d\u5b9e\u73b0\u5f00\u653e\u96c6\u540c\u65f6\u5b9a\u4f4d\u548c\u5efa\u56fe\uff08SLAM\uff09\u7684\u65b0\u578b\u6846\u67b6\uff0c\u5176\u4f7f\u7528\u5206\u5272\u6765\u6784\u5efa\u7528\u4e8e\u5b9a\u4f4d\u7684\u76ee\u6807\u548c\u76ee\u6807\u4e4b\u95f4\u51e0\u4f55\u5173\u7cfb\u7684\u5730\u56fe\u3002\u672c\u6587\u7cfb\u7edf\u7531\u4e24\u90e8\u5206\u7ec4\u6210\uff1a1\uff09\u524d\u7aef\u5efa\u56fe\u6d41\u7a0b\uff0c\u5176\u4f7f\u7528zero-shot\u5206\u5272\u6a21\u578b\u4ece\u56fe\u50cf\u4e2d\u63d0\u53d6\u76ee\u6807\u63a9\u819c\uff0c\u5e76\u4e14\u5728\u5e27\u95f4\u8ddf\u8e2a\u5b83\u4eec\u4ee5\u751f\u6210\u57fa\u4e8e\u76ee\u6807\u7684\u5730\u56fe\uff1b2\uff09\u5e27\u5bf9\u9f50\u6d41\u7a0b\uff0c\u5176\u4f7f\u7528\u76ee\u6807\u7684\u51e0\u4f55\u4e00\u81f4\u6027\u5728\u5404\u79cd\u6761\u4ef6\u4e0b\u83b7\u53d6\u7684\u5730\u56fe\u5185\u8fdb\u884c\u9ad8\u6548\u5b9a\u4f4d\u3002\u4e0e\u4f20\u7edf\u7684\u57fa\u4e8e\u7279\u5f81\u7684SLAM\u7cfb\u7edf\u6216\u8005\u5168\u5c40\u63cf\u8ff0\u5b50\u65b9\u6cd5\u76f8\u6bd4\uff0c\u8fd9\u79cd\u65b9\u6cd5\u5bf9\u5149\u7167\u548c\u5916\u89c2\u7684\u53d8\u5316\u66f4\u4e3a\u9c81\u68d2\u3002\u8fd9\u662f\u901a\u8fc7\u5728Batvik\u5b63\u8282\u6027\u6570\u636e\u96c6\u4e0a\u8bc4\u4f30SOS-SLAM\u6765\u5efa\u7acb\u7684\uff0c\u8be5\u6570\u636e\u96c6\u5305\u62ec\u5728\u4e0d\u540c\u5b63\u8282\u548c\u5149\u7167\u6761\u4ef6\u4e0b\u5728\u82ac\u5170\u5357\u90e8\u6cbf\u6d77\u5730\u533a\u7531\u65e0\u4eba\u673a\u98de\u884c\u91c7\u96c6\u7684\u6570\u636e\u3002\u5728\u4e0d\u540c\u73af\u5883\u6761\u4ef6\u4e0b\u7684\u98de\u884c\u8fc7\u7a0b\u4e2d\uff0c\u672c\u6587\u65b9\u6cd5\u5b9e\u73b0\u4e86\u6bd4\u57fa\u51c6\u65b9\u6cd5\u66f4\u9ad8\u7684\u53ec\u56de\u7387\uff0c\u5176\u51c6\u786e\u7387\u4e3a1.0\u3002SOS-SLAM\u5728\u53c2\u8003\u5730\u56fe\u5185\u7684\u5b9a\u4f4d\u901f\u5ea6\u6bd4\u5176\u5b83\u57fa\u4e8e\u7279\u5f81\u7684\u65b9\u6cd5\u5feb14\u500d\uff0c\u5e76\u4e14\u5730\u56fe\u89c4\u6a21\u5c0f\u4e8e\u5176\u5b83\u6700\u7d27\u51d1\u5730\u56fe\u89c4\u6a21\u76840.4%\u3002\u5f53\u4ece\u4e0d\u540c\u7684\u89c6\u89d2\u8003\u8651\u5b9a\u4f4d\u6027\u80fd\u65f6\uff0c\u672c\u6587\u65b9\u6cd5\u4f18\u4e8e\u76f8\u540c\u89c6\u89d2\u4e0b\u7684\u6240\u6709\u57fa\u51c6\u4ee5\u53ca\u4e0d\u540c\u89c6\u89d2\u4e0b\u7684\u5927\u591a\u6570\u57fa\u51c6\u3002SOS-SLAM\u662f\u4e00\u79cd\u7528\u4e8e\u975e\u7ed3\u6784\u5316\u73af\u5883\u4e2dSLAM\u7684\u5f88\u6709\u524d\u666f\u7684\u65b0\u65b9\u6cd5\uff0c\u5b83\u5bf9\u5149\u7167\u548c\u5916\u89c2\u53d8\u5316\u5177\u6709\u9c81\u68d2\u6027\uff0c\u5e76\u4e14\u6bd4\u5176\u5b83\u65b9\u6cd5\u8ba1\u7b97\u66f4\u9ad8\u6548