{"id":15402,"date":"2023-09-22T11:02:17","date_gmt":"2023-09-22T03:02:17","guid":{"rendered":"http:\/\/139.9.1.231\/?p=15402"},"modified":"2023-09-22T11:02:19","modified_gmt":"2023-09-22T03:02:19","slug":"iccv23depth_metric3d","status":"publish","type":"post","link":"http:\/\/139.9.1.231\/index.php\/2023\/09\/22\/iccv23depth_metric3d\/","title":{"rendered":"ICCV&#8217;23|\u5168\u573a\u666f\u5355\u76ee\u6df1\u5ea6\u7edd\u5bf9\u8ddd\u79bb\u4f30\u8ba1"},"content":{"rendered":"\n<p>                                                \u4f5c\u8005\u4e28\u5c39\u709c\u00a0\u00a0\u8f6c\u81ea\u4e28\u6781\u5e02\u5e73\u53f0<\/p>\n\n\n\n<p class=\"has-dark-gray-color has-light-blue-background-color has-text-color has-background\">      \u672c\u6587\u63d0\u51fa\u4e86\u4e00\u4e2a<strong>\u7edf\u4e00\u76f8\u673a\u7a7a\u95f4\uff08canonical camera space\uff09\u53d8\u6362\u6a21\u5757<\/strong>\uff0c\u660e\u786e\u89e3\u51b3\u4e86\u5c3a\u5ea6\u6a21\u7cca\u6027\u95ee\u9898\uff0c\u5e76\u4e14\u53ef\u4ee5\u8f7b\u677e\u5730\u5d4c\u5165\u5230\u73b0\u6709\u7684\u5355\u76ee\u6a21\u578b\u4e2d\u3002<strong>\u914d\u5907\u4e86\u8bba\u6587\u7684\u6a21\u5757\uff0c\u5355\u76ee\u6a21\u578b\u53ef\u4ee5\u5728800\u4e07\u5f20\u56fe\u50cf\u548c\u6570\u5343\u4e2a\u76f8\u673a\u6a21\u578b\u4e0a\u7a33\u5b9a\u5730\u8bad\u7ec3\uff0c\u4ece\u800c\u5b9e\u73b0\u4e86\u5bf9\u5ba4\u5916\u56fe\u50cf\u7684\u96f6\u6837\u672c\u6cdb\u5316\uff0c\u5176\u4e2d\u5305\u542b\u672a\u89c1\u8fc7\u7684\u76f8\u673a\u8bbe\u7f6e<\/strong>\u3002\u8be5\u8bba\u6587\u6240\u63d0\u65b9\u6cd5\u4e5f\u662f\u7b2c\u4e8c\u5c4a\u5355\u76ee\u6df1\u5ea6\u4f30\u8ba1\u6311\u6218\u4e2d\u7684\u51a0\u519b\u65b9\u6848\uff0c\u5728\u6bd4\u8d5b\u7684\u5404\u4e2a\u573a\u666f\u4e0a\u90fd\u6392\u7b2c\u4e00\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img src=\"https:\/\/pic2.zhimg.com\/80\/v2-54d22ef6f05dba1f3db4096466f1a609_1440w.webp\" alt=\"\"\/><\/figure>\n\n\n\n<p class=\"has-text-align-center\">Arxiv:\u00a0<a href=\"https:\/\/arxiv.org\/abs\/2307.10984\">https:\/\/arxiv.org\/abs\/2307.10984<\/a><\/p>\n\n\n\n<p class=\"has-text-align-center\"><a href=\"Github:\u00a0https:\/\/github.com\/YvanYin\/Metric3D\">Github:\u00a0https:\/\/github.com\/YvanYin\/Metric3D<\/a><\/p>\n\n\n\n<p>      \u5927\u5bb6\u597d\uff0c\u5728\u8fd9\u91cc\u7ed9\u5927\u5bb6\u5206\u4eab\u4e00\u4e0b\u6211\u4eec\u6700\u8fd1\u88ab ICCV2023 \u63a5\u53d7\u7684\u5de5\u4f5c\u300aMetric3D: Towards Zero-shot Metric 3D Prediction from A Single Image\u300b\u3002\u5982\u4f55\u4ece\u5355\u5f20\u56fe\u50cf\u6062\u590d\u51fa\u7edd\u5bf9\u5c3a\u5ea6\u7684\u6df1\u5ea6\uff0c\u5e76\u4e14\u91cd\u5efa\u51fa\u5e26\u6709\u7edd\u5bf9\u5c3a\u5ea6\u76843D\u573a\u666f\u662f\u4e00\u4e2a\u957f\u671f\u5f85\u89e3\u51b3\u7684\u95ee\u9898\u3002\u5f53\u524d\u6700\u5148\u8fdb\u7684\u5355\u76ee\u6df1\u5ea6\u4f30\u8ba1\u5177\u4f53\u5206\u4e3a\u4e24\u7c7b\uff1a<\/p>\n\n\n\n<p>      \u7b2c\u4e00\u7c7b\u65b9\u6cd5\u7684\u76ee\u6807\u662f\u6062\u590d\u51c6\u786e\u7684\u7edd\u5bf9\u6df1\u5ea6\uff0c\u4f46\u662f\u8fd9\u4e00\u7c7b\u7684\u65b9\u6cd5\u6cdb\u5316\u6027\u6bd4\u8f83\u5dee\uff0c\u53ea\u80fd\u5904\u7406\u5355\u4e2a\u76f8\u673a\u6a21\u578b\uff0c\u5e76\u4e14\u7531\u4e8e\u4e0d\u540c\u76f8\u673a\u5b58\u5728\u5c3a\u5ea6\u6a21\u7cca\u6027\uff0c\u5bfc\u81f4\u65e0\u6cd5\u6267\u884c\u6df7\u5408\u6570\u636e\u8bad\u7ec3\u6765\u63d0\u5347\u57df\u6cdb\u5316\u6027\u3002\u7b2c\u4e8c\u7c7b\u65b9\u6cd5\u9488\u5bf9\u6027\u89e3\u51b3\u6df1\u5ea6\u6a21\u578b\u7684\u96f6\u6837\u672c\u6cdb\u5316\u95ee\u9898\uff0c\u5982LeReS\/MiDaS\/DPT\/HDN\u7b49\u6587\u7ae0\u7684\u65b9\u6cd5\uff0c\u7ecf\u8fc7\u5927\u89c4\u6a21\u6df7\u5408\u6570\u636e\u96c6\u8bad\u7ec3\uff0c\u5e76\u7ea6\u675f\u6a21\u578b\u53ea\u5b66\u4e60\u76f8\u5bf9\u6df1\u5ea6\u3002\u56e0\u6b64\uff0c\u8be5\u7c7b\u65b9\u6cd5\u90fd\u6ca1\u6cd5\u6062\u590d\u7edd\u5bf9\u5c3a\u5ea6\u3002<\/p>\n\n\n\n<p>      \u5728\u8fd9\u9879\u5de5\u4f5c\u4e2d\uff0c\u8bba\u6587\u8868\u660e\u96f6\u6837\u672c\u5355\u76ee\u5ea6\u91cf\u6df1\u5ea6\u4f30\u8ba1\u7684\u5173\u952e\u5728\u4e8e\u5927\u89c4\u6a21\u6570\u636e\u8bad\u7ec3\u4ee5\u53ca\u89e3\u51b3\u6765\u81ea\u5404\u79cd\u76f8\u673a\u6a21\u578b\u7684\u5c3a\u5ea6\u6a21\u7cca\u6027\u3002\u8bba\u6587\u63d0\u51fa\u4e86\u4e00\u4e2a<strong>\u7edf\u4e00\u76f8\u673a\u7a7a\u95f4\uff08canonical camera space\uff09\u53d8\u6362\u6a21\u5757\uff0c<\/strong>\u00a0\u660e\u786e\u89e3\u51b3\u4e86\u5c3a\u5ea6\u6a21\u7cca\u6027\u95ee\u9898\uff0c\u5e76\u4e14\u53ef\u4ee5\u8f7b\u677e\u5730\u5d4c\u5165\u5230\u73b0\u6709\u7684\u5355\u76ee\u6a21\u578b\u4e2d\u3002\u914d\u5907\u4e86\u8bba\u6587\u7684\u6a21\u5757\uff0c\u5355\u76ee\u6a21\u578b\u53ef\u4ee5\u5728800\u4e07\u5f20\u56fe\u50cf\u548c\u6570\u5343\u4e2a\u76f8\u673a\u6a21\u578b\u4e0a\u7a33\u5b9a\u5730\u8bad\u7ec3\uff0c\u4ece\u800c\u5b9e\u73b0\u4e86\u5bf9\u5ba4\u5916\u56fe\u50cf\u7684\u96f6\u6837\u672c\u6cdb\u5316\uff0c\u5176\u4e2d\u5305\u542b\u672a\u89c1\u8fc7\u7684\u76f8\u673a\u8bbe\u7f6e\u3002<\/p>\n\n\n\n<p>\u4e0b\u56fe\uff08\u8bba\u6587\u9996\u9875\u56fe\uff09\u901a\u8fc7\u4e24\u4e2a\u4e0b\u6e38\u7684\u5e94\u7528\uff0c\u5373SLAM\u548c\u7269\u4f53\u6d4b\u91cf\uff0c\u6765\u5c55\u793a\u4e86\u9488\u5bf9\u96f6\u6837\u672c\u7684\u6cdb\u5316\u6027\u4ee5\u53ca\u5c3a\u5ea6\u6062\u590d\u7684\u51c6\u786e\u6027\u3002\u53ef\u4ee5\u770b\u51fa\u6d4b\u91cf\u7684\u7ed3\u6784\u5c3a\u5bf8\u548cGT\u975e\u5e38\u63a5\u8fd1\u3002\u503c\u5f97\u6ce8\u610f\u7684\u662f\uff0cmono-slam\u7cfb\u7edf\u901a\u8fc7\u5f15\u5165\u9884\u6d4b\u7684\u6df1\u5ea6\uff0c\u80fd\u591f\u6d88\u9664scale drift\u7684\u95ee\u9898\uff0c\u5e76\u4e14slam\u7cfb\u7edf\u80fd\u591f\u5b9e\u73b0metric mapping.