{"id":9815,"date":"2024-04-26T15:13:09","date_gmt":"2024-04-26T07:13:09","guid":{"rendered":"http:\/\/192.168.10.115\/?p=9815"},"modified":"2024-04-26T15:13:09","modified_gmt":"2024-04-26T07:13:09","slug":"2024-04-26-%e9%a9%be%e9%a9%b6%e5%9c%ba%e6%99%af%e9%87%8d%e5%bb%basota%ef%bc%81drivinggaussian%ef%bc%9a%e9%80%bc%e7%9c%9f%e7%8e%af%e8%a7%86%e6%95%b0%e6%8d%ae%e5%90%88%e6%88%90%ef%bc%88cvpr24%ef%bc%89","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2024\/04\/26\/9815\/","title":{"rendered":"2024-04-26 \u9a7e\u9a76\u573a\u666f\u91cd\u5efaSOTA\uff01DrivingGaussian\uff1a\u903c\u771f\u73af\u89c6\u6570\u636e\u5408\u6210\uff08CVPR&#8217;24\uff09"},"content":{"rendered":"\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"990\" height=\"322\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-191.png\" alt=\"\" class=\"wp-image-9816\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-191.png 990w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-191-300x98.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-191-768x250.png 768w\" sizes=\"(max-width: 990px) 100vw, 990px\" \/><\/figure>\n\n\n\n<p><em>\u8bba\u6587\u94fe\u63a5\uff1ahttps:\/\/arxiv.org\/abs\/2312.07920<\/em><\/p>\n\n\n\n<p><em>\u9879\u76ee\u4e3b\u9875\uff1ahttps:\/\/github.com\/VDIGPKU\/DrivingGaussian<\/em><\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"539\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-192-1024x539.png\" alt=\"\" class=\"wp-image-9817\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-192-1024x539.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-192-300x158.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-192-768x405.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-192.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u56fe 1. 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DrivingGaussian\uff0c\u8fd9\u662f\u4e00\u79cd\u4ee3\u8868\u5468\u56f4\u52a8\u6001\u81ea\u52a8\u9a7e\u9a76\u573a\u666f\u7684\u65b0\u9896\u6846\u67b6\u3002\u6211\u4eec\u7684<strong>\u5173\u952e\u601d\u60f3\u662f\u4f7f\u7528\u6765\u81ea\u591a\u4e2a\u4f20\u611f\u5668\u7684\u987a\u5e8f\u6570\u636e\u5bf9\u590d\u6742\u7684\u9a7e\u9a76\u573a\u666f\u8fdb\u884c\u5206\u5c42\u5efa\u6a21\u3002<\/strong>\u6211\u4eec\u91c7\u7528\u590d\u5408\u9ad8\u65af\u5206\u5e03\u5c06\u6574\u4e2a\u573a\u666f\u5206\u89e3\u4e3a\u9759\u6001\u80cc\u666f\u548c\u52a8\u6001\u5bf9\u8c61\uff0c\u5206\u522b\u91cd\u5efa\u6bcf\u4e2a\u90e8\u5206\u3002\u5177\u4f53\u6765\u8bf4\uff0c\u6211\u4eec\u9996\u5148\u4f7f\u7528\u589e\u91cf\u9759\u6001 3D \u9ad8\u65af\u4ece\u5468\u56f4\u7684\u591a\u6444\u50cf\u673a\u89c6\u56fe\u987a\u5e8f\u6784\u5efa\u7efc\u5408\u573a\u666f\u3002\u7136\u540e\uff0c\u6211\u4eec\u91c7\u7528\u590d\u5408\u52a8\u6001\u9ad8\u65af\u56fe\u6765\u5355\u72ec\u91cd\u5efa\u6bcf\u4e2a\u8fd0\u52a8\u5bf9\u8c61\uff0c\u5e76\u57fa\u4e8e\u9ad8\u65af\u56fe\u5c06\u5b83\u4eec\u52a8\u6001\u5730\u96c6\u6210\u5230\u9759\u6001\u80cc\u666f\u4e2d\u3002\u5728\u6b64\u57fa\u7840\u4e0a\uff0c\u901a\u8fc7\u9ad8\u65af\u55b7\u5c04\u8fdb\u884c\u5168\u5c40\u6e32\u67d3\uff0c\u6355\u6349\u73b0\u5b9e\u4e16\u754c\u4e2d\u7684\u906e\u6321\u5173\u7cfb\uff0c\u5305\u62ec\u9759\u6001\u80cc\u666f\u548c\u52a8\u6001\u5bf9\u8c61\u3002\u6b64\u5916\uff0c\u6211\u4eec\u5728 GS \u8868\u793a\u4e2d\u52a0\u5165\u4e86 LiDAR \u5148\u9a8c\uff0c\u4e0e\u5229\u7528\u968f\u673a\u521d\u59cb\u5316\u6216 SfM \u751f\u6210\u7684\u70b9\u4e91\u76f8\u6bd4\uff0c\u5b83\u80fd\u591f\u6062\u590d\u66f4\u7cbe\u786e\u7684\u51e0\u4f55\u5f62\u72b6\u5e76\u4fdd\u6301\u66f4\u597d\u7684\u591a\u89c6\u56fe\u4e00\u81f4\u6027\u3002<\/p>\n\n\n\n<p>\u5927\u91cf\u7684\u5b9e\u9a8c\u8868\u660e\uff0c\u6211\u4eec\u7684\u65b9\u6cd5\u5728\u516c\u5171\u81ea\u52a8\u9a7e\u9a76\u6570\u636e\u96c6\u4e0a\u5b9e\u73b0\u4e86\u6700\u5148\u8fdb\u7684\u6027\u80fd\u3002\u5373\u4f7f\u4e8b\u5148\u6ca1\u6709\u6fc0\u5149\u96f7\u8fbe\uff0c\u6211\u4eec\u7684\u65b9\u6cd5\u4ecd\u7136\u8868\u73b0\u51fa\u826f\u597d\u7684\u6027\u80fd\uff0c\u8bc1\u660e\u4e86\u5176\u5728\u91cd\u5efa\u5927\u89c4\u6a21\u52a8\u6001\u573a\u666f\u65b9\u9762\u7684\u591a\u529f\u80fd\u6027\u3002\u6b64\u5916\uff0c\u6211\u4eec\u7684\u6846\u67b6\u652f\u6301\u52a8\u6001\u573a\u666f\u6784\u5efa\u548c\u6781\u7aef\u60c5\u51b5\u6a21\u62df\uff0c\u6709\u52a9\u4e8e\u9a8c\u8bc1\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u7684\u5b89\u5168\u6027\u548c\u9c81\u68d2\u6027\u3002<\/p>\n\n\n\n<p><strong>\u8fd9\u9879\u5de5\u4f5c\u7684\u4e3b\u8981\u8d21\u732e\u662f\uff1a<\/strong><\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u636e\u6211\u4eec\u6240\u77e5\uff0cDrivingGaussian \u662f\u7b2c\u4e00\u4e2a\u57fa\u4e8e\u590d\u5408\u9ad8\u65af\u5206\u5e03\u7684\u5927\u89c4\u6a21\u52a8\u6001\u9a7e\u9a76\u573a\u666f\u7684\u8868\u793a\u548c\u5efa\u6a21\u6846\u67b6\u3002<\/li>\n\n\n\n<li>\u5f15\u5165\u4e86\u4e24\u4e2a\u65b0\u9896\u7684\u6a21\u5757\uff0c\u5305\u62ec\u589e\u91cf\u9759\u60013D \u9ad8\u65af\u548c\u590d\u5408\u52a8\u6001\u9ad8\u65af\u56fe\u3002\u524d\u8005\u589e\u91cf\u5730\u91cd\u5efa\u9759\u6001\u80cc\u666f\uff0c\u800c\u540e\u8005\u5219\u4f7f\u7528\u9ad8\u65af\u56fe\u5bf9\u591a\u4e2a\u52a8\u6001\u5bf9\u8c61\u8fdb\u884c\u5efa\u6a21\u3002\u5728\u6fc0\u5149\u96f7\u8fbe\u5148\u9a8c\u7684\u8f85\u52a9\u4e0b\uff0c\u8be5\u65b9\u6cd5\u6709\u52a9\u4e8e\u5728\u5927\u89c4\u6a21\u9a7e\u9a76\u573a\u666f\u4e2d\u6062\u590d\u5b8c\u6574\u7684\u51e0\u4f55\u5f62\u72b6\u3002<\/li>\n\n\n\n<li>\u7efc\u5408\u5b9e\u9a8c\u8868\u660e\uff0cDrivingGaussian \u5728\u6311\u6218\u81ea\u52a8\u9a7e\u9a76\u57fa\u51c6\u65b9\u9762\u4f18\u4e8e\u4ee5\u524d\u7684\u65b9\u6cd5\uff0c\u5e76\u652f\u6301\u5404\u79cd\u4e0b\u6e38\u4efb\u52a1\u7684\u6781\u7aef\u60c5\u51b5\u6a21\u62df\u3002<\/li>\n<\/ul>\n\n\n\n<p>2.\u76f8\u5173\u5de5\u4f5c<\/p>\n\n\n\n<p><strong>\u7528\u4e8e\u6709\u754c\u573a\u666f\u7684 NeRF\u3002<\/strong>&nbsp;\u7528\u4e8e\u65b0\u9896\u89c6\u56fe\u5408\u6210\u7684\u795e\u7ecf\u6e32\u67d3\u7684\u5feb\u901f\u8fdb\u5c55\u53d7\u5230\u4e86\u5e7f\u6cdb\u5173\u6ce8\u3002\u795e\u7ecf\u8f90\u5c04\u573a (NeRF) \u5229\u7528\u591a\u5c42\u611f\u77e5\u5668 (MLP) \u548c\u53ef\u5fae\u4f53\u79ef\u6e32\u67d3\uff0c\u53ef\u4ee5\u91cd\u5efa 3D \u573a\u666f\u5e76\u4ece\u4e00\u7ec4 2D \u56fe\u50cf\u548c\u76f8\u5e94\u7684\u76f8\u673a\u59ff\u6001\u4fe1\u606f\u5408\u6210\u65b0\u9896\u7684\u89c6\u56fe\u3002\u7136\u800c\uff0cNeRF \u4ec5\u9650\u4e8e\u6709\u754c\u573a\u666f\uff0c\u8981\u6c42\u4e2d\u5fc3\u7269\u4f53\u548c\u76f8\u673a\u4e4b\u95f4\u7684\u8ddd\u79bb\u4e00\u81f4\u3002\u5b83\u8fd8\u96be\u4ee5\u5904\u7406\u901a\u8fc7\u8f7b\u5fae\u91cd\u53e0\u548c\u5411\u5916\u6355\u6349\u65b9\u6cd5\u6355\u6349\u7684\u573a\u666f\u3002\u4f17\u591a\u8fdb\u6b65\u6269\u5c55\u4e86 NeRF \u7684\u529f\u80fd\uff0c\u663e\u7740\u63d0\u9ad8\u4e86\u8bad\u7ec3\u901f\u5ea6\u3001\u59ff\u52bf\u4f18\u5316\u3001\u573a\u666f\u7f16\u8f91\u548c\u52a8\u6001\u573a\u666f\u8868\u793a\u3002\u5c3d\u7ba1\u5982\u6b64\uff0c\u5c06 