{"id":22518,"date":"2024-10-09T10:58:00","date_gmt":"2024-10-09T02:58:00","guid":{"rendered":"https:\/\/aif.amtbbs.org\/?p=22518"},"modified":"2024-10-09T11:01:35","modified_gmt":"2024-10-09T03:01:35","slug":"%e6%b5%99%e5%a4%a7%e6%9c%80%e6%96%b0%e5%bc%80%e6%ba%90%ef%bc%81splatloc%ef%bc%9a%e5%9f%ba%e4%ba%8e3d-gaussian%e5%ae%9e%e7%8e%b0%e7%b2%be%e7%a1%ae%e8%a7%86%e8%a7%89%e5%ae%9a%e4%bd%8d","status":"publish","type":"post","link":"https:\/\/aif.amtbbs.org\/index.php\/2024\/10\/09\/22518\/","title":{"rendered":"\u6d59\u5927\u6700\u65b0\u5f00\u6e90\uff01SplatLoc\uff1a\u57fa\u4e8e3D Gaussian\u5b9e\u73b0\u7cbe\u786e\u89c6\u89c9\u5b9a\u4f4d"},"content":{"rendered":"<div><img data-dominant-color=\"aeb4c8\" data-has-transparency=\"false\" style=\"--dominant-color: #aeb4c8;\" loading=\"lazy\" decoding=\"async\" class=\"not-transparent alignnone size-full wp-image-22524\" src=\"https:\/\/aiforumimage.oss-cn-shanghai.aliyuncs.com\/wp-content\/uploads\/2024\/10\/342b7505208dde5e3d0323bc0757eee7484ac7-1-300x167-1.jpg\" width=\"300\" height=\"167\" alt=\"\" srcset=\"https:\/\/aiforumimage.oss-cn-shanghai.aliyuncs.com\/wp-content\/uploads\/2024\/10\/342b7505208dde5e3d0323bc0757eee7484ac7-1-300x167-1.jpg 300w, https:\/\/aiforumimage.oss-cn-shanghai.aliyuncs.com\/wp-content\/uploads\/2024\/10\/342b7505208dde5e3d0323bc0757eee7484ac7-1-300x167-1-150x84.jpg 150w\" sizes=\"auto, (max-width: 300px) 100vw, 300px\" \/><\/div>\n<div><\/div>\n<div class=\"article-desc\">\u5728\u672c\u6587\u4e2d\uff0c\u6211\u4eec\u63d0\u51fa\u4e86SplatLoc\uff0c\u8fd9\u662f\u4e00\u79cd\u57fa\u4e8e3D\u9ad8\u65af\u57fa\u5143\u7684\u9ad8\u6548\u4e14\u65b0\u9896\u7684\u89c6\u89c9\u5b9a\u4f4d\u65b9\u6cd5\uff0c\u76f8\u6bd4\u4f20\u7edf\u5b9a\u4f4d\u65b9\u6cd5\u66f4\u9002\u5408\u589e\u5f3a\u73b0\u5b9e\uff08AR\uff09\/\u865a\u62df\u73b0\u5b9e\uff08VR\uff09\u3002<\/div>\n<div id=\"postspictures\" class=\"article-content\">\n<div id=\"container\" class=\"container am-engine\" data-v-1d7a5742=\"\" data-element=\"root\">\n<p>\u672c\u6587\u7ecf\u81ea\u52a8\u9a7e\u9a76\u4e4b\u5fc3\u516c\u4f17\u53f7\u6388\u6743\u8f6c\u8f7d\uff0c\u8f6c\u8f7d\u8bf7\u8054\u7cfb\u51fa\u5904\u3002<\/p>\n<h2>0. \u8bba\u6587\u4fe1\u606f<\/h2>\n<p class=\"js_darkmode__26\">\u6807\u9898\uff1aSplatLoc: 3D Gaussian Splatting-based Visual Localization for Augmented Reality<\/p>\n<p class=\"js_darkmode__27\">\u4f5c\u8005\uff1aHongjia Zhai, Xiyu Zhang, Boming