{"id":8691,"date":"2024-03-11T16:56:17","date_gmt":"2024-03-11T08:56:17","guid":{"rendered":"http:\/\/192.168.10.115\/?p=8691"},"modified":"2024-03-11T16:56:17","modified_gmt":"2024-03-11T08:56:17","slug":"2024-03-11%e3%80%90%e7%b1%b3%e5%85%b0%e7%90%86%e5%b7%a5%e5%a4%a7%e5%ad%a6%e3%80%91%e5%9f%ba%e4%ba%8e%e6%b7%b1%e5%ba%a6%e5%ad%a6%e4%b9%a0%e7%9a%84%e5%8d%8f%e4%bd%9c%e6%bf%80%e5%85%89%e9%9b%b7%e8%be%be","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2024\/03\/11\/8691\/","title":{"rendered":"2024-03-11\u3010\u7c73\u5170\u7406\u5de5\u5927\u5b66\u3011\u57fa\u4e8e\u6df1\u5ea6\u5b66\u4e60\u7684\u534f\u4f5c\u6fc0\u5149\u96f7\u8fbe\u611f\u77e5\u7528\u4e8e\u6539\u8fdb\u8f66\u8f86\u5b9a\u4f4d"},"content":{"rendered":"\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"664\" height=\"115\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-76.png\" alt=\"\" class=\"wp-image-8692\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-76.png 664w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-76-300x52.png 300w\" sizes=\"(max-width: 664px) 100vw, 664px\" \/><\/figure>\n\n\n\n<p>\u8bba\u6587\u94fe\u63a5\uff1ahttps:\/\/arxiv.org\/pdf\/2402.16656.pdf<\/p>\n\n\n\n<p>\u6458\u8981<\/p>\n\n\n\n<p>\u672c\u6587\u4ecb\u7ecd\u4e86\u57fa\u4e8e\u6df1\u5ea6\u5b66\u4e60\u7684\u534f\u4f5c\u6fc0\u5149\u96f7\u8fbe\u611f\u77e5\u7528\u4e8e\u6539\u8fdb\u8f66\u8f86\u5b9a\u4f4d\u3002\u4f17\u6240\u5468\u77e5\uff0c\u7cbe\u786e\u5b9a\u4f4d\u662f\u4e92\u8054\u81ea\u52a8\u9a7e\u9a76\u6c7d\u8f66\uff08CAV\uff09\u90e8\u7f72\u7684\u57fa\u672c\u8981\u6c42\u3002\u4e3a\u4e86\u6ee1\u8db3\u8fd9\u4e00\u8981\u6c42\uff0c\u4e00\u79cd\u65b0\u578b\u7684\u8d8b\u52bf\u4e3a\u534f\u4f5c\u65b9\u6cd5\uff0c\u5373\u8f66\u8f86\u901a\u8fc7\u8f66\u8def\u534f\u540c\uff08V2X\uff09\u901a\u4fe1\u878d\u5408\u6765\u81ea\u5bfc\u822a\u548c\u6210\u50cf\u4f20\u611f\u5668\u7684\u4fe1\u606f\uff0c\u4ee5\u5b9e\u73b0\u8054\u5408\u5b9a\u4f4d\u548c\u73af\u5883\u611f\u77e5\u3002\u6839\u636e\u8fd9\u4e00\u8d8b\u52bf\uff0c\u672c\u6587\u63d0\u51fa\u4e86\u4e00\u79cd\u65b0\u7684\u6570\u636e\u9a71\u52a8\u7684\u534f\u540c\u611f\u77e5\u6846\u67b6\uff0c\u79f0\u4e3a\u5177\u6709\u6d88\u606f\u4f20\u9012\u795e\u7ecf\u7f51\u7edc\u7684\u534f\u4f5c\u6fc0\u5149\u96f7\u8fbe\u611f\u77e5\uff08CLS-MPNN\uff09\uff0c\u5176\u4e2d\u7a7a\u95f4\u5206\u5e03\u7684\u8f66\u8f86\u901a\u8fc7\u6fc0\u5149\u96f7\u8fbe\u4f20\u611f\u5668\u534f\u540c\u611f\u77e5\u73af\u5883\u3002\u8f66\u8f86\u4f7f\u7528\u6df1\u5ea6\u795e\u7ecf\u7f51\u7edc\uff08DNN\uff09\uff08\u53733D\u76ee\u6807\u68c0\u6d4b\u5668\uff09\u6765\u5904\u7406\u6fc0\u5149\u96f7\u8fbe\u70b9\u4e91\uff0c\u4ee5\u8bc6\u522b\u548c\u5b9a\u4f4d\u9a7e\u9a76\u73af\u5883\u4e2d\u53ef\u80fd\u5b58\u5728\u7684\u9759\u6001\u76ee\u6807\u3002\u7136\u540e\uff0c\u901a\u8fc7\u96c6\u4e2d\u5f0f\u57fa\u7840\u8bbe\u65bd\u805a\u5408\u6570\u636e\uff0c\u8be5\u57fa\u7840\u8bbe\u65bd\u4f7f\u7528\u6d88\u606f\u4f20\u9012\u795e\u7ecf\u7f51\u7edc\uff08MPNN\uff09\u8fdb\u884c\u6570\u636e\u5173\u8054\uff08DA\uff09\uff0c\u5e76\u4e14\u8fd0\u884c\u9690\u5f0f\u534f\u4f5c\u5b9a\u4f4d\uff08ICP\uff09\u7b97\u6cd5\u3002\u672c\u6587\u901a\u8fc7\u7531\u9ad8\u4fdd\u771f\u5ea6\u81ea\u52a8\u9a7e\u9a76\u4eff\u771f\u5668\u751f\u6210\u7684\u4e24\u4e2a\u9a7e\u9a76\u573a\u666f\u6765\u8bc4\u4f30\u6240\u63d0\u51fa\u7684\u65b9\u6cd5\u3002\u7ed3\u679c\u8868\u660e\uff0cCLS-MPNN\u4f18\u4e8e\u4f20\u7