NeRF \u5e94\u7528\u4e8e\u5927\u89c4\u6a21\u65e0\u754c\u573a\u666f\uff0c\u4f8b\u5982\u81ea\u52a8\u9a7e\u9a76\u573a\u666f\uff0c\u4ecd\u7136\u662f\u4e00\u4e2a\u6311\u6218\u3002<\/p>\n\n\n\n<p><strong>NeRF \u9002\u7528\u4e8e\u65e0\u754c\u573a\u666f\u3002<\/strong>&nbsp;\u5bf9\u4e8e\u5927\u89c4\u6a21\u65e0\u754c\u573a\u666f\uff0c\u5f88\u591a\u5de5\u4f5c\u5f15\u5165\u4e86NeRF\u7684\u7ec6\u5316\u7248\u672c\u6765\u5efa\u6a21\u591a\u5c3a\u5ea6\u57ce\u5e02\u7ea7\u9759\u6001\u573a\u666f\u3002\u53d7\u5230\u9632\u6b62\u6df7\u53e0\u7684 mipmapping \u65b9\u6cd5\u7684\u542f\u53d1\uff0c\u4e00\u4e9b\u5de5\u4f5c\u5c06 NeRF \u6269\u5c55\u5230\u65e0\u754c\u573a\u666f\u3002\u4e3a\u4e86\u5b9e\u73b0\u9ad8\u4fdd\u771f\u6e32\u67d3\uff0c\u6709\u7684\u5de5\u4f5c\u5c06\u7d27\u51d1\u7684\u591a\u5206\u8fa8\u7387\u5730\u9762\u7279\u5f81\u5e73\u9762\u4e0e NeRF \u7ed3\u5408\u8d77\u6765\uff0c\u7528\u4e8e\u5927\u578b\u57ce\u5e02\u573a\u666f\u3002\u4e00\u4e9b\u5de5\u4f5c\u63d0\u51fa\u4e86\u4e00\u79cd\u8fd1\u8ddd\u79bb\u4e0e\u8fdc\u8ddd\u79bb\u89c6\u56fe\u89e3\u5f00\u65b9\u6cd5\uff0c\u8be5\u65b9\u6cd5\u53ef\u4ee5\u5bf9\u65e0\u754c\u8857\u666f\u8fdb\u884c\u5efa\u6a21\uff0c\u4f46\u5ffd\u7565\u9053\u8def\u4e0a\u7684\u52a8\u6001\u7269\u4f53\u3002\u7136\u800c\uff0c\u8fd9\u4e9b\u65b9\u6cd5\u662f\u5728\u5047\u8bbe\u573a\u666f\u4fdd\u6301\u9759\u6001\u7684\u60c5\u51b5\u4e0b\u5bf9\u573a\u666f\u8fdb\u884c\u5efa\u6a21\u7684\uff0c\u5e76\u4e14\u5728\u6709\u6548\u6355\u83b7\u52a8\u6001\u5143\u7d20\u65b9\u9762\u9762\u4e34\u6311\u6218\u3002<\/p>\n\n\n\n<p>\u540c\u65f6\uff0c\u4e4b\u524d\u57fa\u4e8e NeRF \u7684\u65b9\u6cd5\u9ad8\u5ea6\u4f9d\u8d56\u4e8e\u51c6\u786e\u7684\u76f8\u673a\u4f4d\u59ff\u3002\u5728\u6ca1\u6709\u7cbe\u786e\u59ff\u52bf\u7684\u60c5\u51b5\u4e0b\uff0c\u4e00\u4e9b\u5de5\u4f5c\u53ef\u4ee5\u4ece\u52a8\u6001\u5355\u76ee\u89c6\u9891\u8fdb\u884c\u5408\u6210\u3002\u7136\u800c\uff0c\u8fd9\u4e9b\u65b9\u6cd5\u4ec5\u9650\u4e8e\u524d\u5411\u5355\u76ee\u89c6\u70b9\uff0c\u5e76\u4e14\u5728\u5904\u7406\u6765\u81ea\u5468\u56f4\u591a\u6444\u50cf\u673a\u8bbe\u7f6e\u7684\u8f93\u5165\u65f6\u9047\u5230\u6311\u6218\u3002\u5bf9\u4e8e\u52a8\u6001\u57ce\u5e02\u573a\u666f\uff0c\u4e00\u4e9b\u5de5\u4f5c\u4f7f\u7528\u573a\u666f\u56fe\u5c06 NeRF \u6269\u5c55\u5230\u5177\u6709\u591a\u4e2a\u5bf9\u8c61\u7684\u52a8\u6001\u573a\u666f\u3002\u4e00\u4e9b\u5de5\u4f5c\u63d0\u51fa\u4e86\u7528\u4e8e\u5355\u76ee\u52a8\u6001\u573a\u666f\u7684\u5b9e\u4f8b\u611f\u77e5\u3001\u6a21\u5757\u5316\u548c\u771f\u5b9e\u7684\u6a21\u62df\u5668\u3002\u4e00\u4e9b\u5de5\u4f5c\u6539\u8fdb\u4e86\u5468\u56f4\u89c6\u56fe\u7684\u53c2\u6570\u5316\u548c\u76f8\u673a\u59ff\u6001\uff0c\u540c\u65f6\u4f7f\u7528\u6fc0\u5149\u96f7\u8fbe\u4f5c\u4e3a\u989d\u5916\u7684\u6df1\u5ea6\u76d1\u7763\u3002\u4e00\u4e9b\u5de5\u4f5c\u5c06\u573a\u666f\u5206\u89e3\u4e3a\u9759\u6001\u80cc\u666f\u548c\u52a8\u6001\u7269\u4f53\uff0c\u5e76\u501f\u52a9\u6fc0\u5149\u96f7\u8fbe\u548c2D\u5149\u6d41\u6784\u5efa\u573a\u666f\u3002<\/p>\n\n\n\n<p>\u4e0a\u8ff0\u57fa\u4e8e NeRF \u7684\u65b9\u6cd5\u5408\u6210\u7684\u89c6\u56fe\u8d28\u91cf\u5728\u5177\u6709\u591a\u4e2a\u52a8\u6001\u5bf9\u8c61\u3001\u53d8\u5316\u548c\u5149\u7167\u53d8\u5316\u7684\u573a\u666f\u4e2d\u4f1a\u6076\u5316\uff0c\u56e0\u4e3a\u5b83\u4eec\u4f9d\u8d56\u4e8e\u5149\u7ebf\u91c7\u6837\u3002\u6b64\u5916\uff0cLiDAR\u7684\u4f7f\u7528\u4ec5\u9650\u4e8e\u63d0\u4f9b\u8f85\u52a9\u6df1\u5ea6\u76d1\u7763\uff0c\u5e76\u4e14\u5176\u5728\u91cd\u5efa\u4e2d\u7684\u6f5c\u5728\u597d\u5904\uff08\u4f8b\u5982\u63d0\u4f9b\u51e0\u4f55\u5148\u9a8c\uff09\u5c1a\u672a\u88ab\u63a2\u7d22\u3002<\/p>\n\n\n\n<p>\u4e3a\u4e86\u89e3\u51b3\u8fd9\u4e9b\u9650\u5236\uff0c\u6211\u4eec\u5229\u7528\u590d\u5408\u9ad8\u65af\u5206\u5e03\u5bf9\u65e0\u754c\u52a8\u6001\u573a\u666f\u8fdb\u884c\u5efa\u6a21\uff0c\u5176\u4e2d\u9759\u6001\u80cc\u666f\u968f\u7740\u81ea\u6211\u8f66\u8f86\u7684\u79fb\u52a8\u800c\u9010\u6e10\u91cd\u5efa\uff0c\u5e76\u4e14\u901a\u8fc7\u9ad8\u65af\u56fe\u5bf9\u591a\u4e2a\u52a8\u6001\u5bf9\u8c61\u8fdb\u884c\u5efa\u6a21\u5e76\u96c6\u6210\u5230\u6574\u4e2a\u573a\u666f\u4e2d\u3002\u91c7\u7528\u6fc0\u5149\u96f7\u8fbe\u4f5c\u4e3a\u9ad8\u65af\u7684\u521d\u59cb\u5316\uff0c\u63d0\u4f9b\u66f4\u51c6\u786e\u7684\u51e0\u4f55\u5f62\u72b6\u5148\u9a8c\u548c\u5168\u9762\u7684\u573a\u666f\u63cf\u8ff0\uff0c\u800c\u4e0d\u662f\u4ec5\u4ec5\u5145\u5f53\u56fe\u50cf\u7684\u6df1\u5ea6\u76d1\u7763\u3002<\/p>\n\n\n\n<p><strong>3D \u9ad8\u65af\u6cfc\u6e85\u3002<\/strong>&nbsp;\u6700\u8fd1\u7684 3D \u9ad8\u65af\u5206\u5e03 (3D-GS) \u4f7f\u7528\u5927\u91cf 3D \u9ad8\u65af\u5bf9\u9759\u6001\u573a\u666f\u8fdb\u884c\u5efa\u6a21\uff0c\u5728\u65b0\u9896\u7684\u89c6\u56fe\u5408\u6210\u548c\u8bad\u7ec3\u901f\u5ea6\u65b9\u9762\u53d6\u5f97\u4e86\u6700\u4f73\u7ed3\u679c\u3002\u4e0e\u4e4b\u524d\u7684\u663e\u5f0f\u573a\u666f\u8868\u793a\uff08\u4f8b\u5982\u7f51\u683c\u3001\u4f53\u7d20\uff09\u76f8\u6bd4\uff0c3D-GS \u53ef\u4ee5\u7528\u66f4\u5c11\u7684\u53c2\u6570\u5bf9\u590d\u6742\u7684\u5f62\u72b6\u8fdb\u884c\u5efa\u6a21\u3002\u4e0e\u9690\u5f0f\u795e\u7ecf\u6e32\u67d3\u4e0d\u540c\uff0c3D-GS \u5141\u8bb8\u901a\u8fc7\u57fa\u4e8e&nbsp;splat&nbsp;\u7684\u5149\u6805\u5316\u8fdb\u884c\u5feb\u901f\u6e32\u67d3\u548c\u53ef\u5fae\u5206\u8ba1\u7b97\u3002<\/p>\n\n\n\n<p><strong>\u52a8\u6001 3D \u9ad8\u65af\u6cfc\u6e85\u3002<\/strong>&nbsp;\u6700\u521d\u7684 3D-GS \u65e8\u5728\u8868\u793a\u9759\u6001\u573a\u666f\uff0c\u4e00\u4e9b\u7814\u7a76\u4eba\u5458\u5df2\u5c06\u5176\u6269\u5c55\u5230\u52a8\u6001\u5bf9\u8c61\/\u573a\u666f\u3002\u7ed9\u5b9a\u4e00\u7ec4\u52a8\u6001\u5355\u76ee\u56fe\u50cf\uff0c\u5148\u524d\u5de5\u4f5c\u5f15\u5165\u4e86\u53d8\u5f62\u7f51\u7edc\u6765\u6a21\u62df\u9ad8\u65af\u8fd0\u52a8\u3002\u8fd8\u6709\u7684\u5de5\u4f5c\u901a\u8fc7 HexPlane \u8fde\u63a5\u76f8\u90bb\u7684\u9ad8\u65af\uff0c\u5b9e\u73b0\u5b9e\u65f6\u6e32\u67d3\u3002\u7136\u800c\uff0c\u8fd9\u4e24\u79cd\u65b9\u6cd5\u662f\u4e13\u95e8\u4e3a\u805a\u7126\u4e8e\u4e2d\u5fc3\u7269\u4f53\u7684\u5355\u76ee\u5355\u76f8\u673a\u573a\u666f\u800c\u8bbe\u8ba1\u7684\u3002\u6709\u7684\u5de5\u4f5c\u4f7f\u7528\u4e00\u7ec4\u6f14\u5316\u7684\u52a8\u6001\u9ad8\u65af\u53c2\u6570\u5316\u6574\u4e2a\u573a\u666f\u3002\u7136\u800c\uff0c\u5b83\u9700\u8981\u4e00\u4e2a\u5177\u6709\u5bc6\u96c6\u591a\u89c6\u56fe\u7684\u76f8\u673a\u9635\u5217\u4f5c\u4e3a\u8f93\u5165\u3002<\/p>\n\n\n\n<p>\u5728\u73b0\u5b9e\u4e16\u754c\u7684\u81ea\u52a8\u9a7e\u9a76\u573a\u666f\u4e2d\uff0c\u6570\u636e\u91c7\u96c6\u5e73\u53f0\u7684\u9ad8\u901f\u79fb\u52a8\u4f1a\u5bfc\u81f4\u5e7f\u6cdb\u800c\u590d\u6742\u7684\u80cc\u666f\u53d8\u5316\uff0c\u8fd9\u4e9b\u53d8\u5316\u901a\u5e38\u662f\u901a\u8fc7\u7a00\u758f\u89c6\u56fe\uff08\u4f8b\u59822-4\u4e2a\u89c6\u56fe\uff09\u6355\u83b7\u7684\u3002\u6b64\u5916\uff0c\u5feb\u901f\u79fb\u52a8\u7684\u52a8\u6001\u7269\u4f53\u5177\u6709\u5f3a\u70c8\u7684\u7a7a\u95f4\u53d8\u5316\u548c\u906e\u6321\uff0c\u4f7f\u60c5\u51b5\u8fdb\u4e00\u6b65\u590d\u6742\u5316\u3002\u603b\u7684\u6765\u8bf4\uff0c\u8fd9\u4e9b\u56e0\u7d20\u5bf9\u73b0\u6709\u65b9\u6cd5\u63d0\u51fa\u4e86\u91cd\u5927\u6311\u6218\u3002<\/p>\n\n\n\n<p>3.