{"id":9205,"date":"2024-03-27T17:12:37","date_gmt":"2024-03-27T09:12:37","guid":{"rendered":"http:\/\/192.168.10.115\/?p=9205"},"modified":"2024-03-27T17:12:37","modified_gmt":"2024-03-27T09:12:37","slug":"2024-03-27-cvpr24-difflow3d%ef%bc%9a%e5%9c%ba%e6%99%af%e6%b5%81%e4%bc%b0%e8%ae%a1%e6%96%b0sota%ef%bc%8c%e6%89%a9%e6%95%a3%e6%a8%a1%e5%9e%8b%e5%8f%88%e4%b8%8b%e4%b8%80%e5%9f%8e","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2024\/03\/27\/9205\/","title":{"rendered":"2024-03-27 CVPR&#8217;24 | DifFlow3D\uff1a\u573a\u666f\u6d41\u4f30\u8ba1\u65b0SOTA\uff0c\u6269\u6563\u6a21\u578b\u53c8\u4e0b\u4e00\u57ce"},"content":{"rendered":"\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"388\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-232-1024x388.png\" alt=\"\" class=\"wp-image-9206\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-232-1024x388.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-232-300x114.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-232-768x291.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-232.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<h2 class=\"wp-block-heading\"><strong>\u8bba\u6587\u601d\u8def\uff1a<\/strong><\/h2>\n\n\n\n<p>\u573a\u666f\u6d41\u4f30\u8ba1\u65e8\u5728\u9884\u6d4b\u52a8\u6001\u573a\u666f\u4e2d\u6bcf\u4e2a\u70b9\u76843D\u4f4d\u79fb\u53d8\u5316\uff0c\u662f\u8ba1\u7b97\u673a\u89c6\u89c9\u9886\u57df\u7684\u4e00\u4e2a\u57fa\u7840\u4efb\u52a1\u3002\u7136\u800c\uff0c\u4ee5\u5f80\u7684\u5de5\u4f5c\u5e38\u5e38\u53d7\u5230\u5c40\u90e8\u7ea6\u675f\u641c\u7d22\u8303\u56f4\u5f15\u8d77\u7684\u4e0d\u53ef\u9760\u76f8\u5173\u6027\u7684\u56f0\u6270\uff0c\u5e76\u4e14\u5728\u4ece\u7c97\u5230\u7ec6\u7684\u7ed3\u6784\u4e2d\u79ef\u7d2f\u4e0d\u51c6\u786e\u6027\u3002\u4e3a\u4e86\u7f13\u89e3\u8fd9\u4e9b\u95ee\u9898\uff0c\u672c\u6587\u63d0\u51fa\u4e86\u4e00\u79cd\u65b0\u9896\u7684\u4e0d\u786e\u5b9a\u6027\u611f\u77e5\u573a\u666f\u6d41\u4f30\u8ba1\u7f51\u7edc\uff08DifFlow3D\uff09\uff0c\u8be5\u7f51\u7edc\u91c7\u7528\u4e86\u6269\u6563\u6982\u7387\u6a21\u578b\u3002\u8bbe\u8ba1\u4e86\u8fed\u4ee3\u6269\u6563\u5f0f\u7ec6\u5316(Iterative diffusion-based refinement)\u6765\u589e\u5f3a\u76f8\u5173\u6027\u7684\u9c81\u68d2\u6027\uff0c\u5e76\u5bf9\u56f0\u96be\u60c5\u51b5\uff08\u4f8b\u5982\u52a8\u6001\u3001\u566a\u58f0\u8f93\u5165\u3001\u91cd\u590d\u6a21\u5f0f\u7b49\uff09\u5177\u6709\u8f83\u5f3a\u7684\u9002\u5e94\u6027\u3002\u4e3a\u4e86\u9650\u5236\u751f\u6210\u7684\u591a\u6837\u6027\uff0c\u672c\u6587\u7684\u6269\u6563\u6a21\u578b\u4e2d\u5229\u7528\u4e86\u4e09\u4e2a\u5173\u952e\u7684\u4e0e\u6d41\u76f8\u5173\u7684\u7279\u5f81\u4f5c\u4e3a\u6761\u4ef6\u3002\u6b64\u5916\uff0c\u672c\u6587\u8fd8\u5728\u6269\u6563\u4e2d\u5f00\u53d1\u4e86\u4e00\u4e2a\u4e0d\u786e\u5b9a\u6027\u4f30\u8ba1\u6a21\u5757\uff0c\u4ee5\u8bc4\u4f30\u4f30\u8ba1\u573a\u666f\u6d41\u7684\u53ef\u9760\u6027\u3002\u672c\u6587\u7684 