\u3002<\/p>\n\n\n\n<p>\u4e3b\u8981\u8d21\u732e<\/p>\n\n\n\n<p>\u672c\u6587\u7684\u8d21\u732e\u603b\u7ed3\u5982\u4e0b\uff1a<\/p>\n\n\n\n<p>1\uff09\u524d\u7aef\u80fd\u591f\u91cd\u5efa\u7531\u5206\u5272\u7684\u76ee\u6807\u63a9\u819c\u6784\u6210\u7684\u8f66\u8f86\u5730\u56fe\uff0c\u5176\u89c4\u6a21\u5c0f\u4e8e\u5176\u5b83\u57fa\u51c6\u5730\u56fe\u89c4\u6a21\u76840.4%\uff0c\u4e0d\u4f9d\u8d56\u4e8e\u5bf9\u8fd0\u884c\u73af\u5883\u7684\u5148\u9a8c\u5047\u8bbe\uff1b<\/p>\n\n\n\n<p>2\uff09\u672c\u6587\u63d0\u51fa\u4e86\u4e00\u79cd\u4f7f\u7528\u51e0\u4f55\u5bf9\u5e94\u641c\u7d22\u548c\u7a97\u53e3\u65b9\u6cd5\u5173\u8054\u8f66\u8f86\u5730\u56fe\u7684\u65b9\u6cd5\uff0c\u5176\u6bd4\u57fa\u4e8e\u7279\u5f81\u7684\u6570\u636e\u5173\u8054\u65b9\u6cd5\u5feb14\u500d\uff1b<\/p>\n\n\n\n<p>3\uff09\u4e0e\u7ecf\u5178\u7684\u57fa\u4e8e\u7279\u5f81\u7684\u65b9\u6cd5\u548c\u6700\u5148\u8fdb\u7684\u89c6\u89c9\u4f4d\u7f6e\u8bc6\u522b\u65b9\u6cd5\u76f8\u6bd4\uff0cSOS-SLAM\u5728\u4e0d\u540c\u5b63\u8282\u548c\u5149\u7167\u6761\u4ef6\u4e0b\u7684\u73b0\u5b9e\u4e16\u754c\u98de\u884c\u4e2d\u5b9e\u73b0\u4e86\u66f4\u9ad8\u7684\u53ec\u56de\u7387\uff1b<\/p>\n\n\n\n<p>4\uff09\u672c\u6587\u53d1\u5e03\u4e86Batvik\u5b63\u8282\u6027\u6570\u636e\u96c6\uff0c\u5176\u4e2d\u5305\u62ec\u65e0\u4eba\u673a\u5728\u4e0d\u540c\u5149\u7167\u6761\u4ef6\u548c\u5b63\u8282\u6027\u5916\u89c2\u53d8\u5316\u4e0b\u8fdc\u8ddd\u79bb\u98de\u884c\u6240\u91c7\u96c6\u7684\u6570\u636e\uff0c\u4ee5\u4fc3\u8fdb\u5bf9\u975e\u7ed3\u6784\u5316\u73af\u5883\u4e2d\u5b9a\u4f4d\u505a\u51fa\u65b0\u8d21\u732e\u3002<\/p>\n\n\n\n<p>\u8bba\u6587\u56fe\u7247\u548c\u8868\u683c<\/p>\n\n\n\n<figure 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sizes=\"(max-width: 679px) 100vw, 679px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"333\" height=\"322\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/01\/\u56fe\u7247-110.png\" alt=\"\" class=\"wp-image-7657\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/01\/\u56fe\u7247-110.png 333w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/01\/\u56fe\u7247-110-300x290.png 300w\" sizes=\"(max-width: 333px) 100vw, 333px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"333\" height=\"345\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/01\/\u56fe\u7247-111.png\" alt=\"\" class=\"wp-image-7658\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/01\/\u56fe\u7247-111.png 333w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/01\/\u56fe\u7247-111-290x300.png 290w\" sizes=\"(max-width: 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