\u65b9\u6cd5<\/p>\n\n\n\n<p>3.1 \u590d\u5408\u9ad8\u65af\u6cfc\u6e85<\/p>\n\n\n\n<p>3D-GS\u5728\u7eaf\u9759\u6001\u573a\u666f\u4e2d\u8868\u73b0\u826f\u597d\uff0c\u4f46\u5728\u6d89\u53ca\u5927\u89c4\u6a21\u9759\u6001\u80cc\u666f\u548c\u591a\u4e2a\u52a8\u6001\u5bf9\u8c61\u7684\u6df7\u5408\u573a\u666f\u4e2d\u5177\u6709\u660e\u663e\u7684\u5c40\u9650\u6027\u3002\u5982\u56fe 2 \u6240\u793a\uff0c\u6211\u4eec\u7684\u76ee\u6807\u662f\u4f7f\u7528\u590d\u5408\u9ad8\u65af\u5206\u5e03\u6765\u8868\u793a\u65e0\u754c\u9759\u6001\u80cc\u666f\u548c\u52a8\u6001\u5bf9\u8c61\u7684\u5468\u56f4\u5927\u89c4\u6a21\u9a7e\u9a76\u573a\u666f\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"377\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-193-1024x377.png\" alt=\"\" class=\"wp-image-9818\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-193-1024x377.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-193-300x110.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-193-768x282.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-193.png 1074w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u56fe 2. \u6211\u4eec\u65b9\u6cd5\u7684\u603b\u4f53\u6d41\u7a0b\u3002\u5de6\uff1aDrivingGaussian \u4ece\u591a\u4f20\u611f\u5668\u83b7\u53d6\u8fde\u7eed\u6570\u636e\uff0c\u5305\u62ec\u591a\u6444\u50cf\u5934\u56fe\u50cf\u548c LiDAR\u3002\u4e2d\uff1a\u4e3a\u4e86\u8868\u793a\u5927\u89c4\u6a21\u52a8\u6001\u9a7e\u9a76\u573a\u666f\uff0c\u6211\u4eec\u63d0\u51fa\u4e86\u590d\u5408\u9ad8\u65af\u6cfc\u6e85\uff0c\u5b83\u7531\u4e24\u4e2a\u90e8\u5206\u7ec4\u6210\u3002\u7b2c\u4e00\u90e8\u5206\u589e\u91cf\u5730\u91cd\u5efa\u5e7f\u6cdb\u7684\u9759\u6001\u80cc\u666f\uff0c\u800c\u7b2c\u4e8c\u90e8\u5206\u4f7f\u7528\u9ad8\u65af\u56fe\u6784\u9020\u591a\u4e2a\u52a8\u6001\u5bf9\u8c61\u5e76\u5c06\u5b83\u4eec\u52a8\u6001\u5730\u96c6\u6210\u5230\u573a\u666f\u4e2d\u3002\u53f3\u56fe\uff1aDrivingGaussian \u5728\u591a\u4e2a\u4efb\u52a1\u548c\u5e94\u7528\u573a\u666f\u4e2d\u5c55\u793a\u4e86\u826f\u597d\u7684\u6027\u80fd\u3002<\/p>\n\n\n\n<p><strong>\u589e\u91cf\u9759\u6001 3D \u9ad8\u65af\u3002<\/strong>&nbsp;\u9a7e\u9a76\u573a\u666f\u7684\u9759\u6001\u80cc\u666f\u7531\u4e8e\u5176\u5927\u89c4\u6a21\u3001\u6301\u7eed\u65f6\u95f4\u957f\u4ee5\u53ca\u591a\u6444\u50cf\u673a\u53d8\u6362\u7684\u81ea\u6211\u8f66\u8f86\u8fd0\u52a8\u7684\u53d8\u5316\u800c\u5e26\u6765\u6311\u6218\u3002\u5f53\u81ea\u6211\u8f66\u8f86\u79fb\u52a8\u65f6\uff0c\u9759\u6001\u80cc\u666f\u7ecf\u5e38\u7ecf\u5386\u65f6\u95f4\u4e0a\u7684\u8f6c\u53d8\u548c\u53d8\u5316\u3002\u7531\u4e8e\u900f\u89c6\u539f\u7406\uff0c\u8fc7\u65e9\u5730\u5408\u5e76\u8fdc\u79bb\u5f53\u524d\u65f6\u95f4\u6b65\u957f\u7684\u9065\u8fdc\u8857\u9053\u573a\u666f\u53ef\u80fd\u4f1a\u5bfc\u81f4\u6bd4\u4f8b\u6df7\u4e71\uff0c\u4ece\u800c\u5bfc\u81f4\u4ee4\u4eba\u4e0d\u5feb\u7684\u4f2a\u50cf\u548c\u6a21\u7cca\u3002\u4e3a\u4e86\u89e3\u51b3\u8fd9\u4e2a\u95ee\u9898\uff0c\u6211\u4eec\u901a\u8fc7\u5f15\u5165\u589e\u91cf\u9759\u6001 3D \u9ad8\u65af\uff0c\u5229\u7528\u8f66\u8f86\u8fd0\u52a8\u5e26\u6765\u7684\u89c6\u89d2\u53d8\u5316\u4ee5\u53ca\u76f8\u90bb\u5e27\u4e4b\u95f4\u7684\u65f6\u95f4\u5173\u7cfb\u6765\u589e\u5f3a 3D-GS\uff0c\u5982\u56fe 3 \u6240\u793a\u3002<\/p>\n\n\n\n<p>\u5177\u4f53\u6765\u8bf4\uff0c\u6211\u4eec\u9996\u5148\u6839\u636e LiDAR \u5148\u9a8c\u63d0\u4f9b\u7684\u6df1\u5ea6\u8303\u56f4\uff08\u7b2c 3.2 \u8282\uff09\u5c06\u9759\u6001\u573a\u666f\u7edf\u4e00\u5212\u5206\u4e3a N \u4e2a bins\u3002\u8fd9\u4e9b bin \u6309\u65f6\u95f4\u987a\u5e8f\u6392\u5217\uff0c\u8868\u793a\u4e3a {bi} N \uff0c\u5176\u4e2d\u6bcf\u4e2a bin \u5305\u542b\u6765\u81ea\u4e00\u4e2a\u6216\u591a\u4e2a\u65f6\u95f4\u6b65\u957f\u7684\u591a\u76f8\u673a\u56fe\u50cf\u3002\u5bf9\u4e8e\u7b2c\u4e00\u4e2a bin \u5185\u7684\u573a\u666f\uff0c\u6211\u4eec\u4f7f\u7528 LiDAR \u5148\u9a8c\u521d\u59cb\u5316\u9ad8\u65af\u6a21\u578b\uff08\u540c\u6837\u9002\u7528\u4e8e SfM \u70b9\uff09\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"545\" height=\"81\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-194.png\" alt=\"\" class=\"wp-image-9819\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-194.png 545w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-194-300x45.png 300w\" sizes=\"(max-width: 545px) 100vw, 545px\" \/><\/figure>\n\n\n\n<p>\u5176\u4e2d l \u2208 R 3 \u662f LiDAR \u5148\u9a8c\u4f4d\u7f6e\uff1b\u00b5 \u662f LiDAR \u70b9\u7684\u5e73\u5747\u503c\uff1b\u03a3 \u2208 R 3\u00d73 \u662f\u5404\u5411\u5f02\u6027\u534f\u65b9\u5dee\u77e9\u9635\uff1b\u22a4 \u662f\u8f6c\u7f6e\u8fd0\u7b97\u7b26\u3002\u6211\u4eec\u5229\u7528\u8be5\u7bb1\u6bb5\u5185\u7684\u5468\u56f4\u89c6\u56fe\u4f5c\u4e3a\u76d1\u7763\u6765\u66f4\u65b0\u9ad8\u65af\u6a21\u578b\u7684\u53c2\u6570\uff0c\u5305\u62ec\u4f4d\u7f6e P(x, y, z)\u3001\u534f\u65b9\u5dee\u77e9\u9635 \u03a3\u3001\u4e0e\u89c6\u56fe\u76f8\u5173\u7684\u989c\u8272 C(r, g, b) \u4ee5\u53ca\u4e0d\u900f\u660e\u5ea6 \u03b1\u3002<\/p>\n\n\n\n<p>\u5bf9\u4e8e\u540e\u7eed\u7684 bin\uff0c\u6211\u4eec\u4f7f\u7528\u524d\u4e00\u4e2a bin \u7684\u9ad8\u65af\u4f5c\u4e3a\u5148\u9a8c\u4f4d\u7f6e\uff0c\u5e76\u6839\u636e\u91cd\u53e0\u533a\u57df\u5bf9\u9f50\u76f8\u90bb\u7684 bin\u3002\u6bcf\u4e2a bin \u7684 3D \u4e2d\u5fc3\u53ef\u4ee5\u5b9a\u4e49\u4e3a\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"620\" height=\"84\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-195.png\" alt=\"\" class=\"wp-image-9820\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-195.png 620w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-195-300x41.png 300w\" sizes=\"(max-width: 620px) 100vw, 620px\" \/><\/figure>\n\n\n\n<p>\u5176\u4e2d \u02c6P \u662f\u5f53\u524d\u6240\u6709\u53ef\u89c1\u533a\u57df\u7684\u9ad8\u65af G \u7684 3D \u4e2d\u5fc3\u96c6\u5408\uff0c(xb+1, yb+1, zb+1) \u662f b + 1 \u533a\u57df\u5185\u7684\u9ad8\u65af\u5750\u6807\u3002\u8fed\u4ee3\u5730\uff0c\u6211\u4eec\u5c06\u540e\u7eed\u7bb1\u4e2d\u7684\u573a\u666f\u5408\u5e76\u5230\u5148\u524d\u6784\u5efa\u7684\u9ad8\u65af\u6a21\u578b\u4e2d\uff0c\u5e76\u4ee5\u591a\u4e2a\u5468\u56f4\u5e27\u4f5c\u4e3a\u76d1\u7763\u3002\u589e\u91cf\u9759\u6001\u9ad8\u65af\u6a21\u578bGs\u53ef\u5b9a\u4e49\u4e3a\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"649\" height=\"104\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-196.png\" alt=\"\" class=\"wp-image-9821\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-196.png 649w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-196-300x48.png 300w\" sizes=\"(max-width: 649px) 100vw, 