<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img src=\"https:\/\/pic1.zhimg.com\/80\/v2-7f4644346b7d64c030a3b7b8d422609c_1440w.webp\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u4e3b\u8981\u8d21\u732e\uff1a<\/p>\n\n\n\n<ol><li>\u63d0\u51fa\u4e86\u4e00\u79cd\u6807\u51c6\u7a7a\u95f4\u76f8\u673a\u53d8\u6362\uff08canonical camera space transformation\uff09\u548c\u5bf9\u5e94\u7684\u9006\u53d8\u6362\uff08de-canonical camera space transformation\uff09\u65b9\u6cd5\u6765\u89e3\u51b3\u6765\u81ea\u4e0d\u540c\u76f8\u673a\u8bbe\u7f6e\u7684\u6df1\u5ea6\u5c3a\u5ea6\u6a21\u7cca\u6027\u95ee\u9898\u3002\u8fd9\u4f7f\u5f97\u8bba\u6587\u65b9\u6cd5\u53ef\u4ee5\u4ece\u5927\u89c4\u6a21\u6570\u636e\u96c6\u4e2d\u5b66\u4e60\u5f3a\u5927\u7684\u96f6\u6837\u672c\uff08zero-shot\uff09\u5355\u76ee\u5ea6\u91cf\u6df1\u5ea6\u6a21\u578b\uff1b<\/li><li>\u5728\u6a21\u578b\u8bad\u7ec3\u8fc7\u7a0b\u4e2d\uff0c\u8bba\u6587\u8fd8\u63d0\u51fa\u4e86\u4e00\u79cd\u968f\u673a\u63d0\u8bae\u6b63\u5219\u5316\u635f\u5931\u51fd\u6570\uff0c\u6709\u6548\u63d0\u9ad8\u4e86\u6df1\u5ea6\u51c6\u786e\u6027\uff1b<\/li><li>\u8bba\u6587\u65b9\u6cd5\u5728<strong>\u7b2c\u4e8c\u5c4a\u5355\u76ee\u6df1\u5ea6\u4f30\u8ba1\u6311\u6218\u4e2d\u83b7\u5f97\u4e86\u51a0\u519b<\/strong>\uff0c\u5728\u6bd4\u8d5b\u7684\u5404\u4e2a\u573a\u666f\u4e0a\u90fd\u6392\u7b2c\u4e00\u3002<\/li><li>\u8bba\u6587\u7684\u6a21\u578b\u57287\u4e2a\u96f6\u6837\u672c\u57fa\u51c6\u6d4b\u8bd5\u4e0a\u8fbe\u5230\u4e86\u6700\u5148\u8fdb\u7684\u6027\u80fd\u3002\u5b83\u80fd\u591f\u5728\u6237\u5916\u8fdb\u884c\u9ad8\u8d28\u91cf\u76843D\u5ea6\u91cf\u7ed3\u6784\u6062\u590d\uff0c\u5e76\u4e14\u5728\u51e0\u4e2a\u4e0b\u6e38\u4efb\u52a1\u4e2d\u53d7\u76ca\uff0c\u5982\u5355\u76eeSLAM\u30013D\u573a\u666f\u91cd\u6784\u548c\u6d4b\u91cf\u5b66\u3002<\/li><\/ol>\n\n\n\n<p>CVPR2023\u6311\u6218\u8d5b\u7ed3\u679c\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img src=\"https:\/\/pic3.zhimg.com\/80\/v2-86479af06db4f9962ea4efa1d1d36186_1440w.webp\" alt=\"\"\/><\/figure>\n\n\n\n<h2><strong>\u65b9\u6cd5\uff1a<\/strong><\/h2>\n\n\n\n<h3><strong>1.\u4ec0\u4e48\u662f\u5c3a\u5ea6\u6a21\u7cca\u6027\uff1f<\/strong><\/h3>\n\n\n\n<p>\u8bba\u6587\u9488\u5bf9\u6df7\u5408\u6570\u636e\u4e2d\u7684\u5c3a\u5ea6\u6a21\u7cca\u6027\u505a\u4e86\u8be6\u7ec6\u7684\u8bb2\u89e3\u3002\u5982\u4e0b\u56fe\u6240\u793a\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img