Zhao, Hai Li, Yijia He, Zhaopeng Cui, Hujun Bao, Guofeng Zhang<\/p>\n<p class=\"js_darkmode__28\">\u673a\u6784\uff1aState Key Lab of CAD &amp; CG, Zhejiang University\u3001RayNeo<\/p>\n<p class=\"js_darkmode__29\">\u539f\u6587\u94fe\u63a5\uff1ahttps:\/\/arxiv.org\/abs\/2409.14067<\/p>\n<p class=\"js_darkmode__30\">\u4ee3\u7801\u94fe\u63a5\uff1ahttps:\/\/github.com\/zhaihongjia\/SplatLoc<\/p>\n<h2>1. \u6458\u8981<\/h2>\n<p 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class=\"js_darkmode__39\">\u4e3a\u4e86\u514b\u670d\u4e0a\u8ff0\u9650\u5236\uff0c\u6211\u4eec\u63d0\u51fa\u4e86\u4e00\u79cd\u9ad8\u6548\u4e14\u65b0\u9896\u7684\u89c6\u89c9\u5b9a\u4f4d\u65b9\u6cd5\uff0c\u8be5\u65b9\u6cd5\u4ee5\u66f4\u5c11\u7684\u6a21\u578b\u53c2\u6570\u5b9e\u73b0\u4e86\u66f4\u597d\u7684\u6027\u80fd\uff0c\u9002\u7528\u4e8e\u5b9a\u4f4d\u548c\u9ad8\u8d28\u91cf\u65b0\u89c6\u56fe\u6e32\u67d3\u3002\u5177\u4f53\u800c\u8a00\uff0c\u4e3a\u4e86\u51cf\u5c11\u6a21\u578b\u53c2\u6570\uff0c\u6211\u4eec\u4e0d\u663e\u5f0f\u5b58\u50a8\u9010\u70b9\u63cf\u8ff0\u7b26\u3002\u76f8\u53cd\uff0c\u6211\u4eec\u4ece\u591a\u89c6\u56fe2D\u7279\u5f81\u56fe\u4e2d\u6784\u5efa\u7279\u5f81\u4f53\uff0c\u5e76\u5c06\u5176\u63d0\u70bc\u4e3a\u7279\u5b9a\u573a\u666f\u76843D\u7279\u5f81\u89e3\u7801\u5668\uff0c\u4ece\u800c\u53ef\u4ee5\u907f\u514d\u7531alpha\u6df7\u5408\u5f15\u5165\u7684\u9ad8\u65af\u57fa\u672c\u5143\u7d20\u7684\u63cf\u8ff0\u7b26\u504f\u5dee\u3002\u7136\u540e\uff0c\u6211\u4eec\u63d0\u51fa\u4e86\u4e00\u79cd\u9ad8\u6548\u7684\u663e\u84573D\u5730\u6807\u9009\u62e9\u7b97\u6cd5\uff0c\u4ee5\u51cf\u5c11\u7531\u5927\u91cf\u9ad8\u65af\u57fa\u672c\u5143\u7d20\u5f15\u8d77\u76842D-3D\u5339\u914d\u7684\u8ba1\u7b97\u5f00\u9500\u3002\u6700\u540e\uff0c\u6211\u4eec\u5bf9\u5173\u952e\u9ad8\u65af\u57fa\u672c\u5143\u7d20\u8fdb\u884c\u4f4d\u7f6e\u548c\u7f29\u653e\u6b63\u5219\u5316\uff0c\u4ee5\u51cf\u5c113D\u4e2d\u5fc3\u504f\u79fb\u3002<\/p>\n<h2>3. \u6548\u679c\u5c55\u793a<\/h2>\n<p class=\"js_darkmode__41\">\u6211\u4eec\u63d0\u51fa\u4e86SplatLoc\uff0c\u4e00\u79cd\u4e3a\u589e\u5f3a\u73b0\u5b9e\u8bbe\u8ba1\u7684\u9ad8\u6548\u65b0\u9896\u7684\u89c6\u89c9\u5b9a\u4f4d\u65b9\u6cd5\u3002\u5982\u56fe\u6240\u793a\uff0c\u6211\u4eec\u7684\u7cfb\u7edf\u5229\u7528\u5355\u76eeRGB-D\u5e27\uff0c\u4f7f\u75283D\u9ad8\u65af\u56fe\u5143\u6765\u91cd\u5efa\u573a\u666f\u3002\u6b64\u5916\uff0c\u5229\u7528\u6211\u4eec\u5b66\u4e60\u7684\u65e0\u504f3D\u63