649px\" \/><\/figure>\n\n\n\n<p>\u5176\u4e2dC\u8868\u793a\u67d0\u4e2a\u89c6\u56fe\u4e0b\u6bcf\u4e2a\u5355\u9ad8\u65af\u5bf9\u5e94\u7684\u989c\u8272\uff0c\u03b1\u662f\u4e0d\u900f\u660e\u5ea6\uff0c\u0393\u662f\u573a\u666f\u6839\u636e\u6240\u6709bin\u5904\u7684\u03b1\u7684\u7d2f\u79ef\u900f\u5c04\u7387\u3002\u5728\u6b64\u8fc7\u7a0b\u4e2d\uff0c\u5468\u56f4\u591a\u6444\u50cf\u5934\u56fe\u50cf\u4e4b\u95f4\u7684\u91cd\u53e0\u533a\u57df\u88ab\u7528\u6765\u5171\u540c\u5f62\u6210\u9ad8\u65af\u6a21\u578b\u7684\u9690\u5f0f\u5bf9\u9f50\u3002<\/p>\n\n\n\n<p>\u8bf7\u6ce8\u610f\uff0c\u5728\u9759\u6001\u9ad8\u65af\u6a21\u578b\u7684\u589e\u91cf\u6784\u5efa\u8fc7\u7a0b\u4e2d\uff0c\u524d\u540e\u6444\u50cf\u5934\u5bf9\u540c\u4e00\u573a\u666f\u7684\u91c7\u6837\u53ef\u80fd\u5b58\u5728\u5dee\u5f02\u3002\u4e3a\u4e86\u89e3\u51b3\u8fd9\u4e2a\u95ee\u9898\uff0c\u6211\u4eec\u5728 3D \u9ad8\u65af\u6295\u5f71\u671f\u95f4\u91c7\u7528\u52a0\u6743\u5e73\u5747\u6765\u5c3d\u53ef\u80fd\u51c6\u786e\u5730\u91cd\u5efa\u573a\u666f\u7684\u989c\u8272\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"565\" height=\"92\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-197.png\" alt=\"\" class=\"wp-image-9822\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-197.png 565w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-197-300x49.png 300w\" sizes=\"(max-width: 565px) 100vw, 565px\" \/><\/figure>\n\n\n\n<p>\u5176\u4e2d~C\u662f\u4f18\u5316\u7684\u50cf\u7d20\u989c\u8272\uff0c\u03c2\u8868\u793a\u5dee\u5206\u6cfc\u6e85\uff0c\u03c9\u662f\u4e0d\u540c\u89c6\u56fe\u7684\u6743\u91cd\uff0c[R, T]\u662f\u7528\u4e8e\u5bf9\u9f50\u591a\u76f8\u673a\u89c6\u56fe\u7684\u89c6\u56fe\u77e9\u9635\u3002<\/p>\n\n\n\n<p><strong>\u590d\u5408\u52a8\u6001\u9ad8\u65af\u56fe\u3002<\/strong>\u00a0\u81ea\u52a8\u9a7e\u9a76\u73af\u5883\u975e\u5e38\u590d\u6742\uff0c\u6d89\u53ca\u591a\u4e2a\u52a8\u6001\u5bf9\u8c61\u548c\u65f6\u95f4\u53d8\u5316\u3002\u5982\u56fe 3 \u6240\u793a\uff0c\u7531\u4e8e\u81ea\u6211\u8f66\u8f86\u548c\u52a8\u6001\u7269\u4f53\u7684\u8fd0\u52a8\uff0c\u901a\u5e38\u4ece\u6709\u9650\u7684\u89c6\u89d2\uff08\u4f8b\u5982 2-4 \u4e2a\u89c6\u89d2\uff09\u89c2\u5bdf\u7269\u4f53\u3002\u9ad8\u901f\u8fd8\u5bfc\u81f4\u52a8\u6001\u7269\u4f53\u53d1\u751f\u663e\u7740\u7684\u7a7a\u95f4\u53d8\u5316\uff0c\u4f7f\u5f97\u4f7f\u7528\u56fa\u5b9a\u9ad8\u65af\u8868\u793a\u5b83\u4eec\u53d8\u5f97\u5177\u6709\u6311\u6218\u6027\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"789\" height=\"412\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-198.png\" alt=\"\" class=\"wp-image-9823\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-198.png 789w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-198-300x157.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-198-768x401.png 768w\" sizes=\"(max-width: 789px) 100vw, 789px\" \/><\/figure>\n\n\n\n<p>\u56fe 3. \u5177\u6709\u589e\u91cf\u9759\u6001 3D \u9ad8\u65af\u548c\u52a8\u6001\u9ad8\u65af\u56fe\u7684\u590d\u5408\u9ad8\u65af\u5206\u5e03\u3002\u6211\u4eec\u91c7\u7528\u590d\u5408\u9ad8\u65af\u6cfc\u6e85\u5c06\u6574\u4e2a\u573a\u666f\u5206\u89e3\u4e3a\u9759\u6001\u80cc\u666f\u548c\u52a8\u6001\u7269\u4f53\uff0c\u5206\u522b\u91cd\u5efa\u6bcf\u4e2a\u90e8\u5206\u5e76\u6574\u5408\u5b83\u4eec\u8fdb\u884c\u5168\u5c40\u6e32\u67d3\u3002<\/p>\n\n\n\n<p>\u4e3a\u4e86\u5e94\u5bf9\u8fd9\u4e9b\u6311\u6218\uff0c\u6211\u4eec\u5f15\u5165\u4e86\u590d\u5408\u52a8\u6001\u9ad8\u65af\u56fe\uff0c\u80fd\u591f\u5728\u5927\u89c4\u6a21\u3001\u957f\u671f\u9a7e\u9a76\u573a\u666f\u4e2d\u6784\u5efa\u591a\u4e2a\u52a8\u6001\u5bf9\u8c61\u3002\u6211\u4eec\u9996\u5148\u4ece\u9759\u6001\u80cc\u666f\u5206\u89e3\u52a8\u6001\u524d\u666f\u5bf9\u8c61\uff0c\u4ee5\u4f7f\u7528\u6570\u636e\u96c6\u63d0\u4f9b\u7684\u8fb9\u754c\u6846\u6784\u5efa\u52a8\u6001\u9ad8\u65af\u56fe\u3002\u52a8\u6001\u5bf9\u8c61\u901a\u8fc7\u5176\u5bf9\u8c61 ID \u548c\u76f8\u5e94\u7684\u51fa\u73b0\u65f6\u95f4\u6233\u6765\u6807\u8bc6\u3002\u6b64\u5916\uff0cGrounded SAM \u6a21\u578b\u7528\u4e8e\u6839\u636e\u8fb9\u754c\u6846\u7684\u8303\u56f4\u7cbe\u786e\u5730\u9010\u50cf\u7d20\u63d0\u53d6\u52a8\u6001\u5bf9\u8c61\u3002<\/p>\n\n\n\n<p>\u7136\u540e\u6211\u4eec\u6784\u5efa\u52a8\u6001\u9ad8\u65af\u56fe\u4e3a\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"604\" height=\"74\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-199.png\" alt=\"\" class=\"wp-image-9824\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-199.png 604w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-199-300x37.png 300w\" sizes=\"(max-width: 604px) 100vw, 604px\" \/><\/figure>\n\n\n\n<p>\u5176\u4e2d\u6bcf\u4e2a\u8282\u70b9\u5b58\u50a8\u4e00\u4e2a\u5b9e\u4f8b\u5bf9\u8c61o \u2208 O\uff0cgi \u2208 Gd \u8868\u793a\u5bf9\u5e94\u7684\u52a8\u6001\u9ad8\u65af\uff0cmo \u2208 M \u662f\u6bcf\u4e2a\u5bf9\u8c61\u7684\u53d8\u6362\u77e9\u9635\u3002po(xt, yt, zt) \u03b5 P \u662f\u8fb9\u754c\u6846\u7684\u4e2d\u5fc3\u5750\u6807\uff0cao = (\u03b8t, phit) \u03b5 A \u662f\u8fb9\u754c\u6846\u5728\u65f6\u95f4\u6b65 t \u2208 T \u7684\u65b9\u5411\u3002\u8fd9\u91cc\uff0c\u6211\u4eec\u5206\u522b\u8ba1\u7b97\u9ad8\u65af\u51fd\u6570\uff1a\u6bcf\u4e2a\u52a8\u6001\u5bf9\u8c61\u3002\u4f7f\u7528\u53d8\u6362\u77e9\u9635 mo\uff0c\u6211\u4eec\u5c06\u76ee\u6807\u5bf9\u8c61 o \u7684\u5750\u6807\u7cfb\u53d8\u6362\u5230\u9759\u6001\u80cc\u666f\u6240\u5728\u7684\u4e16\u754c\u5750\u6807\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"516\" height=\"79\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-200.png\" alt=\"\" class=\"wp-image-9825\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-200.png 516w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-200-300x46.png 300w\" sizes=\"(max-width: 516px) 100vw, 516px\" \/><\/figure>\n\n\n\n<p>\u5176\u4e2dR\u22121 o \u548cS \u22121 o \u662f\u6bcf\u4e2a\u5bf9\u8c61\u5bf9\u5e94\u7684\u65cb\u8f6c\u548c\u5e73\u79fb\u77e9\u9635\u3002<\/p>\n\n\n\n<p>\u5728\u4f18\u5316\u52a8\u6001\u9ad8\u65af\u56fe\u4e2d\u7684\u6240\u6709\u8282\u70b9\u540e\uff0c\u6211\u4eec\u4f7f\u7528\u590d\u5408\u9ad8\u65af\u56fe\u7ec4\u5408\u52a8\u6001\u5bf9\u8c61\u548c\u9759\u6001\u80cc\u666f\u3002\u6bcf\u4e2a\u8282\u70b9\u7684\u9ad8\u65af\u5206\u5e03\u6839\u636e\u8fb9\u754c\u6846\u4f4d\u7f6e\u548c\u65b9\u5411\u6309\u65f6\u95f4\u987a\u5e8f\u8fde\u63a5\u6210\u9759\u6001\u9ad8\u65af\u573a\u3002\u5f53\u591a\u4e2a\u52a8\u6001\u7269\u4f53\u4e4b\u95f4\u5b58\u5728\u906e\u6321\u7684\u60c5\u51b5\u4e0b\uff0c\u6211\u4eec\u6839\u636e\u8ddd\u76f8\u673a\u4e2d\u5fc3\u7684\u8ddd\u79bb\u6765\u8c03\u6574\u4e0d\u900f\u660e\u5ea6\uff1a\u8d8a\u8fd1\u7684\u7269\u4f53\u5177\u6709\u8d8a\u9ad8\u7684\u4e0d\u900f\u660e\u5ea6\uff0c\u9075\u5faa\u5149\u4f20\u64ad\u7684\u539f\u7406\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"651\" height=\"105\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-201.png\" alt=\"\" class=\"wp-image-9826\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-201.png 651w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-201-300x48.png 300w\" sizes=\"(max-width: 651px) 100vw, 