DifFlow3D \u5728 FlyingThings3D \u548c KITTI 2015 \u6570\u636e\u96c6\u4e0a\u5206\u522b\u5b9e\u73b0\u4e866.7%\u548c19.1%\u7684\u4e09\u7ef4\u7aef\u70b9\u8bef\u5dee\uff08EPE3D\uff09\u964d\u4f4e\uff0c\u5e76\u5728KITTI\u6570\u636e\u96c6\u4e0a\u5b9e\u73b0\u4e86\u524d\u6240\u672a\u6709\u7684\u6beb\u7c73\u7ea7\u7cbe\u5ea6\uff08EPE3D\u4e3a0.0089\u7c73\uff09\u3002\u53e6\u5916\uff0c\u672c\u6587\u7684\u57fa\u4e8e\u6269\u6563\u7684\u7ec6\u5316\u8303\u5f0f\u53ef\u4ee5\u4f5c\u4e3a\u4e00\u4e2a\u5373\u63d2\u5373\u7528\u7684\u6a21\u5757\uff0c\u8f7b\u677e\u96c6\u6210\u5230\u73b0\u6709\u7684\u573a\u666f\u6d41\u7f51\u7edc\u4e2d\uff0c\u663e\u8457\u63d0\u9ad8\u5b83\u4eec\u7684\u4f30\u8ba1\u7cbe\u5ea6\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\"><strong>\u4e3b\u8981\u8d21\u732e\uff1a<\/strong><\/h2>\n\n\n\n<p>\u4e3a\u4e86\u5b9e\u73b0\u9c81\u68d2\u7684\u573a\u666f\u6d41\u4f30\u8ba1\uff0c\u672c\u6587\u63d0\u51fa\u4e86\u4e00\u79cd\u65b0\u9896\u7684\u5373\u63d2\u5373\u7528\u578b\u57fa\u4e8e\u6269\u6563\u7684\u7ec6\u5316\u6d41\u7a0b\u3002\u636e\u672c\u6587\u6240\u77e5\uff0c\u8fd9\u662f\u9996\u6b21\u5728\u573a\u666f\u6d41\u4efb\u52a1\u4e2d\u5229\u7528\u6269\u6563\u6982\u7387\u6a21\u578b\u3002<\/p>\n\n\n\n<p>\u672c\u6587\u901a\u8fc7\u7ed3\u5408\u7c97\u6d41\u5d4c\u5165\u3001\u51e0\u4f55\u7f16\u7801\u548c\u8de8\u5e27\u6210\u672c\u4f53\u79ef(coarse flow embeddings, geometry encoding, cross-frame cost volume)\uff0c\u8bbe\u8ba1\u4e86\u5f3a\u6709\u529b\u7684\u6761\u4ef6\u5f15\u5bfc\u6765\u63a7\u5236\u751f\u6210\u7684\u591a\u6837\u6027\u3002<\/p>\n\n\n\n<p>\u4e3a\u4e86\u8bc4\u4f30\u672c\u6587\u4f30\u8ba1\u6d41\u7684\u53ef\u9760\u6027\u5e76\u8bc6\u522b\u4e0d\u51c6\u786e\u7684\u70b9\u5339\u914d\uff0c\u672c\u6587\u8fd8\u5728\u672c\u6587\u7684\u6269\u6563\u6a21\u578b\u4e2d\u5f15\u5165\u4e86\u6bcf\u4e2a\u70b9\u7684\u4e0d\u786e\u5b9a\u6027\u4f30\u8ba1\u3002<\/p>\n\n\n\n<p>\u672c\u6587\u7684\u65b9\u6cd5\u5728 FlyingThings3D \u548c KITTI \u6570\u636e\u96c6\u4e0a\u5747\u4f18\u4e8e\u6240\u6709\u73b0\u6709\u65b9\u6cd5\u3002\u7279\u522b\u662f\uff0c\u672c\u6587\u7684 DifFlow3D \u9996\u6b21\u5728 KITTI \u6570\u636e\u96c6\u4e0a\u5b9e\u73b0\u4e86\u6beb\u7c73\u7ea7\u7684\u7aef\u70b9\u8bef\u5dee\uff08EPE3D\uff09\u3002\u4e0e\u4ee5\u5f80\u7684\u5de5\u4f5c\u76f8\u6bd4\uff0c\u672c\u6587\u7684\u65b9\u6cd5\u5bf9\u4e8e\u5177\u6709\u6311\u6218\u6027\u7684\u60c5\u51b5\u5177\u6709\u66f4\u5f3a\u7684\u9c81\u68d2\u6027\uff0c\u4f8b\u5982\u566a\u58f0\u8f93\u5165\u3001\u52a8\u6001\u53d8\u5316\u7b49\