cf\u8ff0\u7b26\u573a\uff0c\u6211\u4eec\u901a\u8fc7\u7cbe\u786e\u76842D-3D\u7279\u5f81\u5339\u914d\u5b9e\u73b0\u4e866-DoF\u76f8\u673a\u59ff\u6001\u4f30\u8ba1\u3002\u6211\u4eec\u5c55\u793a\u4e86\u6211\u4eec\u7684\u7cfb\u7edf\u7684\u6f5c\u5728AR\u5e94\u7528\uff0c\u4f8b\u5982\u865a\u62df\u5185\u5bb9\u63d2\u5165\u548c\u7269\u7406\u78b0\u649e\u6a21\u62df\u3002\u6211\u4eec\u7528\u7ea2\u6846\u7a81\u51fa\u663e\u793a\u865a\u62df\u5bf9\u8c61\u3002<\/p>\n<p>&nbsp;<\/p>\n<h2>4. \u4e3b\u8981\u8d21\u732e<\/h2>\n<p class=\"js_darkmode__45\">\u6211\u4eec\u63d0\u51fa\u7684\u65b9\u6cd5\u7684\u5177\u4f53\u8d21\u732e\u603b\u7ed3\u5982\u4e0b\uff1a<\/p>\n<p class=\"js_darkmode__46\">\u2022 \u6211\u4eec\u63d0\u51fa\u4e86\u4e00\u79cd\u9ad8\u6548\u4e14\u65b0\u9896\u7684\u89c6\u89c9\u5b9a\u4f4d\u65b9\u6cd5\uff0c\u8be5\u65b9\u6cd5\u57fa\u4e8e3D\u9ad8\u65af\u57fa\u672c\u5143\u7d20\uff0c\u80fd\u591f\u4ee5\u66f4\u5c11\u7684\u53c2\u6570\u5b9e\u73b0\u7cbe\u786e\u7684\u5b9a\u4f4d\u6027\u80fd\u548c\u9ad8\u8d28\u91cf\u3001\u5feb\u901f\u7684\u6e32\u67d3\u3002<\/p>\n<p class=\"js_darkmode__47\">\u2022 \u6211\u4eec\u5f15\u5165\u4e86\u4e00\u79cd\u65e0\u504f\u76843D\u63cf\u8ff0\u7b26\u5b66\u4e60\u7b56\u7565\uff0c\u7528\u4e8e\u7cbe\u786e\u5339\u914d2D\u5173\u952e\u70b9\u548c3D\u9ad8\u65af\u57fa\u672c\u5143\u7d20\uff0c\u4f7f\u7528\u4e00\u4e2a\u7279\u5b9a\u573a\u666f\u76843D\u7279\u5f81\u89e3\u7801\u5668\u4ece\u591a\u89c6\u56fe\u7279\u5f81\u56fe\u4e2d\u56de\u5f52\u7279\u5f81\u4f53\u3002<\/p>\n<p class=\"js_darkmode__48\">\u2022 \u6211\u4eec\u5f00\u53d1\u4e86\u4e00\u79cd\u6709\u6548\u7684\u663e\u84573D\u5730\u6807\u9009\u62e9\u7b97\u6cd5\uff0c\u4ee5\u51cf\u5c11\u7528\u4e8e\u5b9a\u4f4d\u7684\u57fa\u672c\u5143\u7d20\u6570\u91cf\u3002\u6b64\u5916\uff0c\u4e3a\u4e86\u51cf\u8f7b\u7531\u5149\u5ea6\u6e32\u67d3\u635f\u5931\u5f15\u8d77\u7684\u9ad8\u65af\u57fa\u672c\u5143\u7d20\u4e2d\u5fc3\u504f\u79fb\uff0c\u6211\u4eec\u5bf9\u5173\u952e\u9ad8\u65af\u57fa\u672c\u5143\u7d20\u7684\u4f4d\u7f6e\u548c\u5c3a\u5ea6\u5e94\u7528\u4e86\u6b63\u5219\u5316\u3002<\/p>\n<p class=\"js_darkmode__49\">\u2022 \u6211\u4eec\u8fdb\u884c\u4e86\u5927\u91cf\u5b9e\u9a8c\uff0c\u8bc1\u660e\u4e86\u6240\u63d0\u51fa\u65b9\u6cd5\u5728\u89c6\u89c9\u5b9a\u4f4d\u548c\u9ad8\u8d28\u91cf\u65b0\u89c6\u56fe\u6e32\u67d3\u65b9\u9762\u7684\u5148\u8fdb\u6027\u548c\u53ef\u6bd4\u6027\u80fd\u3002<\/p>\n<h2>5. \u65b9\u6cd5<\/h2>\n<p