651px\" \/><\/figure>\n\n\n\n<p>\u5176\u4e2d \u03b1o,t \u662f\u5bf9\u8c61 o \u5728\u65f6\u95f4\u6b65 t \u5904\u8c03\u6574\u540e\u7684\u9ad8\u65af\u4e0d\u900f\u660e\u5ea6\uff0cpt = (xt, yt, zt) \u662f\u5bf9\u8c61\u9ad8\u65af\u7684\u4e2d\u5fc3\u3002[Ro, So] \u8868\u793a\u7269\u4f53\u5230\u4e16\u754c\u7684\u53d8\u6362\u77e9\u9635\uff0c\u03c1 \u8868\u793a\u6444\u50cf\u673a\u89c6\u56fe\u7684\u4e2d\u5fc3\uff0c\u03b1p0 \u662f\u9ad8\u65af\u7684\u4e0d\u900f\u660e\u5ea6\u3002<\/p>\n\n\n\n<p>\u6700\u540e\uff0c\u5305\u62ec\u9759\u6001\u80cc\u666f\u548c\u591a\u4e2a\u52a8\u6001\u5bf9\u8c61\u7684\u590d\u5408\u9ad8\u65af\u573a\u53ef\u4ee5\u8868\u793a\u4e3a\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"736\" height=\"102\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-202.png\" alt=\"\" class=\"wp-image-9827\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-202.png 736w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-202-300x42.png 300w\" sizes=\"(max-width: 736px) 100vw, 736px\" \/><\/figure>\n\n\n\n<p>\u5176\u4e2dGs\u662f\u57283.1\u8282\u4e2d\u901a\u8fc7\u589e\u91cf\u9759\u60013D\u9ad8\u65af\u5f97\u5230\u7684\uff0cH\u8868\u793a\u4f18\u5316\u7684\u52a8\u6001\u9ad8\u65af\u56fe\u3002<\/p>\n\n\n\n<p>3.2 \u5177\u6709\u5468\u56f4\u666f\u89c2\u7684 LiDAR\u5148\u9a8c<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"690\" height=\"355\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/04\/4261.png\" alt=\"\" class=\"wp-image-9828\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/4261.png 690w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/4261-300x154.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=\"565\" height=\"69\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-203.png\" alt=\"\" class=\"wp-image-9829\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-203.png 565w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-203-300x37.png 300w\" sizes=\"(max-width: 565px) 100vw, 565px\" \/><\/figure>\n\n\n\n<p>\u5176\u4e2d x q p \u662f\u56fe\u50cf\u7684 2D \u50cf\u7d20\uff0cI i t \u3001Ri t \u548c Ti t \u5206\u522b\u662f\u6b63\u4ea4\u65cb\u8f6c\u77e9\u9635\u548c\u5e73\u79fb\u5411\u91cf\u3002K \u2208 R 3\u00d73 \u662f\u5df2\u77e5\u7684\u76f8\u673a\u672c\u5f81\u3002\u503c\u5f97\u6ce8\u610f\u7684\u662f\uff0c\u6fc0\u5149\u96f7\u8fbe\u7684\u70b9\u53ef\u80fd\u4f1a\u6295\u5f71\u5230\u591a\u4e2a\u56fe\u50cf\u7684\u591a\u4e2a\u50cf\u7d20\u4e0a\u3002\u56e0\u6b64\uff0c\u6211\u4eec\u9009\u62e9\u5230\u56fe\u50cf\u5e73\u9762\u6b27\u6c0f\u8ddd\u79bb\u6700\u77ed\u7684\u70b9\u5e76\u5c06\u5176\u4fdd\u7559\u4e3a\u6295\u5f71\u70b9\uff0c\u5e76\u5206\u914d\u989c\u8272\u3002<\/p>\n\n\n\n<p>\u4e0e\u4e4b\u524d\u7684 3D \u91cd\u5efa\u5de5\u4f5c\u7c7b\u4f3c\uff0c\u6211\u4eec\u5c06\u5bc6\u96c6\u675f\u8c03\u6574 (DBA) \u6269\u5c55\u5230\u591a\u76f8\u673a\u8bbe\u7f6e\u5e76\u83b7\u5f97\u66f4\u65b0\u7684 LiDAR \u70b9\u3002\u5b9e\u9a8c\u7ed3\u679c\u8bc1\u660e\uff0c\u5728\u4e0e\u5468\u56f4\u591a\u6444\u50cf\u673a\u5bf9\u9f50\u4e4b\u524d\u4f7f\u7528 LiDAR \u8fdb\u884c\u521d\u59cb\u5316\u6709\u52a9\u4e8e\u4e3a\u9ad8\u65af\u6a21\u578b\u63d0\u4f9b\u66f4\u7cbe\u786e\u7684\u51e0\u4f55\u5148\u9a8c\u3002<\/p>\n\n\n\n<p>3.3 \u901a\u8fc7\u9ad8\u65af\u6cfc\u6e85\u8fdb\u884c\u5168\u5c40\u6e32\u67d3<\/p>\n\n\n\n<p>\u6211\u4eec\u91c7\u7528\u53ef\u5fae\u5206 3D \u9ad8\u65af\u55b7\u5c04\u6e32\u67d3\u5668 \u03c2 \u5e76\u5c06\u5168\u5c40\u590d\u5408 3D \u9ad8\u65af\u6295\u5f71\u5230 2D\uff0c\u5176\u4e2d\u534f\u65b9\u5dee\u77e9\u9635 \u03a3 \u53ef\u7531\u4e0b\u5f0f\u7ed9\u51fa\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"567\" height=\"80\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-204.png\" alt=\"\" class=\"wp-image-9830\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-204.png 567w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-204-300x42.png 300w\" sizes=\"(max-width: 567px) 100vw, 567px\" \/><\/figure>\n\n\n\n<p>\u5f0f\u4e2d\uff0cJ\u4e3a\u900f\u89c6\u6295\u5f71\u7684\u96c5\u53ef\u6bd4\u77e9\u9635\uff0cE\u4e3a\u4e16\u754c\u5230\u6444\u50cf\u673a\u77e9\u9635\u3002<\/p>\n\n\n\n<p>\u590d\u5408\u9ad8\u65af\u573a\u5c06\u5168\u5c40 3D \u9ad8\u65af\u6295\u5f71\u5230\u591a\u4e2a 2D \u5e73\u9762\u4e0a\uff0c\u5e76\u5728\u6bcf\u4e2a\u65f6\u95f4\u6b65\u4f7f\u7528\u5468\u56f4\u89c6\u56fe\u8fdb\u884c\u76d1\u7763\u3002\u5728\u5168\u5c40\u6e32\u67d3\u8fc7\u7a0b\u4e2d\uff0c\u4e0b\u4e00\u4e2a\u65f6\u95f4\u6b65\u7684\u9ad8\u65af\u6700\u521d\u5bf9\u5f53\u524d\u662f\u4e0d\u53ef\u89c1\u7684\uff0c\u968f\u540e\u5e76\u5165\u76f8\u5e94\u5168\u5c40\u56fe\u50cf\u7684\u76d1\u7763\u4e2d\u3002<\/p>\n\n\n\n<p>\u6211\u4eec\u65b9\u6cd5\u7684\u635f\u5931\u51fd\u6570\u7531\u4e09\u90e8\u5206\u7ec4\u6210\u3002\u7ee7\u5148\u524d\u5de5\u4f5c\u4e4b\u540e\uff0c\u6211\u4eec\u9996\u5148\u5c06\u56fe\u5757\u7ed3\u6784\u76f8\u4f3c\u5ea6\uff08TSSIM\uff09\u5f15\u5165\u9ad8\u65af\u5206\u5e03\uff0c\u5b83\u6d4b\u91cf\u6e32\u67d3\u56fe\u5757\u4e0e\u76f8\u5e94\u5730\u9762\u5b9e\u51b5\u4e4b\u95f4\u7684\u76f8\u4f3c\u5ea6\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"636\" height=\"101\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-205.png\" alt=\"\" class=\"wp-image-9831\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-205.png 636w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-205-300x48.png 300w\" sizes=\"(max-width: 636px) 100vw, 636px\" \/><\/figure>\n\n\n\n<p>\u5176\u4e2d\u6211\u4eec\u5c06\u5c4f\u5e55\u5206\u6210 M \u4e2a\u56fe\u5757\uff0c\u03b4 \u662f\u9ad8\u65af\u7684\u8bad\u7ec3\u53c2\u6570\uff0c\u03a8( \u02c6C) \u8868\u793a\u590d\u5408\u9ad8\u65af\u5206\u5e03\u7684\u6e32\u67d3\u56fe\u5757\uff0c\u03a8(C) \u8868\u793a\u914d\u5bf9\u7684\u771f\u5b9e\u56fe\u5757\u3002\u6211\u4eec\u8fd8\u5f15\u5165\u4e86\u9c81\u68d2\u635f\u5931\u6765\u51cf\u5c11\u4e09\u7ef4\u9ad8\u65af\u5206\u5e03\u4e2d\u7684\u5f02\u5e38\u503c\uff0c\u5b83\u53ef\u4ee5\u5b9a\u4e49\u4e3a:<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"541\" height=\"55\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-206.png\" alt=\"\" class=\"wp-image-9832\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-206.png 541w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-206-300x30.png 300w\" sizes=\"(max-width: 541px) 100vw, 541px\" \/><\/figure>\n\n\n\n<p>\u5176\u4e2d\uff0c\u03ba\u2208(0,1)\u662f\u63a7\u5236\u635f\u5931\u9c81\u68d2\u6027\u7684\u5f62\u72b6\u53c2\u6570\uff0cI \u548c \u02c6I \u5206\u522b\u8868\u793a\u5730\u9762\u5b9e\u51b5\u548c\u5408\u6210\u56fe\u50cf\u3002<\/p>\n\n\n\n<p>\u901a\u8fc7\u76d1\u7763\u6fc0\u5149\u96f7\u8fbe\u7684\u9884\u671f\u9ad8\u65af\u4f4d\u7f6e\uff0c\u8fdb\u4e00\u6b65\u5229\u7528\u6fc0\u5149\u96f7\u8fbe\u635f\u5931\uff0c\u83b7\u5f97\u66f4\u597d\u7684\u51e0\u4f55\u7ed3\u6784\u548c\u8fb9\u7f18\u5f62\u72b6\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"594\" height=\"74\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-207.png\" alt=\"\" class=\"wp-image-9833\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-207.png 594w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-207-300x37.png 300w\" sizes=\"(max-width: 594px) 100vw, 594px\" \/><\/figure>\n\n\n\n<p>\u5176\u4e2d P(Gcomp) \u662f 3D \u9ad8\u65af\u7684\u4f4d\u7f6e\uff0cLs \u662f\u5148\u9a8c\u7684 LiDAR \u70b9\u3002\u6211\u4eec\u901a\u8fc7\u6700\u5c0f\u5316\u4e09\u4e2a\u635f\u5931\u7684\u603b\u548c\u6765\u4f18\u5316\u590d\u5408\u9ad8\u65af\u3002<\/p>\n\n\n\n<p>4.