src=\"https:\/\/pic3.zhimg.com\/80\/v2-cbfec7274123dddab2b0b72f40ab239e_1440w.webp\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u4e0a\u56fe\u901a\u8fc7\u4e00\u4e2a\u7b80\u5355\u7684\u4f8b\u5b50\u6765\u8bf4\u660e\u4ec0\u4e48\u662f\u5c3a\u5ea6\u7684\u6a21\u7cca\u6027\u3002 \u4e0d\u540c\u76f8\u673a\u5728\u4e0d\u540c\u8ddd\u79bb\u4e0b\u62cd\u6444\u7684\u7167\u7247\u793a\u4f8b\u3002\u4ec5\u4ece\u56fe\u50cf\u5185\u5bb9\u6765\u770b\uff0c\u4eba\u4eec\u53ef\u80fd\u4f1a\u8ba4\u4e3a\u6700\u540e\u4e24\u5f20\u7167\u7247\u662f\u7531\u540c\u4e00\u4e2a\u76f8\u673a\u5728\u76f8\u4f3c\u7684\u4f4d\u7f6e\u62cd\u6444\u7684\u3002\u4f46\u5b9e\u9645\u4e0a\uff0c\u7531\u4e8e\u62cd\u6444\u56fe\u7247\u91c7\u7528\u4e86\u4e0d\u540c\u7126\u8ddd\u7684\u76f8\u673a\uff0c\u8fd9\u4e9b\u7167\u7247\u662f\u5728\u4e0d\u540c\u7684\u4f4d\u7f6e\u62cd\u6444\u7684\u3002\u56e0\u6b64\uff0c\u76f8\u673a\u7684\u5185\u90e8\u53c2\u6570\u7684\u53d8\u5316\u5bfc\u81f4\u4e86\u5c3a\u5ea6\u7684\u4e0d\u786e\u5b9a\u6027\u3002\u5bf9\u4e8e\u4ece\u5355\u5f20\u56fe\u50cf\u4f30\u8ba1\u5ea6\u91cf\u662f\u81f3\u5173\u91cd\u8981\u7684\uff0c\u5426\u5219\u95ee\u9898\u5c31\u662f\u4e0d\u9002\u5b9a\u7684\u3002<\/p>\n\n\n\n<h3><strong>2.\u4ec0\u4e48\u5f71\u54cd\u6df1\u5ea6\u7684\u9884\u6d4b\uff1f<\/strong><\/h3>\n\n\n\n<p>\u9488\u5bf9\u76f8\u673a\u7684\u4f20\u611f\u5668\u5c3a\u5bf8\u3001\u50cf\u7d20\u7684\u5927\u5c0f\u3001\u8fd8\u6709\u76f8\u673a\u7684\u7126\u8ddd\uff0c\u8bba\u6587\u6709\u5982\u4e0b\u89c2\u5bdf\u3002<\/p>\n\n\n\n<p><strong>2.1 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alt=\"\"\/><\/figure>\n\n\n\n<p><strong>2.2 \u7126\u8ddd\u5bf9\u4e8e\u6df1\u5ea6\u4f30\u8ba1\u7684\u51c6\u786e\u6027\u975e\u5e38\u91cd\u8981<\/strong><\/p>\n\n\n\n<p>\u5982\u4e0b\u56fe\u6240\u793a\uff0c\u7531\u4e8e\u7126\u8ddd\u4e0d\u540c\uff0c\u4e0d\u540c\u8ddd\u79bb\u7684\u7269\u4f53\u5728\u76f8\u673a\u4e0a\u7684\u6210\u50cf\u5927\u5c0f\u76f8\u540c\uff0c\u5728\u7f51\u7edc\u8bad\u7ec3\u7684\u65f6\u5019\uff0c\u76f8\u4f3c\u7684\u56fe\u50cf\uff0c\u4f46\u662f\u6807\u7b7e\u5374\u4e0d\u4e00\u81f4\uff0c\u5c31\u5bfc\u81f4\u4e86\u4e00\u5bf9\u591a\u7684\u6807\u7b7e\u6620\u5c04\uff0c\u56e0\u6b64\u4f1a\u5bfc\u81f4\u7f51\u7edc\u6df7\u6dc6\uff0c\u5f71\u54cd\u8bad\u7ec3\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img src=\"https:\/\/pic4.zhimg.com\/80\/v2-779ba6aaa26b4b77ba742074f9c0da07_1440w.webp\" alt=\"\"\/><\/figure>\n\n\n\n<h3><strong>3.