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\"><strong>\u7f51\u7edc\u8bbe\u8ba1\uff1a<\/strong><\/h2>\n\n\n\n<p>\u573a\u666f\u6d41\u4f5c\u4e3a\u8ba1\u7b97\u673a\u89c6\u89c9\u4e2d\u7684\u4e00\u9879\u57fa\u7840\u4efb\u52a1\uff0c\u6307\u7684\u662f\u4ece\u8fde\u7eed\u7684\u56fe\u50cf\u6216\u70b9\u4e91\u4e2d\u4f30\u8ba1\u51fa\u7684\u4e09\u7ef4\u8fd0\u52a8\u573a\u3002\u5b83\u4e3a\u52a8\u6001\u573a\u666f\u7684\u4f4e\u5c42\u6b21\u611f\u77e5\u63d0\u4f9b\u4e86\u4fe1\u606f\uff0c\u5e76\u4e14\u6709\u7740\u5404\u79cd\u4e0b\u6e38\u5e94\u7528\uff0c\u4f8b\u5982\u81ea\u52a8\u9a7e\u9a76[21]\u3001\u59ff\u6001\u4f30\u8ba1[9]\u548c\u8fd0\u52a8\u5206\u5272[1]\u3002\u65e9\u671f\u7684\u5de5\u4f5c\u96c6\u4e2d\u5728\u4f7f\u7528\u7acb\u4f53[12]\u6216RGB-D\u56fe\u50cf[10]\u4f5c\u4e3a\u8f93\u5165\u3002\u968f\u77403D\u4f20\u611f\u5668\uff0c\u4f8b\u5982\u6fc0\u5149\u96f7\u8fbe\u7684\u65e5\u76ca\u666e\u53ca\uff0c\u8fd1\u671f\u7684\u5de5\u4f5c\u901a\u5e38\u76f4\u63a5\u4ee5\u70b9\u4e91\u4f5c\u4e3a\u8f93\u5165\u3002<\/p>\n\n\n\n<p>\u4f5c\u4e3a\u5f00\u521b\u6027\u7684\u5de5\u4f5c\uff0cFlowNet3D[16]\u4f7f\u7528 PointNet++[25] \u63d0\u53d6\u5c42\u6b21\u5316\u7279\u5f81\uff0c\u7136\u540e\u8fed\u4ee3\u56de\u5f52\u573a\u666f\u6d41\u3002PointPWC[42] \u901a\u8fc7\u91d1\u5b57\u5854\u3001\u53d8\u5f62\u548c\u6210\u672c\u4f53\u79ef\u7ed3\u6784[31]\u8fdb\u4e00\u6b65\u6539\u8fdb\u4e86\u5b83\u3002HALFlow[35] \u8ddf\u968f\u5b83\u4eec\uff0c\u5e76\u5f15\u5165\u4e86\u6ce8\u610f\u529b\u673a\u5236\u4ee5\u83b7\u5f97\u66f4\u597d\u7684\u6d41\u5d4c\u5165\u3002\u7136\u800c\uff0c\u8fd9\u4e9b\u57fa\u4e8e\u56de\u5f52\u7684\u5de5\u4f5c\u901a\u5e38\u906d\u53d7\u4e0d\u53ef\u9760\u7684\u76f8\u5173\u6027\u548c\u5c40\u90e8\u6700\u4f18\u95ee\u9898[17]\u3002\u539f\u56e0\u4e3b\u8981\u6709\u4e24\u4e2a\u65b9\u9762\uff1a\uff081\uff09\u5728\u4ed6\u4eec\u7684\u7f51\u7edc\u4e2d\uff0c\u4f7f\u7528K\u6700\u8fd1\u90bb\uff08KNN\uff09\u6765\u641c\u7d22\u70b9\u5bf9\u5e94\u5173\u7cfb\uff0c\u8fd9\u5e76\u4e0d\u80fd\u8003\u8651\u5230\u6b63\u786e\u4f46\u8ddd\u79bb\u8f83\u8fdc\u7684\u70b9\u5bf9\uff0c\u4e5f\u5b58\u5728\u5339\u914d\u566a\u58f0[7]\u3002\uff082\uff09\u53e6\u4e00\u4e2a\u6f5c\u5728\u95ee\u9898\u6765\u81ea\u4e8e\u4ee5\u5f80\u5de5\u4f5c[16, 35, 36, 42]\u4e2d\u5e7f\u6cdb\u4f7f\u7528\u7684\u7c97\u5230\u7ec6\u7ed3\u6784\u3002\u57fa\u672c\u4e0a\uff0c\u6700\u521d\u7684\u6d41\u5728\u6700\u7c97\u7cd9\u7684\u5c42\u4e0a\u4f30\u8ba1\uff0c\u7136\u540e\u5728\u66f4\u9ad8\u5206\u8fa8\u7387\u4e2d\u8fed\u4ee3\u7ec6\u5316\u3002\u7136\u800c\uff0c\u6d41\u7ec6\u5316\u7684\u6027\u80fd\u9ad8\u5ea6\u4f9d\u8d56\u4e8e\u521d\u59cb\u7c97\u6d41\u7684\u53ef\u9760\u6027\uff0c\u56e0\u4e3a\u540e\u7eed\u7684\u7ec6\u5316\u901a\u5e38\u53d7\u9650\u4e8e\u521d\u59cb\u5316\u5468\u56f4\u7684\u5c0f\u7684\u7a7a\u95f4\u8303\u56f4\u5185\u3002<\/p>\n\n\n\n<p>\u4e3a\u4e86\u89e3\u51b3\u4e0d\u53ef\u9760\u6027\u7684\u95ee\u9898\uff0c3DFlow[36] \u8bbe\u8ba1\u4e86\u4e00\u4e2a