class=\"js_darkmode__51\">\u91cd\u5efa\u8fc7\u7a0b\u3002\u6211\u4eec\u9010\u6b65\u521d\u59cb\u5316\u9ad8\u65af\u57fa\u5143\uff0c\u6bcf\u4e2a\u57fa\u5143\u90fd\u4e0e\u4f4d\u7f6e\u03bc\u3001\u65cb\u8f6cq\u3001\u5c3a\u5ea6s\u3001\u4e0d\u900f\u660e\u5ea6\u03c3\u3001\u989c\u8272c\u4ee5\u53ca3D\u5730\u6807\u5206\u6570a\u76f8\u5173\u8054\u3002\u5bf9\u4e8e\u5173\u952e\u9ad8\u65af\u57fa\u5143\uff0c\u6211\u4eec\u6267\u884c\u8f6f\u7b49\u8f74\u6027\u548c\u5c3a\u5ea6\u6b63\u5219\u5316\uff0c\u4ee5\u51cf\u8f7b\u7ed3\u679c\u7684\u975e\u7b49\u8f74\u6027\u3002\u5229\u7528\u989c\u8272\u635f\u5931Lc\u3001\u6df1\u5ea6\u635f\u5931Ld\u30013D\u5730\u6807\u635f\u5931Lm\u548c\u6b63\u5219\u5316\u635f\u5931Lreg\uff0c\u901a\u8fc7\u53ef\u5fae\u5149\u6805\u5316\u4f18\u5316\u6bcf\u4e2a\u57fa\u5143\u7684\u5c5e\u6027\u3002<\/p>\n<p>&nbsp;<\/p>\n<p class=\"js_darkmode__54\">\u6709\u504f\u548c\u65e0\u504f3D\u63cf\u8ff0\u7b26\u573a\u5b66\u4e60\u7684\u8bf4\u660e\u3002(a) \u4ee5\u5f80\u5de5\u4f5c[44, 48]\u4e2d\u7684\u6709\u504f3D\u7279\u5f81\u4f18\u5316\uff0c\u5b83\u4eec\u4f7f\u7528alpha\u6df7\u5408\u6765\u83b7\u5f972D\u6df7\u5408\u7279\u5f81\u3002(b) \u6211\u4eec\u7684\u65e0\u504f3D\u7279\u5f81\u5b66\u4e60\u65b9\u6848\uff0c\u76f4\u63a5\u4ece\u7531\u591a\u89c6\u56fe\u7279\u5f81\u56fe\u6784\u5efa\u7684\u7279\u5f81\u4f53\u4e2d\u5b66\u4e603D\u7279\u5f81\u89e3\u7801\u5668\u3002<\/p>\n<p>&nbsp;<\/p>\n<p class=\"js_darkmode__57\">\u6211\u4eec\u65e0\u504f3D\u57fa\u5143\u63cf\u8ff0\u7b26\u5b66\u4e60\u7684\u6d41\u7a0b\u3002\u6211\u4eec\u9996\u5148\u57fa\u4e8e2D\u5377\u79ef\u795e\u7ecf\u7f51\u7edc\uff08CNN\uff09\u6a21\u578b[9]\u5bf9\u56fe\u50cf\u8fdb\u884c\u7f16\u7801\uff0c\u4ee5\u83b7\u5f97\u591a\u89c6\u56fe\u7279\u5f81\u56fe\uff0c\u5e76\u6839\u636e\u6df1\u5ea6\u548c\u59ff\u6001\u4fe1\u606f\u6784\u5efa3D\u573a\u666f\u7279\u5f81\u4f53\u3002\u4e3a\u4e86\u589e\u5f3a3D\u7279\u5f81\u89e3\u7801\u5668\u7684\u8868\u5f81\u80fd\u529b\uff0c\u6211\u4eec\u4f7f\u7528\u591a\u5206\u8fa8\u7387\u53c2\u6570\u7f16\u7801\u6765\u8f85\u52a93D\u573a\u666f\u7279\u5b9a\u63cf\u8ff0\u7b26\u7684\u5b66\u4e60\u3002\u6b64\u5916\uff0c\u6211\u4eec\u4ec5\u5bf9\u573a\u666f\u8868\u9762\u8fdb\u884c\u63cf\u8ff0\u7b26\u91c7\u6837\uff0c\u4ee5\u5b9e\u73b0\u6709\u6548\u7684\u77e5\u8bc6\u84b8\u998f\u3002<\/p>\n<p>&nbsp;<\/p>\n<h2>6. \u5b9e\u9a8c\u7ed3\u679c<\/h2>\n<p>&nbsp;<\/p>\n<h2>7. \u603b\u7ed3 &amp; \u672a\u6765\u5de5\u4f5c<\/h2>\n<p 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