\u5b9e\u9a8c<\/p>\n\n\n\n<p>4.1 \u6570\u636e\u96c6<\/p>\n\n\n\n<p>nuScenes\u6570\u636e\u96c6\u662f\u81ea\u52a8\u9a7e\u9a76\u7684\u516c\u5171\u5927\u89c4\u6a21\u6570\u636e\u96c6\uff0c\u5305\u542b\u4f7f\u7528\u591a\u4e2a\u4f20\u611f\u5668\uff086 \u4e2a\u6444\u50cf\u5934\u30011 \u4e2a LiDAR \u7b49\uff09\u6536\u96c6\u7684 1000 \u4e2a\u9a7e\u9a76\u573a\u666f\u3002\u5b83\u5177\u6709 23 \u4e2a\u5bf9\u8c61\u7c7b\u7684\u6ce8\u91ca\u4ee5\u53ca\u7cbe\u786e\u7684 3D \u8fb9\u754c\u6846\u3002\u6211\u4eec\u7684\u5b9e\u9a8c\u4f7f\u7528 6 \u4e2a\u5177\u6709\u6311\u6218\u6027\u7684\u573a\u666f\u7684\u5173\u952e\u5e27\uff0c\u4ee5\u53ca\u4ece 6 \u4e2a\u6444\u50cf\u673a\u6536\u96c6\u7684\u5468\u56f4\u89c6\u56fe\u548c\u76f8\u5e94\u7684 LiDAR \u626b\u63cf\uff08\u53ef\u9009\uff09\u4f5c\u4e3a\u8f93\u5165\u3002KITTI-360\u6570\u636e\u96c6\u5305\u542b\u591a\u4e2a\u4f20\u611f\u5668\uff0c\u5bf9\u5e94\u8d85\u8fc7 320k \u56fe\u50cf\u548c\u70b9\u4e91\u3002\u5c3d\u7ba1\u6570\u636e\u96c6\u63d0\u4f9b\u4e86\u7acb\u4f53\u76f8\u673a\u56fe\u50cf\uff0c\u4f46\u6211\u4eec\u4ec5\u4f7f\u7528\u5355\u4e2a\u76f8\u673a\u6765\u8bc1\u660e\u6211\u4eec\u7684\u65b9\u6cd5\u5728\u5355\u773c\u573a\u666f\u4e2d\u4e5f\u8868\u73b0\u826f\u597d\u3002<\/p>\n\n\n\n<p>4.2 \u5b9e\u73b0\u7ec6\u8282<\/p>\n\n\n\n<p>\u6211\u4eec\u7684\u5b9e\u73b0\u4e3b\u8981\u57fa\u4e8e3D-GS\u6846\u67b6\uff0c\u5e76\u901a\u8fc7\u5fae\u8c03\u4f18\u5316\u53c2\u6570\u6765\u9002\u5e94\u5927\u89c4\u6a21\u65e0\u754c\u573a\u666f\u3002\u6211\u4eec\u6ca1\u6709\u4f7f\u7528 SfM \u70b9\u6216\u968f\u673a\u521d\u59cb\u5316\u70b9\u4f5c\u4e3a\u8f93\u5165\uff0c\u800c\u662f\u4f7f\u7528 3.2 \u8282\u4e2d\u63d0\u5230\u7684 LiDAR \u4f5c\u4e3a\u521d\u59cb\u5316\u3002\u8003\u8651\u5230\u8ba1\u7b97\u6210\u672c\uff0c\u6211\u4eec\u5bf9\u6fc0\u5149\u96f7\u8fbe\u70b9\u4f7f\u7528\u4f53\u7d20\u7f51\u683c\u6ee4\u6ce2\u5668\uff0c\u5728\u4e0d\u4e22\u5931\u51e0\u4f55\u7279\u5f81\u7684\u60c5\u51b5\u4e0b\u7f29\u5c0f\u5c3a\u5ea6\u3002\u8003\u8651\u5230\u5bf9\u8c61\u5728\u5927\u89c4\u6a21\u573a\u666f\u4e2d\u76f8\u5bf9\u8f83\u5c0f\uff0c\u6211\u4eec\u5bf9\u52a8\u6001\u5bf9\u8c61\u91c7\u7528\u968f\u673a\u521d\u59cb\u5316\uff0c\u521d\u59cb\u70b9\u8bbe\u7f6e\u4e3a 3000\u3002\u6211\u4eec\u5c06\u603b\u8bad\u7ec3\u8fed\u4ee3\u6b21\u6570\u589e\u52a0\u5230 50,000 \u6b21\uff0c\u5c06\u81f4\u5bc6\u68af\u5ea6\u7684\u9608\u503c\u8bbe\u7f6e\u4e3a 0.001\uff0c\u5e76\u5c06\u4e0d\u900f\u660e\u5ea6\u95f4\u9694\u91cd\u7f6e\u4e3a 900\u3002\u589e\u91cf\u9759\u6001 3D \u9ad8\u65af\u7684\u5b66\u4e60\u7387\u4e0e\u5b98\u65b9\u8bbe\u7f6e\u76f8\u540c\uff0c\u800c\u590d\u5408\u7684\u5b66\u4e60\u7387\u52a8\u6001\u9ad8\u65af\u56fe\u4ece 1.6e-3\u00a0\u5448\u6307\u6570\u8870\u51cf\u5230 1.6e-6\u3002\u6240\u6709\u5b9e\u9a8c\u5747\u57288\u53f0RTX8000\u4e0a\u8fdb\u884c\uff0c\u603b\u5171384GB\u5185\u5b58\u3002<\/p>\n\n\n\n<p>4.3 \u7ed3\u679c\u4e0e\u6bd4\u8f83<\/p>\n\n\n\n<p><strong>nuScenes \u4e0a\u5468\u56f4\u89c6\u56fe\u5408\u6210\u7684\u6bd4\u8f83\u3002<\/strong>&nbsp;\u6211\u4eec\u9488\u5bf9\u6700\u5148\u8fdb\u7684\u65b9\u6cd5\u8fdb\u884c\u57fa\u51c6\u6d4b\u8bd5\uff0c\u5305\u62ec\u57fa\u4e8e NeRF \u7684\u65b9\u6cd5\u548c\u57fa\u4e8e 3DGS \u7684\u65b9\u6cd5\u3002<\/p>\n\n\n\n<p>\u5982\u8868 1 \u6240\u793a\uff0c\u6211\u4eec\u7684\u65b9\u6cd5\u5927\u5927\u4f18\u4e8e InstantNGP\uff0c\u540e\u8005\u91c7\u7528\u57fa\u4e8e\u54c8\u5e0c\u7684 NeRF \u8fdb\u884c\u65b0\u9896\u7684\u89c6\u56fe\u5408\u6210\u3002Mip-NeRF\u548c MipNeRF360\u662f\u9488\u5bf9\u65e0\u754c\u5ba4\u5916\u573a\u666f\u8bbe\u8ba1\u7684\u4e24\u79cd\u65b9\u6cd5\u3002\u6211\u4eec\u7684\u65b9\u6cd5\u5728\u6240\u6709\u8bc4\u4f30\u6307\u6807\u4e0a\u4e5f\u663e\u7740\u8d85\u8fc7\u4e86\u5b83\u4eec\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"321\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-208-1024x321.png\" alt=\"\" class=\"wp-image-9834\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-208-1024x321.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-208-300x94.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-208-768x241.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-208.png 1039w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u8868 1. DrivingGaussian \u4e0e nuScenes \u6570\u636e\u96c6\u4e0a\u73b0\u6709\u6700\u5148\u8fdb\u65b9\u6cd5\u7684\u603b\u4f53\u6027\u80fd\u3002Ours-S \u8868\u793a\u4f7f\u7528 SfM \u521d\u59cb\u5316\u7684 DrivingGaussian\uff0cOurs-L \u8868\u793a\u4f7f\u7528 LiDAR \u5148\u9a8c\u8bad\u7ec3\u9ad8\u65af\u6a21\u578b\u3002<\/p>\n\n\n\n<p>Urban-NeRF\u9996\u5148\u5c06LiDAR\u5f15\u5165NeRF\u6765\u91cd\u5efa\u57ce\u5e02\u573a\u666f\u3002\u7136\u800c\uff0c\u5b83\u4e3b\u8981\u4ec5\u5229\u7528\u6fc0\u5149\u96f7\u8fbe\u6765\u63d0\u4f9b\u6df1\u5ea6\u76d1\u63a7\u3002\u76f8\u53cd\uff0c\u6211\u4eec\u5229\u7528\u6fc0\u5149\u96f7\u8fbe\u4f5c\u4e3a\u66f4\u51c6\u786e\u7684\u51e0\u4f55\u5148\u9a8c\uff0c\u5e76\u5c06\u5176\u7eb3\u5165\u9ad8\u65af\u6a21\u578b\uff0c\u4e8b\u5b9e\u8bc1\u660e\u5bf9\u4e8e\u5927\u89c4\u6a21\u573a\u666f\u91cd\u5efa\u66f4\u6709\u6548\u3002\u4e0e S-NeRF\u548c SUDS\u76f8\u6bd4\uff0c\u6211\u4eec\u63d0\u51fa\u7684\u65b9\u6cd5\u53d6\u5f97\u4e86\u66f4\u597d\u7684\u7ed3\u679c\uff0c\u8fd9\u4e24\u79cd\u65b9\u6cd5\u90fd\u5c06\u573a\u666f\u5206\u89e3\u4e3a\u9759\u6001\u80cc\u666f\u548c\u52a8\u6001\u5bf9\u8c61\uff0c\u5e76\u501f\u52a9 LiDAR \u6784\u5efa\u573a\u666f\u3002\u4e0e\u6211\u4eec\u7684\u4e3b\u8981\u7ade\u4e89\u5bf9\u624b EmerNeRF\u76f8\u6bd4\uff0cEmerNeRF\u4f7f\u7528\u6d41\u573a\u5bf9\u52a8\u6001\u9a7e\u9a76\u573a\u666f\u5e94\u7528\u65f6\u7a7a\u8868\u793a\u3002\u6211\u4eec\u7684\u65b9\u6cd5\u5728\u6240\u6709\u6307\u6807\u4e0a\u90fd\u4f18\u4e8e\u5b83\uff0c\u6d88\u9664\u4e86\u4f30\u8ba1\u573a\u666f\u6d41\u7684\u5fc5\u8981\u6027\u3002\u5bf9\u4e8e\u57fa\u4e8e\u9ad8\u65af\u7684\u65b9\u6cd5\uff0c\u6211\u4eec\u7684\u65b9\u6cd5\u63d0\u9ad8\u4e86\u57fa\u7ebf\u65b9\u6cd5 3D-GS\u5728\u6240\u6709\u8bc4\u4f30\u6307\u6807\u7684\u5927\u89c4\u6a21\u573a\u666f\u4e0a\u7684\u6027\u80fd\uff0c\u5e76\u5b9e\u73b0\u4e86\u6700\u4f73\u7ed3\u679c\u3002<\/p>\n\n\n\n<p>\u6211\u4eec\u8fd8\u5728\u5177\u6709\u6311\u6218\u6027\u7684 nuScenes \u9a7e\u9a76\u573a\u666f\u4e0a\u4e0e\u6211\u4eec\u7684\u4e3b\u8981\u7ade\u4e89\u5bf9\u624b EmerNeRF\u548c 3D-GS\u8fdb\u884c\u5b9a\u6027\u6bd4\u8f83\u3002\u5bf9\u4e8e\u591a\u6444\u50cf\u5934\u7684\u73af\u7ed5\u89c6\u56fe\u5408\u6210\uff0c\u5982\u56fe 1 \u6240\u793a\uff0c\u6211\u4eec\u7684\u65b9\u6cd5\u80fd\u591f\u751f\u6210\u903c\u771f\u7684\u6e32\u67d3\u56fe\u50cf\uff0c\u5e76\u786e\u4fdd\u591a\u6444\u50cf\u5934\u4e4b\u95f4\u7684\u89c6\u56fe\u4e00\u81f4\u6027\u3002\u4e0e\u6b64\u540c\u65f6\uff0cEmerNeRF\u548c 3D-GS\u5728\u5177\u6709\u6311\u6218\u6027\u7684\u533a\u57df\u4e2d\u82e6\u82e6\u6323\u624e\uff0c\u663e\u793a\u51fa\u4e0d\u826f\u7684\u89c6\u89c9\u4f2a\u50cf\uff0c\u4f8b\u5982\u91cd\u5f71\u3001\u52a8\u6001\u5bf9\u8c61\u6d88\u5931\u3001\u690d\u7269\u7eb9\u7406\u7ec6\u8282\u4e22\u5931\u3001\u8f66\u9053\u6807\u8bb0\u548c\u8fdc\u5904\u573a\u666f\u6a21\u7cca\u3002<\/p>\n\n\n\n<p>\u6211\u4eec\u8fdb\u4e00\u6b65\u5c55\u793a\u4e86\u52a8\u6001\u65f6\u95f4\u573a\u666f\u7684\u91cd\u5efa\u7ed3\u679c\u3002\u6211\u4eec\u7684\u65b9\u6cd5\u53ef\u4ee5\u51c6\u786e\u5730\u5bf9\u5927\u89c4\u6a21\u573a\u666f\u4e2d\u7684\u52a8\u6001\u5bf9\u8c61\u8fdb\u884c\u5efa\u6a21\uff0c\u4ece\u800c\u51cf\u8f7b\u8fd9\u4e9b\u52a8\u6001\u5143\u7d20\u7684\u4e22\u5931\u3001\u91cd\u5f71\u6216\u6a21\u7cca\u7b49\u95ee\u9898\u3002\u968f\u7740\u65f6\u95f4\u7684\u63a8\u79fb\uff0c\u6211\u4eec\u8fd8\u4fdd\u6301\u6784\u5efa\u52a8\u6001\u5bf9\u8c61\u7684\u4e00\u81f4\u6027\uff0c\u5373\u4f7f\u5b83\u4eec\u4ee5\u76f8\u5bf9\u8f83\u5feb\u7684\u901f\u5ea6\u79fb\u52a8\u3002\u76f8\u6bd4\u4e4b\u4e0b\uff0c\u5148\u524d\u5de5\u4f5c\u90fd\u672a\u80fd\u5bf9\u5feb\u901f\u79fb\u52a8\u7684\u52a8\u6001\u5bf9\u8c61\u8fdb\u884c\u5efa\u6a21\uff0c\u5982\u56fe 4 \u6240\u793a\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"546\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-209-1024x546.png\" alt=\"\" class=\"wp-image-9835\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-209-1024x546.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-209-300x160.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-209-768x410.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-209.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u56fe 4. \u52a8\u6001\u91cd\u5efa\u7684\u5b9a\u6027\u6bd4\u8f83\u3002\u6211\u4eec\u5c55\u793a\u4e86\u4e0e\u4e3b\u8981\u7ade\u4e89\u5bf9\u624b EmerNeRF\u548c 3D-GS\u5728 nuScenes 4D \u9a7e\u9a76\u573a\u666f\u52a8\u6001\u91cd\u5efa\u65b9\u9762\u7684\u5b9a\u6027\u6bd4\u8f83\u7ed3\u679c\u3002DrivingGaussian \u80fd\u591f\u9ad8\u901f\u9ad8\u8d28\u91cf\u5730\u91cd\u5efa\u52a8\u6001\u5bf9\u8c61\uff0c\u540c\u65f6\u4fdd\u6301\u65f6\u95f4\u4e00\u81f4\u6027\u3002<\/p>\n\n\n\n<p><strong>KITTI-360 \u4e0a\u5355\u89c6\u56fe\u5408\u6210\u7684\u6bd4\u8f83\u3002<\/strong>\u00a0\u4e3a\u4e86\u8fdb\u4e00\u6b65\u9a8c\u8bc1\u6211\u4eec\u7684\u65b9\u6cd5\u5728\u5355\u76ee\u9a7e\u9a76\u573a\u666f\u8bbe\u7f6e\u4e0a\u7684\u6709\u6548\u6027\uff0c\u6211\u4eec\u4f7f\u7528 KITTI-360 \u6570\u636e\u96c6\u8fdb\u884c\u5b9e\u9a8c\uff0c\u5e76\u5c06\u5176\u4e0e\u73b0\u6709\u7684 SOTA \u65b9\u6cd5\u8fdb\u884c\u6bd4\u8f83\uff0c\u5305\u62ec\u57fa\u4e8e NeRF \u7684\u65b9\u6cd5 NeRF\u3001MipNeRF360\u3001\u57fa\u4e8e\u70b9\u7684\u65b9\u6cd5Point-NeRF\u3001\u57fa\u4e8e\u56fe\u7684\u65b9\u6cd5\u00a0NSG\u3001\u57fa\u4e8e\u6d41\u7684\u65b9\u6cd5 SUDS\u548c\u57fa\u4e8e\u7f51\u683c\u7684\u65b9\u6cd5 DNMP\u3002\u5982\u88682\u6240\u793a\uff0c\u6211\u4eec\u7684\u65b9\u6cd5\u5728\u5355\u76ee\u9a7e\u9a76\u573a\u666f\u4e2d\u8868\u73b0\u51fa\u4e86\u6700\u4f73\u6027\u80fd\uff0c\u5927\u5e45\u8d85\u8d8a\u4e86\u73b0\u6709\u65b9\u6cd5\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"626\" height=\"285\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-210.png\" alt=\"\" class=\"wp-image-9836\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-210.png 626w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-210-300x137.png 300w\" sizes=\"(max-width: 626px) 100vw, 626px\" \/><\/figure>\n\n\n\n<p>\u8868 2. DrivingGaussian \u4e0e KITTI-360 \u6570\u636e\u96c6\u4e0a\u73b0\u6709\u6700\u5148\u8fdb\u65b9\u6cd5\u7684\u603b\u4f53\u6027\u80fd\u3002<\/p>\n\n\n\n<p>4.4 \u6d88\u878d\u5b9e\u9a8c\u3002<\/p>\n\n\n\n<p><strong>\u9ad8\u65af\u5148\u9a8c\u521d\u59cb\u5316\u3002<\/strong>&nbsp;\u901a\u8fc7\u5bf9\u6bd4\u5b9e\u9a8c\u5206\u6790\u4e0d\u540c\u5148\u9a8c\u548c\u521d\u59cb\u5316\u65b9\u6cd5\u5bf9\u9ad8\u65af\u6a21\u578b\u7684\u5f71\u54cd\u3002\u539f\u59cb\u76843D-GS\u63d0\u4f9b\u4e86\u4e24\u79cd\u521d\u59cb\u5316\u6a21\u5f0f\uff1a\u968f\u673a\u751f\u6210\u70b9\u548cCOLMAP\u8ba1\u7b97\u7684SfM\u70b9\u3002\u6211\u4eec\u8fd8\u63d0\u4f9b\u4e86\u53e6\u5916\u4e24\u79cd\u521d\u59cb\u5316\u65b9\u6cd5\uff1a\u4ece\u9884\u5148\u8bad\u7ec3\u7684 NeRF \u6a21\u578b\u5bfc\u51fa\u7684\u70b9\u4e91\u548c\u4f7f\u7528 LiDAR \u5148\u9a8c\u751f\u6210\u7684\u70b9\u3002<\/p>\n\n\n\n<p>\u540c\u65f6\uff0c\u4e3a\u4e86\u5206\u6790\u70b9\u4e91\u6570\u91cf\u7684\u5f71\u54cd\uff0c\u6211\u4eec\u5c06LiDAR\u4e0b\u91c7\u6837\u5230600K\uff0c\u5e76\u5e94\u7528\u81ea\u9002\u5e94\u6ee4\u6ce2\uff081M\uff09\u6765\u63a7\u5236\u751f\u6210\u7684LiDAR\u70b9\u7684\u6570\u91cf\u3002\u6211\u4eec\u8fd8\u4e3a\u968f\u673a\u751f\u6210\u7684\u70b9\u8bbe\u7f6e\u4e86\u4e0d\u540c\u7684\u6700\u5927\u9608\u503c\uff08600K \u548c 1M\uff09\u3002\u5176\u4e2d\uff0cSfM600K\u00b120K\u8868\u793aCOLMAP\u8ba1\u7b97\u51fa\u7684\u70b9\u6570\uff0cNeRF-1M\u00b120K\u8868\u793a\u9884\u8bad\u7ec3NeRF\u6a21\u578b\u751f\u6210\u7684\u603b\u70b9\u6570\uff0cLiDAR-2M\u00b120k\u8868\u793aLiDAR\u539f\u59cb\u70b9\u6570\u3002<\/p>\n\n\n\n<p>\u5982\u8868 3 \u6240\u793a\uff0c\u968f\u673a\u751f\u6210\u7684\u70b9\u4f1a\u5bfc\u81f4\u6700\u5dee\u7684\u7ed3\u679c\uff0c\u56e0\u4e3a\u5b83\u4eec\u7f3a\u4e4f\u4efb\u4f55\u51e0\u4f55\u5148\u9a8c\u3002\u7531\u4e8e\u70b9\u7a00\u758f\u548c\u65e0\u6cd5\u5bb9\u5fcd\u7684\u7ed3\u6784\u8bef\u5dee\uff0c\u4f7f\u7528 SfM \u70b9\u521d\u59cb\u5316\u4e5f\u65e0\u6cd5\u5145\u5206\u6062\u590d\u573a\u666f\u7684\u7cbe\u786e\u51e0\u4f55\u5f62\u72b6\u3002\u5229\u7528\u9884\u5148\u8bad\u7ec3\u7684 NeRF \u6a21\u578b\u751f\u6210\u7684\u70b9\u4e91\u63d0\u4f9b\u4e86\u76f8\u5bf9\u51c6\u786e\u7684\u51e0\u4f55\u5148\u9a8c\uff0c\u4f46\u4ecd\u7136\u5b58\u5728\u660e\u663e\u7684\u5f02\u5e38\u503c\u3002\u5bf9\u4e8e\u7528LiDAR\u5148\u9a8c\u521d\u59cb\u5316\u7684\u6a21\u578b\uff0c\u867d\u7136\u4e0b\u91c7\u6837\u5bfc\u81f4\u4e00\u4e9b\u5c40\u90e8\u533a\u57df\u7684\u51e0\u4f55\u4fe1\u606f\u4e22\u5931\uff0c\u4f46\u4ecd\u7136\u4fdd\u7559\u4e86\u76f8\u5bf9\u51c6\u786e\u7684\u7ed3\u6784\u5148\u9a8c\uff0c\u4ece\u800c\u8d85\u8d8a\u4e86SfM\uff08\u56fe5\uff09\u3002\u6211\u4eec\u8fd8\u53ef\u4ee5\u89c2\u5bdf\u5230\u5b9e\u9a8c\u7ed3\u679c\u5e76\u4e0d\u968f\u7740\u6fc0\u5149\u96f7\u8fbe\u70b9\u6570\u91cf\u7684\u589e\u52a0\u800c\u7ebf\u6027\u53d8\u5316\u3002\u6211\u4eec\u63a8\u65ad\u8fd9\u662f\u56e0\u4e3a\u8fc7\u4e8e\u5bc6\u96c6\u7684\u70b9\u5b58\u50a8\u4e86\u5197\u4f59\u7279\u5f81\uff0c\u5e72\u6270\u4e86\u9ad8\u65af\u6a21\u578b\u7684\u4f18\u5316\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"586\" height=\"295\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-211.png\" alt=\"\" class=\"wp-image-9837\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-211.png 