all-to-all \u7684\u70b9\u6536\u96c6\u6a21\u5757\uff0c\u5e76\u52a0\u5165\u4e86\u53cd\u5411\u9a8c\u8bc1\u3002\u7c7b\u4f3c\u5730\uff0cBi-PointFlowNet[4] \u53ca\u5176\u6269\u5c55MSBRN[5] \u63d0\u51fa\u4e86\u4e00\u4e2a\u53cc\u5411\u7f51\u7edc\uff0c\u5177\u6709\u524d\u5411-\u540e\u5411\u76f8\u5173\u6027\u3002IHNet[38] \u5229\u7528\u4e00\u4e2a\u5e26\u6709\u9ad8\u5206\u8fa8\u7387\u5f15\u5bfc\u548c\u91cd\u91c7\u6837\u65b9\u6848\u7684\u5faa\u73af\u7f51\u7edc\u3002\u7136\u800c\uff0c\u8fd9\u4e9b\u7f51\u7edc\u5927\u591a\u56e0\u5176\u53cc\u5411\u5173\u8054\u6216\u5faa\u73af\u8fed\u4ee3\u800c\u5728\u8ba1\u7b97\u6210\u672c\u4e0a\u9047\u5230\u4e86\u56f0\u96be\u3002\u672c\u6587\u53d1\u73b0\u6269\u6563\u6a21\u578b\u4e5f\u53ef\u4ee5\u589e\u5f3a\u76f8\u5173\u6027\u7684\u53ef\u9760\u6027\u548c\u5bf9\u5339\u914d\u566a\u58f0\u7684\u97e7\u6027\uff0c\u8fd9\u5f97\u76ca\u4e8e\u5176\u53bb\u566a\u672c\u8d28\uff08\u5982\u56fe1\u6240\u793a\uff09\u3002\u53d7\u5230[30]\u4e2d\u7684\u53d1\u73b0\u7684\u542f\u53d1\uff0c\u5373\u6ce8\u5165\u968f\u673a\u566a\u58f0\u6709\u52a9\u4e8e\u8df3\u51fa\u5c40\u90e8\u6700\u4f18\uff0c\u672c\u6587\u7528\u6982\u7387\u6269\u6563\u6a21\u578b\u91cd\u65b0\u6784\u5efa\u4e86\u786e\u5b9a\u6027\u6d41\u56de\u5f52\u4efb\u52a1(deterministic flow regression task)\uff0c\u5982\u56fe2\u6240\u793a\u3002\u6b64\u5916\uff0c\u672c\u6587\u7684\u65b9\u6cd5\u53ef\u4ee5\u4f5c\u4e3a\u4e00\u4e2a\u5373\u63d2\u5373\u7528\u7684\u6a21\u5757\u670d\u52a1\u4e8e\u5148\u524d\u7684\u573a\u666f\u6d41\u7f51\u7edc\uff0c\u8fd9\u79cd\u65b9\u6cd5\u66f4\u4e3a\u901a\u7528\uff0c\u5e76\u4e14\u51e0\u4e4e\u4e0d\u589e\u52a0\u8ba1\u7b97\u6210\u672c\uff08\u7b2c4.5\u8282\uff09\u3002<\/p>\n\n\n\n<p>\u7136\u800c\uff0c\u5728\u672c\u6587\u7684\u4efb\u52a1\u4e2d\u5229\u7528\u751f\u6210\u6a21\u578b\u662f\u76f8\u5f53\u5177\u6709\u6311\u6218\u6027\u7684\uff0c\u56e0\u4e3a\u6269\u6563\u6a21\u578b\u56fa\u6709\u7684\u751f\u6210\u591a\u6837\u6027\u3002\u4e0e\u9700\u8981\u591a\u6837\u5316\u8f93\u51fa\u6837\u672c\u7684\u70b9\u4e91\u751f\u6210\u4efb\u52a1\u4e0d\u540c\uff0c\u573a\u666f\u6d41\u9884\u6d4b\u662f\u4e00\u4e2a\u786e\u5b9a\u6027\u4efb\u52a1\uff0c\u5b83\u8ba1\u7b97\u7cbe\u786e\u7684\u6bcf\u70b9\u8fd0\u52a8\u5411\u91cf\u3002\u4e3a\u4e86\u89e3\u51b3\u8fd9\u4e2a\u95ee\u9898\uff0c\u672c\u6587\u5229\u7528\u5f3a\u6761\u4ef6\u4fe1\u606f\u6765\u9650\u5236\u591a\u6837\u6027\uff0c\u5e76\u6709\u6548\u63a7\u5236\u751f\u6210\u7684\u6d41\u3002\u5177\u4f53\u6765\u8bf4\uff0c\u9996\u5148\u521d\u59cb\u5316\u4e00\u4e2a\u7c97\u7cd9\u7684\u7a00\u758f\u573a\u666f\u6d41\uff0c\u7136\u540e\u901a\u8fc7\u6269\u6563\u8fed\u4ee3\u751f\u6210\u6d41\u6b8b\u5dee(flow