\u65b9\u6cd5\u7684pipeline<\/strong><\/h3>\n\n\n\n<p>\u65b9\u6cd5\u7684pipeline\u5982\u4e0b\u56fe\u6240\u793a\u3002<\/p>\n\n\n\n<p><strong>\u672c\u6587\u63d0\u51fa\u4e862\u79cd\u8bad\u7ec3\u65b9\u6cd5\u3002\u4e24\u79cd\u65b9\u6cd5\u90fd\u53ef\u4ee5\u5f88\u5bb9\u6613\u7684\u5d4c\u5165\u5230\u5f53\u524d\u4efb\u610f\u7684\u5355\u76ee\u6df1\u5ea6\u4f30\u8ba1\u7684\u6846\u67b6\u4e2d\u3002\u6574\u4e2a\u65b9\u6cd5\u7684\u6838\u5fc3\u601d\u60f3\u5c31\u662f\u5efa\u7acb\u4e00\u4e2a\u6807\u51c6\u76f8\u673a\u7a7a\u95f4\ufffd\ufffd,<\/strong>&nbsp;\u7136\u540e\u5c06\u6240\u6709\u7684\u8bad\u7ec3\u6570\u636e\u90fd\u6620\u5c04\u5230\u8fd9\u4e2a\u7a7a\u95f4\uff0c\u90a3\u4e48\uff0c\u6240\u6709\u7684\u8bad\u7ec3\u6570\u636e\u90fd\u53ef\u4ee5\u88ab\u770b\u505a\u662f\u540c\u4e00\u4e2a\u76f8\u673a\u62cd\u6444\u7684\u3002\u8bba\u6587\u63d0\u51fa\u4e862\u79cd\u65b9\u6cd5\u8fdb\u884c\u8fd9\u79cd\u53d8\u6362\uff0c\u4e00\u79cd\u662f\u901a\u8fc7\u53d8\u6362\u8bad\u7ec3\u56fe\u50cf\uff0c\u53e6\u4e00\u79cd\u662f\u53d8\u6362\u53d8\u6362GT label\u3002\u8be6\u7ec6\u5982\u4e0b\uff1a<\/p>\n\n\n\n<p><strong>\u65b9\u6cd51\uff1a\u5c06\u6807\u7b7e\u8fdb\u884c\u8f6c\u6362<\/strong><\/p>\n\n\n\n<p>\u6df1\u5ea6\u7684\u6a21\u7cca\u6027\u662f\u9488\u5bf9\u6df1\u5ea6\u7684\u3002\u56e0\u6b64\uff0c\u7b2c\u4e00\u79cd\u65b9\u6cd5\u76f4\u63a5\u901a\u8fc7\u8f6c\u6362ground truth\u6df1\u5ea6\u6807\u7b7e\u6765\u89e3\u51b3\u8fd9\u4e2a\u95ee\u9898\u3002\u5728\u8bad\u7ec3\u9636\u6bb5\uff0c\u901a\u8fc7\u4e58\u4ee5\u4e00\u4e2a\u7f29\u653e\u56e0\u5b50\u6765\u8f6c\u6362\u6df1\u5ea6\u6807\u7b7e\u3002\u5728\u63a8\u7406\u9636\u6bb5\uff0c\u9884\u6d4b\u7684\u6df1\u5ea6\u5904\u4e8e\u89c4\u8303\u5316\u7a7a\u95f4\uff0c\u9700\u8981\u8fdb\u884c\u53cd\u89c4\u8303\u5316\u8f6c\u6362\u4ee5\u6062\u590d\u5ea6\u91cf\u4fe1\u606f\u3002<\/p>\n\n\n\n<p><strong>\u65b9\u6cd52\uff1a\u5c06\u8f93\u5165\u56fe\u50cf\u8f6c\u6362<\/strong><\/p>\n\n\n\n<p>\u7b2c\u4e8c\u79cd\u65b9\u6cd5\u662f\u5c06\u8f93\u5165\u56fe\u50cf\u8f6c\u6362\u4e3a\u6a21\u62df\u89c4\u8303\u76f8\u673a\u6210\u50cf\u6548\u679c\u3002\u5177\u4f53\u6765\u8bf4\uff0c\u5728\u8bad\u7ec3\u9636\u6bb5\u8bad\u7ec3\u56fe\u50cf\u6839\u636e\u7126\u8ddd\u6309\u6bd4\u4f8b\u7f29\u653eresize\uff0c\u76f8\u673a\u5149\u5fc3\u4e5f\u8fdb\u884c\u4e86\u8c03\u6574\uff0c\u7136\u540e\u8fdb\u884c\u968f\u673a\u88c1\u526a\u56fe\u50cf\u7528\u4e8e\u8bad\u7ec3\u3002\u5728\u63a8\u7406\u9636\u6bb5\uff0c\u53cd\u89c4\u8303\u5316\u8f6c\u6362\u5c06\u9884\u6d4b\u6df1\u5ea6\u8c03\u6574\u56de\u539f\u59cb\u5927\u5c0f\u800c\u4e0d\u8fdb\u884c\u7f29\u653e\u3002<\/p>\n\n\n\n<h3><strong>4.\u76d1\u7763<\/strong><\/h3>\n\n\n\n<p>\u8bba\u6587\u91c7\u7528\u4e86\u5404\u79cd\u7ea6\u675f\u3002\u5305\u62ecLeReS\u8bba\u6587\u63d0\u51fa\u7684pair-wise normal regression loss\uff0cVirtualNormal\u8bba\u6587\u63d0\u51fa\u7684\u865a\u62df\u6cd5\u77e2\u7684loss\uff0c\u8fd8\u6709Scale-invariant Log