586w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-211-300x151.png 300w\" sizes=\"(max-width: 586px) 100vw, 586px\" \/><\/figure>\n\n\n\n<p>\u8868 3. \u4e0d\u540c\u521d\u59cb\u5316\u65b9\u6cd5\u5bf9\u9ad8\u65af\u6a21\u578b\u7684\u5f71\u54cd\u3002LiDAR-600K \u2020\u8868\u793a\u5c06\u539f\u59cbLiDAR\u6570\u636e\u4e0b\u91c7\u6837\u5230\u76f8\u5e94\u7684\u70b9\u4e91\u91cf\u7ea7\u3002LiDAR-1M \u2021 \u8868\u793a\u5728\u6211\u4eec\u7684\u65b9\u6cd5\u4e2d\u4f7f\u7528\u7684 LiDAR \u70b9\u4e2d\u7684\u53bb\u566a\u548c\u5f02\u5e38\u503c\u53bb\u9664\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"626\" height=\"434\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-212.png\" alt=\"\" class=\"wp-image-9838\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-212.png 626w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-212-300x208.png 300w\" sizes=\"(max-width: 626px) 100vw, 626px\" \/><\/figure>\n\n\n\n<p>\u56fe 5. \u5728 KITTI-360 \u4e0a\u4f7f\u7528\u4e0d\u540c\u521d\u59cb\u5316\u65b9\u6cd5\u7684\u53ef\u89c6\u5316\u6bd4\u8f83\u3002\u4e0e\u4f7f\u7528 SfM \u70b9\u8fdb\u884c\u521d\u59cb\u5316\u76f8\u6bd4\uff0c\u4f7f\u7528 LiDAR \u5148\u9a8c\u53ef\u4ee5\u8ba9\u9ad8\u65af\u6a21\u578b\u6062\u590d\u573a\u666f\u4e2d\u66f4\u51c6\u786e\u7684\u51e0\u4f55\u7ed3\u6784\u3002<\/p>\n\n\n\n<p><strong>\u6bcf\u4e2a\u6a21\u5757\u7684\u6709\u6548\u6027\u3002<\/strong>\u00a0\u6211\u4eec\u5206\u6790\u6bcf\u4e2a\u63d0\u51fa\u7684\u6a21\u5757\u5982\u4f55\u5bf9\u6700\u7ec8\u6027\u80fd\u505a\u51fa\u8d21\u732e\u3002\u5982\u88684\u6240\u793a\uff0c\u590d\u5408\u52a8\u6001\u9ad8\u65af\u56fe\u6a21\u5757\u5728\u91cd\u5efa\u52a8\u6001\u9a7e\u9a76\u573a\u666f\u4e2d\u53d1\u6325\u7740\u81f3\u5173\u91cd\u8981\u7684\u4f5c\u7528\uff0c\u800c\u589e\u91cf\u9759\u60013D\u9ad8\u65af\u6a21\u5757\u5219\u80fd\u591f\u5b9e\u73b0\u9ad8\u8d28\u91cf\u7684\u5927\u89c4\u6a21\u80cc\u666f\u91cd\u5efa\u3002\u8fd9\u4e24\u4e2a\u65b0\u9896\u7684\u6a21\u5757\u663e\u7740\u63d0\u9ad8\u4e86\u590d\u6742\u9a7e\u9a76\u573a\u666f\u7684\u5efa\u6a21\u8d28\u91cf\u3002\u5173\u4e8e\u6240\u63d0\u51fa\u7684\u635f\u5931\u51fd\u6570\uff0c\u7ed3\u679c\u8868\u660e LT SSIM \u548c LRobust \u90fd\u663e\u7740\u63d0\u9ad8\u4e86\u6e32\u67d3\u8d28\u91cf\uff0c\u589e\u5f3a\u4e86\u7eb9\u7406\u7ec6\u8282\u5e76\u6d88\u9664\u4e86\u4f2a\u5f71\u3002LLiDAR \u5728 LiDAR \u5148\u9a8c\u7684\u8f85\u52a9\u4e0b\uff0c\u5e2e\u52a9\u9ad8\u65af\u83b7\u5f97\u66f4\u597d\u7684\u51e0\u4f55\u5148\u9a8c\u3002\u5b9e\u9a8c\u7ed3\u679c\u8fd8\u8868\u660e\uff0c\u5373\u4f7f\u4e8b\u5148\u6ca1\u6709 LiDAR\uff0cDrivingGaussian \u4e5f\u80fd\u8868\u73b0\u826f\u597d\uff0c\u8868\u73b0\u51fa\u5bf9\u5404\u79cd\u521d\u59cb\u5316\u65b9\u6cd5\u7684\u5f3a\u5927\u9c81\u68d2\u6027\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"552\" height=\"284\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-213.png\" alt=\"\" class=\"wp-image-9839\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-213.png 552w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-213-300x154.png 300w\" sizes=\"(max-width: 552px) 100vw, 552px\" \/><\/figure>\n\n\n\n<p>\u8868 4. \u6211\u4eec\u63d0\u51fa\u7684\u65b9\u6cd5\u4e2d\u6bcf\u4e2a\u6a21\u5757\u7684\u6548\u679c\u3002IS3G \u662f\u589e\u91cf\u9759\u6001 3D \u9ad8\u65af\u6a21\u5757\u7684\u7f29\u5199\uff0cCDGG \u662f\u590d\u5408\u52a8\u6001\u9ad8\u65af\u56fe\u6a21\u5757\u7684\u7f29\u5199\u3002<\/p>\n\n\n\n<p>4.5. \u6781\u7aef\u60c5\u51b5\u6a21\u62df<\/p>\n\n\n\n<p>\u6211\u4eec\u5c55\u793a\u4e86\u6211\u4eec\u5728\u73b0\u5b9e\u9a7e\u9a76\u573a\u666f\u4e2d\u6a21\u62df\u6781\u7aef\u60c5\u51b5\u7684\u65b9\u6cd5\u7684\u6709\u6548\u6027\u3002\u5982\u56fe 6 \u6240\u793a\uff0c\u6211\u4eec\u53ef\u4ee5\u5c06\u4efb\u610f\u52a8\u6001\u5bf9\u8c61\u63d2\u5165\u5230\u91cd\u5efa\u7684\u9ad8\u65af\u573a\u4e2d\u3002\u6a21\u62df\u573a\u666f\u4fdd\u6301\u65f6\u95f4\u76f8\u5e72\u6027\uff0c\u5e76\u5728\u591a\u4e2a\u4f20\u611f\u5668\u4e4b\u95f4\u8868\u73b0\u51fa\u826f\u597d\u7684\u4f20\u611f\u5668\u95f4\u4e00\u81f4\u6027\u3002\u6211\u4eec\u7684\u65b9\u6cd5\u53ef\u4ee5\u5b9e\u73b0\u81ea\u52a8\u9a7e\u9a76\u573a\u666f\u7684\u53ef\u63a7\u6a21\u62df\u548c\u7f16\u8f91\uff0c\u4fc3\u8fdb\u5b89\u5168\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u7684\u7814\u7a76\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"929\" height=\"251\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-214.png\" alt=\"\" class=\"wp-image-9840\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-214.png 929w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-214-300x81.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/04\/\u56fe\u7247-214-768x208.png 768w\" sizes=\"(max-width: 929px) 100vw, 929px\" \/><\/figure>\n\n\n\n<p>\u56fe 6. \u6781\u7aef\u60c5\u51b5\u6a21\u62df\u793a\u4f8b\u3002\u4f7f\u7528 DrivingGaussian \u6a21\u62df\u6781\u7aef\u60c5\u51b5\uff1a\u4e00\u540d\u7537\u5b50\u5728\u8def\u4e0a\u884c\u8d70\uff0c\u7a81\u7136\u6454\u5012\uff0c\u524d\u65b9\u6709\u4e00\u8f86\u6c7d\u8f66\u9a76\u8fd1\u3002<\/p>\n\n\n\n<p>5.\u7ed3\u8bba<\/p>\n\n\n\n<p>\u6211\u4eec\u4ecb\u7ecd DrivingGaussian\uff0c\u8fd9\u662f\u4e00\u79cd\u57fa\u4e8e\u6240\u63d0\u51fa\u7684\u590d\u5408\u9ad8\u65af\u5206\u5e03\u6765\u8868\u793a\u5927\u89c4\u6a21\u52a8\u6001\u81ea\u52a8\u9a7e\u9a76\u573a\u666f\u7684\u65b0\u9896\u6846\u67b6\u3002DrivingGaussian \u4f7f\u7528\u589e\u91cf\u9759\u6001 3D \u9ad8\u65af\u9010\u6b65\u5bf9\u9759\u6001\u80cc\u666f\u8fdb\u884c\u5efa\u6a21\uff0c\u5e76\u4f7f\u7528\u590d\u5408\u52a8\u6001\u9ad8\u65af\u56fe\u6355\u83b7\u591a\u4e2a\u79fb\u52a8\u5bf9\u8c61\u3002\u6211\u4eec\u8fdb\u4e00\u6b65\u5229\u7528 LiDAR \u5148\u9a8c\u6765\u5b9e\u73b0\u7cbe\u786e\u7684\u51e0\u4f55\u7ed3\u6784\u548c\u591a\u89c6\u56fe\u4e00\u81f4\u6027\u3002DrivingGaussian \u5728\u4e24\u4e2a\u81ea\u52a8\u9a7e\u9a76\u6570\u636e\u96c6\u4e0a\u5b9e\u73b0\u4e86\u6700\u5148\u8fdb\u7684\u6027\u80fd\uff0c\u5b9e\u73b0\u4e86\u9ad8\u8d28\u91cf\u7684\u5468\u56f4\u89c6\u56fe\u5408\u6210\u548c\u52a8\u6001\u573a\u666f\u91cd\u5efa\u3002<\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u8bba\u6587\u94fe\u63a5\uff1ahttps:\/\/arxiv.org\/ [&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-9815","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\/9815"}],"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=9815"}],"version-history":[{"count":1,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/9815\/revisions"}],"predecessor-version":[{"id":9841,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/9815\/revisions\/9841"}],"wp:attachment":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/media?parent=9815"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/categories?post=9815"},{"taxonomy":"post_tag","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/tags?post=9815"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}