residuals)\u3002\u5728\u6bcf\u4e2a\u57fa\u4e8e\u6269\u6563\u7684\u7ec6\u5316\u5c42\u4e2d\uff0c\u672c\u6587\u5229\u7528\u7c97\u6d41\u5d4c\u5165\u3001\u6210\u672c\u4f53\u79ef\u548c\u51e0\u4f55\u7f16\u7801\u4f5c\u4e3a\u6761\u4ef6\u3002\u5728\u8fd9\u79cd\u60c5\u51b5\u4e0b\uff0c\u6269\u6563\u88ab\u5e94\u7528\u4e8e\u5b9e\u9645\u5b66\u4e60\u4ece\u6761\u4ef6\u8f93\u5165\u5230\u6d41\u6b8b\u5dee\u7684\u6982\u7387\u6620\u5c04\u3002<\/p>\n\n\n\n<p>\u6b64\u5916\uff0c\u5148\u524d\u7684\u5de5\u4f5c\u5f88\u5c11\u63a2\u7d22\u573a\u666f\u6d41\u4f30\u8ba1\u7684\u7f6e\u4fe1\u5ea6\u548c\u53ef\u9760\u6027\u3002\u7136\u800c\uff0c\u5982\u56fe1\u6240\u793a\uff0c\u5728\u566a\u58f0\u3001\u52a8\u6001\u53d8\u5316\u3001\u5c0f\u7269\u4f53\u548c\u91cd\u590d\u6a21\u5f0f\u7684\u60c5\u51b5\u4e0b\uff0c\u5bc6\u96c6\u6d41\u5339\u914d\u5bb9\u6613\u51fa\u9519\u3002\u56e0\u6b64\uff0c\u4e86\u89e3\u6bcf\u4e2a\u4f30\u8ba1\u7684\u70b9\u5bf9\u5e94\u5173\u7cfb\u662f\u5426\u53ef\u9760\u662f\u975e\u5e38\u91cd\u8981\u7684\u3002\u53d7\u5230\u6700\u8fd1\u5728\u5149\u6d41\u4efb\u52a1\u4e2d\u4e0d\u786e\u5b9a\u6027\u4f30\u8ba1\u6210\u529f\u7684\u542f\u53d1[33]\uff0c\u672c\u6587\u5728\u6269\u6563\u6a21\u578b\u4e2d\u63d0\u51fa\u4e86\u9010\u70b9\u4e0d\u786e\u5b9a\u6027\uff0c\u4ee5\u8bc4\u4f30\u672c\u6587\u7684\u573a\u666f\u6d41\u4f30\u8ba1\u7684\u53ef\u9760\u6027\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"509\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-233-1024x509.png\" alt=\"\" class=\"wp-image-9207\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-233-1024x509.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-233-300x149.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-233-768x382.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-233.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u56fe3\u3002DifFlow3D \u7684\u603b\u4f53\u7ed3\u6784\u3002\u672c\u6587\u9996\u5148\u5728 bottom layer \u521d\u59cb\u5316\u4e00\u4e2a\u7c97\u7cd9\u7684\u7a00\u758f\u573a\u666f\u6d41\u3002\u968f\u540e\uff0c\u5c06\u8fed\u4ee3\u6269\u6563\u5f0f\u7ec6\u5316\u5c42\u4e0e\u6d41\u76f8\u5173\u7684\u6761\u4ef6\u4fe1\u53f7\u7ed3\u5408\u4f7f\u7528\uff0c\u4ee5\u6062\u590d\u66f4\u5bc6\u96c6\u7684\u6d41\u6b8b\u5dee\u3002\u4e3a\u4e86\u8bc4\u4f30\u672c\u6587\u4f30\u8ba1\u7684\u6d41\u7684\u53ef\u9760\u6027\uff0c\u8fd8\u5c06\u4e0e\u573a\u666f\u6d41\u4e00\u8d77\u8054\u5408\u9884\u6d4b\u6bcf\u4e2a\u70b9\u7684\u4e0d\u786e\u5b9a\u6027\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"712\" height=\"418\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-234.png\" alt=\"\" class=\"wp-image-9208\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-234.png 