loss\u3002\u9664\u6b64\u4e4b\u5916\uff0c\u8be5\u8bba\u6587\u8fd8\u63d0\u51fa\u4e86\u4e00\u79cd\u65b0\u7684loss\uff0c\u53eb\u968f\u673a\u63d0\u8bae\u6807\u51c6\u5316\u635f\u5931\uff08RPNL\uff09\u3002\u5c3a\u5ea6\u5e73\u79fb\u4e0d\u53d8\u635f\u5931\u88ab\u5e7f\u6cdb\u5e94\u7528\u4e8e\u4eff\u5c04\u4e0d\u53d8\u6df1\u5ea6\u4f30\u8ba1\uff0c\u4f46\u5b83\u4f1a\u538b\u7f29\u7ec6\u7c92\u5ea6\u6df1\u5ea6\u5dee\u5f02\uff0c\u7279\u522b\u662f\u5728\u8fd1\u8ddd\u79bb\u533a\u57df\u3002\u56e0\u6b64\uff0c\u8bba\u6587\u4ece\u771f\u503c\u6df1\u5ea6\u548c\u9884\u6d4b\u6df1\u5ea6\u4e2d\u968f\u673a\u88c1\u526a\u82e5\u5e72\u5c0f\u5757\uff0c\u7136\u540e\u91c7\u7528\u4e2d\u4f4d\u7edd\u5bf9\u504f\u5dee\u6807\u51c6\u5316\u5bf9\u5b83\u4eec\u8fdb\u884c\u5904\u7406\u3002\u8fd9\u6837\uff0c\u53ef\u4ee5\u589e\u5f3a\u5c40\u90e8\u5bf9\u6bd4\u5ea6\u3002\u6574\u4f53loss\u5982\u4e0b\u3002<\/p>\n\n\n\n<p>\ufffd=\ufffdPWN+\ufffdVNL+\ufffdsilog&nbsp;+\ufffdRPNL<\/p>\n\n\n\n<h2><strong>\u5b9e\u9a8c<\/strong><\/h2>\n\n\n\n<h3><strong>1.\u96f6\u6837\u672c\u6cdb\u5316\u6d4b\u8bd5<\/strong><\/h3>\n\n\n\n<p>\u4ee5\u4e0b\u7684\u51e0\u4e2a\u8868\u683c\u90fd\u662f\u505a\u7684\u96f6\u6837\u672c\u6cdb\u5316\u5b9e\u9a8c\u3002\u5176\u4e2d\u8868\u683c1\u4e2d\uff0c\u5728NYU\u548cKITTI\u4e0a\u548c\u5f53\u524d\u5728\u4ed6\u4eec\u4e0afitting\u7684SOTA\u65b9\u6cd5\u505a\u4e86\u5bf9\u6bd4\uff0c\u53d1\u73b0\u5728\u4e0d\u5f15\u5165\u8be5\u6570\u636e\u505a\u8bad\u7ec3\uff0c\u6a21\u578b\u5c31\u80fd\u591f\u6062\u590d\u51fa\u7cbe\u786e\u7684\u5c3a\u5ea6\u3002\u8868\u683c3\uff0c\u8bba\u6587\u505a\u4e86\u66f4\u591a\u7684\u8fd9\u79cd\u96f6\u6837\u672c\u6cdb\u5316\u7684\u5bf9\u6bd4\uff0c\u6bd4\u8f83\u4e866\u4e2a\u6570\u636e\u96c6\u3002<\/p>\n\n\n\n<p>\u53e6\u5916\uff0c\u8bba\u6587\u4e0eSOTA\u4eff\u5c04\u4e0d\u53d8\u6df1\u5ea6\u4f30\u8ba1\u65b9\u6cd5\u57285\u4e2azero-shot\u57fa\u51c6\u4e0a\u7684\u6bd4\u8f83\u3002\u8bba\u6587\u7684\u6a21\u578b\u660e\u663e\u4f18\u4e8e\u4ee5\u524d\u7684\u65b9\u6cd5<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img src=\"https:\/\/pic1.zhimg.com\/80\/v2-b4d0f9296f659c295f9c9ea08171fa1c_1440w.webp\" alt=\"\"\/><\/figure>\n\n\n\n<figure class=\"wp-block-image\"><img src=\"https:\/\/pic4.zhimg.com\/80\/v2-88891883497691f4c0827a4561465dc7_1440w.webp\" alt=\"\"\/><\/figure>\n\n\n\n<h3><strong>2.\u4e0b\u6e38\u5e94\u7528\u5b9e\u9a8c<\/strong><\/h3>\n\n\n\n<p><strong>\u4e09\u7ef4\u91cd\u5efa\u5b9e\u9a8c\uff1a<\/strong>&nbsp;\u8bba\u6587\u5c55\u793a\u51fa\uff0c\u76f4\u63a5\u5c06\u9884\u6d4b\u7684\u8fde\u7eed\u5e27\u6df1\u5ea6\u91cd\u5efa\u6210\u70b9\u4e91\uff0c\u5e76\u4e0e\u5404\u7c7b\u7684\u65b9\u6cd5\u505a\u4e86\u5bf9\u6bd4\uff0c\u5305\u62ecMVS\u7684\u65b9\u6cd5\uff0c\u653e\u5c04\u4e0d\u53d8\u5f62\u6df1\u5ea6\u4f30\u8ba1\u7684\u65b9\u6cd5\uff0c\u65e0\u76d1\u7763\u6df1\u5ea6\u4f30\u8ba1\u7684\u65b9\u6cd5\uff0cvideodepth 