edf\u7684\u57fa\u4e8e\u5168\u7403\u536b\u661f\u5bfc\u822a\u7cfb\u7edf\uff08GNSS\uff09\u7684\u975e\u534f\u4f5c\u5b9a\u4f4d\u7b97\u6cd5\u548c\u6700\u5148\u8fdb\u7684\u534f\u4f5c\u540c\u65f6\u5b9a\u4f4d\u548c\u5efa\u56fe\uff08SLAM\uff09\u65b9\u6cd5\uff0c\u540c\u65f6\u63a5\u8fd1\u5177\u6709\u7406\u60f3\u611f\u77e5\u548c\u5b8c\u7f8e\u5173\u8054\u7684oracle\u7cfb\u7edf\u7684\u6027\u80fd\u3002<\/p>\n\n\n\n<p>\u4e3b\u8981\u8d21\u732e<\/p>\n\n\n\n<p>\u672c\u6587\u7684\u4e3b\u8981\u8d21\u732e\u603b\u7ed3\u5982\u4e0b\uff1a<\/p>\n\n\n\n<p>1\uff09\u672c\u6587\u901a\u8fc7\u6269\u5c55\u5df2\u6709\u7684\u65b9\u6cd5\uff0c\u5c06\u6570\u636e\u5173\u8054\uff08DA\uff09\u5d4c\u5165\u5230\u534f\u4f5c\u673a\u5236\u4e2d\uff0c\u4ee5\u5b9e\u73b0\u968f\u65f6\u95f4\u8fdb\u884c\u8ddf\u8e2a\uff1b<\/p>\n\n\n\n<p>2\uff09\u672c\u6587\u901a\u8fc7\u96c6\u6210\u5355\u9636\u6bb5\u548c\u53cc\u9636\u6bb53D\u76ee\u6807\u68c0\u6d4b\u5668\u6765\u6269\u5c55\u6846\u67b6\uff0c\u4ee5\u63d0\u4f9b\u4e00\u4e2a\u5168\u9762\u7684\u534f\u4f5c\u5b9a\u4f4d\u5e73\u53f0\uff1b<\/p>\n\n\n\n<p>3\uff09\u672c\u6587\u5f15\u5165\u4e86\u4e0e\u6700\u5148\u8fdb\u7684\u534f\u4f5cSLAM\u65b9\u6cd5\u7684\u6bd4\u8f83\uff0c\u4ee5\u5c55\u73b0\u8be5\u65b9\u6848\u5728\u5b9a\u4f4d\u7cbe\u5ea6\u548c\u51cf\u5c11\u901a\u4fe1\u5f00\u9500\u65b9\u9762\u7684\u4f18\u52bf\uff1b<\/p>\n\n\n\n<p>4\uff09\u672c\u6587\u7814\u7a76\u4e86CLS-MPNN\u5728\u65b0\u7684\u9a7e\u9a76\u573a\u666f\u4e2d\u7684\u6cdb\u5316\u80fd\u529b\u3002\u6b64\u5916\uff0c\u672c\u6587\u8fd8\u63cf\u8ff0\u4e86CLS-MPNN\u4e0e\u66f4\u4fbf\u5b9c\u3001\u5206\u8fa8\u7387\u66f4\u4f4e\u7684\u6fc0\u5149\u96f7\u8fbe\u4e00\u8d77\u5de5\u4f5c\u7684\u80fd\u529b\u4ee5\u53ca\u5176\u5bf9\u865a\u5047\u8b66\u62a5\u7684\u9c81\u68d2\u6027\u3002<\/p>\n\n\n\n<p>\u8bba\u6587\u56fe\u7247\u548c\u8868\u683c<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"339\" height=\"427\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-77.png\" alt=\"\" class=\"wp-image-8693\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-77.png 339w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-77-238x300.png 238w\" sizes=\"(max-width: 339px) 100vw, 339px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"341\" height=\"643\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-78.png\" alt=\"\" class=\"wp-image-8694\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-78.png 341w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-78-159x300.png 159w\" sizes=\"(max-width: 341px) 100vw, 341px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"610\" height=\"134\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-79.png\" alt=\"\" class=\"wp-image-8695\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-79.png 610w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-79-300x66.png 300w\" sizes=\"(max-width: 610px) 100vw, 610px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"679\" height=\"116\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-80.png\" alt=\"\" class=\"wp-image-8696\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-80.png 679w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-80-300x51.png 300w\" sizes=\"(max-width: 679px) 100vw, 679px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"325\" height=\"173\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-81.png\" alt=\"\" class=\"wp-image-8697\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-81.png 