712w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-234-300x176.png 300w\" sizes=\"(max-width: 712px) 100vw, 712px\" \/><\/figure>\n\n\n\n<p>\u56fe2\u3002\u672c\u6587\u7528\u4e8e\u573a\u666f\u6d41\u4f30\u8ba1\u7684\u6269\u6563\u8fc7\u7a0b\u793a\u610f\u56fe\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"726\" height=\"700\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-235.png\" alt=\"\" class=\"wp-image-9209\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-235.png 726w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-235-300x289.png 300w\" sizes=\"(max-width: 726px) 100vw, 726px\" \/><\/figure>\n\n\n\n<p>\u56fe4\u3002\u4e0d\u786e\u5b9a\u6027\u7684\u53ef\u89c6\u5316\u3002\u5728\u8bad\u7ec3\u8fc7\u7a0b\u4e2d\uff0c\u672c\u6587\u8bbe\u8ba1\u7684\u4e0d\u786e\u5b9a\u6027\u533a\u95f4\u9010\u6e10\u7f29\u5c0f\uff0c\u8fd9\u4fc3\u4f7f\u9884\u6d4b\u7684\u6d41\u5411\u771f\u5b9e\u503c\u9760\u62e2\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\"><strong>\u5b9e\u9a8c\u7ed3\u679c\uff1a<\/strong><\/h2>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"627\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-236-1024x627.png\" alt=\"\" class=\"wp-image-9210\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-236-1024x627.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-236-300x184.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-236-768x470.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-236.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u56fe1\u3002\u5728\u5177\u6709\u6311\u6218\u6027\u7684\u60c5\u51b5\u4e0b\u7684\u6bd4\u8f83\u3002DifFlow3D \u4f7f\u7528\u6269\u6563\u6a21\u578b\u9884\u6d4b\u5177\u6709\u4e0d\u786e\u5b9a\u6027\u611f\u77e5\u7684\u573a\u666f\u6d41\uff0c\u8be5\u6a21\u578b\u5bf9\u4ee5\u4e0b\u60c5\u51b5\u5177\u6709\u66f4\u5f3a\u7684\u9c81\u68d2\u6027\uff1a(a)\u52a8\u6001\u53d8\u5316\uff0c(b)\u566a\u58f0\u5e72\u6270\u7684\u8f93\u5165\uff0c(c)\u5c0f\u7269\u4f53\uff0c\u4ee5\u53ca(d)\u91cd\u590d\u6a21\u5f0f\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"417\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-237-1024x417.png\" alt=\"\" class=\"wp-image-9211\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-237-1024x417.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-237-300x122.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-237-768x313.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-237.