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alt=\"\"\/><\/figure>\n\n\n\n<p><strong>SLAM\u5b9e\u9a8c\uff1a<\/strong>&nbsp;\u5728\u5982\u4e0b\u7684\u8868\u683c\u4e2d\uff0c\u8bba\u6587\u7684\u5ea6\u91cf\u6df1\u5ea6\u4f30\u8ba1\u65b9\u6cd5\u53ef\u4ee5\u4f5c\u4e3a\u5355\u76eeSLAM\u7cfb\u7edf\u7684\u5f3a\u5927\u6df1\u5ea6\u5148\u9a8c\u3002\u5728KITTI\u6570\u636e\u96c6\u4e0a\uff0c\u5c06\u8bba\u6587\u7684\u5ea6\u91cf\u6df1\u5ea6\u76f4\u63a5\u8f93\u5165\u5230\u6700\u5148\u8fdb\u7684SLAM\u7cfb\u7edfDroid-SLAM\u4e2d\uff0c\u7ed3\u679c\u663e\u793a\u8bba\u6587\u7684\u6df1\u5ea6\u4f7f\u5f97SLAM\u7cfb\u7edf\u7684\u6027\u80fd\u663e\u8457\u63d0\u5347\u3002<\/p>\n\n\n\n<p>\u5728ETH3D SLAM\u6570\u636e\u96c6\u4e0a\uff0c\u8bba\u6587\u7684\u6df1\u5ea6\u540c\u6837\u5e26\u6765\u4e86\u66f4\u597d\u7684SLAM\u6027\u80fd\uff0c\u5e76\u4e14\u80fd\u591f\u6781\u5927\u7684\u7f13\u89e3\u5c3a\u5ea6\u6f02\u79fb\u7684\u95ee\u9898\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img src=\"https:\/\/pic1.zhimg.com\/80\/v2-1152f8ff292c5caedde84ebf1f3f6dec_1440w.webp\" alt=\"\"\/><\/figure>\n\n\n\n<p>\u4ece\u4e0b\u56fe\u53ef\u4ee5\u770b\u51fa\uff0cdroid-slam\u7cfb\u7edf\u5728\u8f93\u5165\u9884\u6d4b\u7684\u6df1\u5ea6\u540e\uff0c\u8f68\u8ff9\u548cGT\u66f4\u52a0\u63a5\u8fd1\uff0c\u5e76\u4e14\u6ca1\u6709\u5c3a\u5ea6\u6f02\u79fb\u7684\u95ee\u9898\uff0c\u89c1\u4e0b\u9762\u7b2c\u4e00\u4e2a\u4f8b\u5b50\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img src=\"https:\/\/pic3.zhimg.com\/80\/v2-855e0749f268aacccbe507e8dc28bb46_1440w.webp\" alt=\"\"\/><\/figure>\n\n\n\n<h3><strong>3.In-the-wild \u6d4b\u91cf\u5b9e\u9a8c<\/strong><\/h3>\n\n\n\n<p>\u8bba\u6587\u4eceFlickr\u4e0b\u8f7d\u4e86\u4e00\u4e9b\u56fe\u7247\uff0c\u901a\u8fc7\u4ecemetadata\u4e2d\u8bfb\u53d6\u76f8\u673a\u7684\u50cf\u5143\u5927\u5c0f\u4ee5\u53ca\u7126\u8ddd\uff08\u4ee5mm\u4e3a\u5355\u4f4d\uff09\uff0c\u7c97\u7565\u4f30\u7b97\u51fa\u76f8\u673a\u7684\u7126\u8ddd\uff08\u4ee5\u50cf\u7d20\u4e3a\u5355\u4f4d\uff09\uff0c\u4ece\u800c\u9884\u6d4b\u51fametric depth\uff0c\u7136\u540e\u91cd\u5efa\u51fa\u70b9\u4e91\u3002\u4ece\u70b9\u4e91\u4e2d\u53ef\u4ee5\u6d4b\u91cf\u51fa\u4e00\u4e9b\u7ed3\u6784\u7684\u5927\u5c0f\uff0c\u53d1\u73b0\u548cGT\u76f8\u5dee\u5e76\u4e0d\u90a3\u4e48\u5927\u3002<\/p>\n\n\n\n<h3><strong>4.\u66f4\u591a\u7684\u6df1\u5ea6\u56fe\u5c55\u793a\uff1a<\/strong><\/h3>\n\n\n\n<figure class=\"wp-block-image\"><img