325w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-81-300x160.png 300w\" sizes=\"(max-width: 325px) 100vw, 325px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"338\" height=\"273\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-82.png\" alt=\"\" class=\"wp-image-8698\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-82.png 338w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-82-300x242.png 300w\" sizes=\"(max-width: 338px) 100vw, 338px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"687\" height=\"434\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-83.png\" alt=\"\" class=\"wp-image-8699\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-83.png 687w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-83-300x190.png 300w\" sizes=\"(max-width: 687px) 100vw, 687px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"333\" height=\"95\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-84.png\" alt=\"\" class=\"wp-image-8700\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-84.png 333w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-84-300x86.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=\"326\" height=\"177\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-85.png\" alt=\"\" class=\"wp-image-8701\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-85.png 326w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-85-300x163.png 300w\" sizes=\"(max-width: 326px) 100vw, 326px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"339\" height=\"177\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-86.png\" alt=\"\" class=\"wp-image-8702\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-86.png 339w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-86-300x157.png 300w\" sizes=\"(max-width: 339px) 100vw, 339px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"343\" height=\"207\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-87.png\" alt=\"\" class=\"wp-image-8703\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-87.png 343w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-87-300x181.png 300w\" sizes=\"(max-width: 343px) 100vw, 343px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"290\" height=\"110\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-88.png\" alt=\"\" class=\"wp-image-8704\"\/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"343\" height=\"190\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-89.png\" alt=\"\" class=\"wp-image-8705\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-89.png 343w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-89-300x166.png 300w\" sizes=\"(max-width: 343px) 100vw, 343px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"343\" height=\"417\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-90.png\" alt=\"\" class=\"wp-image-8706\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-90.png 343w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-90-247x300.png 247w\" sizes=\"(max-width: 343px) 100vw, 343px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"331\" height=\"174\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-91.png\" alt=\"\" class=\"wp-image-8707\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-91.png 331w, 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