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u56fe 5. \u672a\u4f7f\u7528\u6216\u4f7f\u7528\u57fa\u4e8e\u6269\u6563\u7684\u573a\u666f\u6d41\u7ec6\u5316 (DSFR) \u7684\u53ef\u89c6\u5316\u7ed3\u679c\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"704\" height=\"433\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-238.png\" alt=\"\" class=\"wp-image-9212\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-238.png 704w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-238-300x185.png 300w\" sizes=\"(max-width: 704px) 100vw, 704px\" \/><\/figure>\n\n\n\n<p>\u56fe6\u3002\u5728\u8f93\u5165\u70b9\u4e0a\u6dfb\u52a0\u968f\u673a\u9ad8\u65af\u566a\u58f0\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"696\" height=\"318\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-239.png\" alt=\"\" class=\"wp-image-9213\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-239.png 696w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-239-300x137.png 300w\" sizes=\"(max-width: 696px) 100vw, 696px\" \/><\/figure>\n\n\n\n<p>\u56fe7\u3002\u4e0d\u786e\u5b9a\u6027\u5728\u8bad\u7ec3\u8fc7\u7a0b\u4e2d\u7684\u4f5c\u7528\u3002\u672c\u6587\u5206\u522b\u5728\u4e0d\u540c\u7684\u8bad\u7ec3\u9636\u6bb5\uff08\u7b2c10\u8f6e\u548c\u7b2c100\u8f6e\uff09\u53ef\u89c6\u5316\u4e86\u4e0d\u786e\u5b9a\u6027\u533a\u95f4\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"462\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-240-1024x462.png\" alt=\"\" class=\"wp-image-9214\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-240-1024x462.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-240-300x135.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-240-768x346.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-240.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"708\" height=\"702\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-241.png\" alt=\"\" class=\"wp-image-9215\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-241.png 708w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-241-300x297.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-241-150x150.png 150w\" sizes=\"(max-width: 708px) 100vw, 708px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"283\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-242-1024x283.png\" alt=\"\" class=\"wp-image-9216\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-242-1024x283.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-242-300x83.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-242-768x213.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-242.