src=\"https:\/\/pic4.zhimg.com\/80\/v2-35002ba236a3143acd1bd516e89882a7_1440w.webp\" alt=\"\"\/><\/figure>\n\n\n\n<h2><strong>\u603b\u7ed3<\/strong><\/h2>\n\n\n\n<p>\u672c\u6587\u89e3\u51b3\u4e86\u4ece\u5355\u76ee\u56fe\u50cf\u91cd\u6784\u4e09\u7ef4\u5ea6\u91cf\u573a\u666f\u7684\u95ee\u9898\u3002\u4e3a\u4e86\u89e3\u51b3\u7531\u4e0d\u540c\u7126\u8ddd\u5f15\u8d77\u7684\u56fe\u50cf\u5916\u89c2\u6df1\u5ea6\u4e0d\u786e\u5b9a\u6027\uff0c\u8bba\u6587\u63d0\u51fa\u4e86\u4e00\u79cd\u89c4\u8303\u5316\u76f8\u673a\u7a7a\u95f4\u8f6c\u6362\u65b9\u6cd5\u3002\u4f7f\u7528\u8bba\u6587\u7684\u65b9\u6cd5\uff0c\u53ef\u4ee5\u8f7b\u677e\u5730\u5408\u5e76\u753110,000\u4e2a\u76f8\u673a\u62cd\u6444\u7684\u6570\u767e\u4e07\u6570\u636e\uff0c\u4ee5\u8bad\u7ec3\u4e00\u4e2a\u5ea6\u91cf\u6df1\u5ea6\u6a21\u578b\u3002\u4e3a\u4e86\u63d0\u9ad8\u9c81\u68d2\u6027\uff0c\u8bba\u6587\u6536\u96c6\u4e86\u8d85\u8fc7800\u4e07\u6570\u636e\u8fdb\u884c\u8bad\u7ec3\u3002\u51e0\u4e2a\u96f6\u6837\u672c\u8bc4\u4f30\u5c55\u793a\u4e86\u8bba\u6587\u5de5\u4f5c\u7684\u6709\u6548\u6027\u548c\u9c81\u68d2\u6027\u3002\u8bba\u6587\u8fdb\u4e00\u6b65\u5c55\u793a\u4e86\u5728\u968f\u673a\u6536\u96c6\u7684\u4e92\u8054\u7f51\u56fe\u50cf\u4e0a\u8fdb\u884c\u8ba1\u91cf\u5b66\u6d4b\u91cf\u4ee5\u53ca\u5728\u5927\u89c4\u6a21\u573a\u666f\u4e0a\u8fdb\u884c\u5bc6\u96c6\u5efa\u56fe\u7684\u80fd\u529b\u3002<\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u4f5c\u8005\u4e28\u5c39\u709c\u00a0\u00a0\u8f6c\u81ea\u4e28\u6781\u5e02\u5e73\u53f0 \u672c\u6587\u63d0\u51fa\u4e86\u4e00\u4e2a\u7edf\u4e00\u76f8\u673a\u7a7a\u95f4\uff08canonical camera space\uff09\u53d8\u6362\u6a21 &hellip; <a href=\"http:\/\/139.9.1.231\/index.php\/2023\/09\/22\/iccv23depth_metric3d\/\" class=\"more-link\">\u7ee7\u7eed\u9605\u8bfb<span class=\"screen-reader-text\">ICCV&#8217;23|\u5168\u573a\u666f\u5355\u76ee\u6df1\u5ea6\u7edd\u5bf9\u8ddd\u79bb\u4f30\u8ba1<\/span><\/a><\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":[],"categories":[35,36],"tags":[],"_links":{"self":[{"href":"http:\/\/139.9.1.231\/index.php\/wp-json\/wp\/v2\/posts\/15402"}],"collection":[{"href":"http:\/\/139.9.1.231\/index.php\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"http:\/\/139.9.1.231\/index.php\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"http:\/\/139.9.1.231\/index.php\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"http:\/\/139.9.1.231\/index.php\/wp-json\/wp\/v2\/comments?post=15402"}],"version-history":[{"count":12,"href":"http:\/\/139.9.1.231\/index.php\/wp-json\/wp\/v2\/posts\/15402\/revisions"}],"predecessor-version":[{"id":15414,"href":"http:\/\/139.9.1.231\/index.php\/wp-json\/wp\/v2\/posts\/15402\/revisions\/15414"}],"wp:attachment":[{"href":"http:\/\/139.9.1.231\/index.php\/wp-json\/wp\/v2\/media?parent=15402"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"http:\/\/139.9.1.231\/index.php\/wp-json\/wp\/v2\/categories?post=15402"},{"taxonomy":"post_tag","embeddable":true,"href":"http:\/\/139.9.1.231\/index.php\/wp-json\/wp\/v2\/tags?post=15402"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}