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"690\" height=\"490\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-243.png\" alt=\"\" class=\"wp-image-9217\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-243.png 690w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-243-300x213.png 300w\" sizes=\"(max-width: 690px) 100vw, 690px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"706\" height=\"260\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-244.png\" alt=\"\" class=\"wp-image-9218\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-244.png 706w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/03\/\u56fe\u7247-244-300x110.png 300w\" sizes=\"(max-width: 706px) 100vw, 706px\" \/><\/figure>\n\n\n\n<h2 class=\"wp-block-heading\"><strong>\u603b\u7ed3\uff1a<\/strong><\/h2>\n\n\n\n<p>\u672c\u6587\u521b\u65b0\u6027\u5730\u63d0\u51fa\u4e86\u4e00\u4e2a\u57fa\u4e8e\u6269\u6563\u7684\u573a\u666f\u6d41\u7ec6\u5316\u7f51\u7edc\uff0c\u8be5\u7f51\u7edc\u80fd\u591f\u611f\u77e5\u4f30\u8ba1\u7684\u4e0d\u786e\u5b9a\u6027\u3002\u672c\u6587\u91c7\u7528\u591a\u5c3a\u5ea6\u6269\u6563\u7ec6\u5316\u6765\u751f\u6210\u7ec6\u7c92\u5ea6\u7684\u5bc6\u96c6\u6d41\u6b8b\u5dee\u3002\u4e3a\u4e86\u63d0\u9ad8\u4f30\u8ba1\u7684\u9c81\u68d2\u6027\uff0c\u672c\u6587\u8fd8\u5f15\u5165\u4e86\u4e0e\u573a\u666f\u6d41\u4e00\u8d77\u8054\u5408\u751f\u6210\u7684\u9010\u70b9\u4e0d\u786e\u5b9a\u6027\u3002\u5e7f\u6cdb\u7684\u5b9e\u9a8c\u8868\u660e\u4e86\u672c\u6587\u7684 DifFlow3D \u7684\u4f18\u8d8a\u6027\u548c\u6cdb\u5316\u80fd\u529b\u3002\u503c\u5f97\u6ce8\u610f\u7684\u662f\uff0c\u672c\u6587\u7684\u57fa\u4e8e\u6269\u6563\u7684\u7ec6\u5316\u53ef\u4ee5\u4f5c\u4e3a\u5373\u63d2\u5373\u7528\u6a21\u5757\u5e94\u7528\u4e8e\u4ee5\u5f80\u7684\u5de5\u4f5c\uff0c\u5e76\u4e3a\u672a\u6765\u7684\u7814\u7a76\u63d0\u4f9b\u65b0\u7684\u542f\u793a\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\"><strong>\u5f15\u7528\uff1a<\/strong><\/h2>\n\n\n\n<p>Liu J, Wang G, Ye W, et al. DifFlow3D: Toward Robust Uncertainty-Aware Scene Flow Estimation with Diffusion Model[J]. arXiv preprint arXiv:2311.17456, 2023.<\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u8bba\u6587\u601d\u8def\uff1a \u573a\u666f\u6d41\u4f30\u8ba1\u65e8\u5728\u9884\u6d4b\u52a8\u6001\u573a\u666f\u4e2d\u6bcf\u4e2a\u70b9 [&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-9205","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\/9205"}],"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=9205"}],"version-history":[{"count":1,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/9205\/revisions"}],"predecessor-version":[{"id":9219,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/9205\/revisions\/9219"}],"wp:attachment":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/media?parent=9205"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/categories?post=9205"},{"taxonomy":"post_tag","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/tags?post=9205"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}