{"id":5533,"date":"2026-09-20T22:06:50","date_gmt":"2026-09-20T14:06:50","guid":{"rendered":"https:\/\/www.15zhi.net\/blog\/?p=5533"},"modified":"2026-09-20T22:06:50","modified_gmt":"2026-09-20T14:06:50","slug":"202609-%e8%ae%ba%e6%96%87%e7%a0%94%e8%af%bb-unipr-3d-towards-universal-visual-place-recognition-with-visual-geometry-grounded-transformer","status":"publish","type":"post","link":"https:\/\/www.15zhi.net\/blog\/202609-%e8%ae%ba%e6%96%87%e7%a0%94%e8%af%bb-unipr-3d-towards-universal-visual-place-recognition-with-visual-geometry-grounded-transformer\/","title":{"rendered":"202609 \u8bba\u6587\u7814\u8bfb-UniPR-3D: Towards Universal Visual Place Recognition with Visual Geometry Grounded Transformer"},"content":{"rendered":"\n<p>\u4f5c\u8005\uff1aTianchen Deng1<em>, Xun Chen3<\/em>, Ziming Li1, Hongming Shen3, Shuhao Zhai4,Danwei Wang3, Javier Civera2, Hesheng Wang1<\/p>\n\n\n\n<p>\u5355\u4f4d\uff1a\u4e0a\u6d77\u4ea4\u901a\u5927\u5b66\uff1b\u5357\u6d0b\u7406\u5de5\u5927\u5b66<\/p>\n\n\n\n<p>\u6765\u6e90\uff1aECCV 2026<\/p>\n\n\n\n<h1 class=\"wp-block-heading\">\u80cc\u666f<\/h1>\n\n\n\n<p>\u27a2 <strong>\u95ee\u9898\uff1a<\/strong>&nbsp;\u4f20\u7edf\u89c6\u89c9\u5730\u70b9\u8bc6\u522b\uff08VPR\uff09\u901a\u5e38\u88ab\u5efa\u6a21\u4e3a<strong>\u5355\u5e45\u56fe\u50cf\u68c0\u7d22\u4efb\u52a1<\/strong>\uff1a\u7ed9\u5b9a\u5f53\u524d\u67e5\u8be2\u56fe\u50cf\uff0c\u4ece\u6570\u636e\u5e93\u4e2d\u68c0\u7d22\u4e0e\u5176\u5bf9\u5e94\u7684\u5df2\u8bbf\u95ee\u5730\u70b9\u3002\u4f46\u5355\u89c6\u56fe\u53ea\u80fd\u5229\u7528\u5f53\u524d\u56fe\u50cf\u4e2d\u7684\u5916\u89c2\u4fe1\u606f\uff0c\u5728<strong>\u5b63\u8282\u53d8\u5316\u3001\u663c\u591c\u53d8\u5316\u3001\u5929\u6c14\u53d8\u5316\u4ee5\u53ca\u5927\u89c6\u89d2\u53d8\u5316<\/strong>\u4e0b\u5bb9\u6613\u53d7\u5230\u7eb9\u7406\u53d8\u5316\u5f71\u54cd\u3002<\/p>\n\n\n\n<p>\u27a2 <strong>\u6838\u5fc3\u601d\u8def\uff1a<\/strong>&nbsp;\u591a\u89c6\u89d2\u56fe\u50cf\u80fd\u591f\u63d0\u4f9b\u66f4\u5927\u7684\u573a\u666f\u8986\u76d6\u8303\u56f4\u4ee5\u53ca\u4e0d\u540c\u89c2\u5bdf\u65b9\u5411\u4e0b\u7684\u7a7a\u95f4\u4fe1\u606f\uff0c\u4f46\u73b0\u6709\u591a\u5e27 VPR \u65b9\u6cd5\u4e3b\u8981\u4ecd\u662f\u5728<strong>\u65f6\u95f4\u7ef4\u5ea6\u805a\u5408\u5355\u5e27 2D \u7279\u5f81<\/strong>\uff0c\u7f3a\u4e4f\u5bf9\u591a\u89c6\u89d2\u4e4b\u95f4\u4e09\u7ef4\u7ed3\u6784\u5173\u7cfb\u7684\u663e\u5f0f\u5efa\u6a21\uff0c\u56e0\u6b64\u5bb9\u6613\u53d7\u5230\u5e27\u7387\u3001\u8fd0\u52a8\u901f\u5ea6\u548c\u5e8f\u5217\u7a00\u758f\u7a0b\u5ea6\u53d8\u5316\u7684\u5f71\u54cd\u3002<\/p>\n\n\n\n<p>\u27a2 <strong>\u7814\u7a76\u5951\u673a\uff1a<\/strong>&nbsp;VGGT\uff08Visual Geometry Grounded Transformer\uff09\u80fd\u591f\u4ec5\u6839\u636e RGB \u591a\u89c6\u56fe\u56fe\u50cf\u751f\u6210\u5177\u6709\u4e09\u7ef4\u51e0\u4f55\u611f\u77e5\u80fd\u529b\u7684\u8868\u793a\uff0c\u4e3a VPR \u4ece\u4f20\u7edf\u7684<strong>2D \u5916\u89c2\u5339\u914d<\/strong>\u8fdb\u4e00\u6b65\u6269\u5c55\u5230<strong>\u591a\u89c6\u89d2\u51e0\u4f55\u7ed3\u6784\u5339\u914d<\/strong>\u63d0\u4f9b\u4e86\u57fa\u7840\u3002<\/p>\n\n\n\n<h1 class=\"wp-block-heading\">\u8d21\u732e<\/h1>\n\n\n\n<p>\u27a2 \u63d0\u51fa <strong>UniPR-3D<\/strong>\uff0c\u4f5c\u8005\u79f0\u5176\u4e3a\u9996\u4e2a\u57fa\u4e8e <strong>3D Token<\/strong>&nbsp;\u7684 VPR \u6846\u67b6\uff0c\u5c06 VGGT \u7684\u591a\u89c6\u89d2\u4e09\u7ef4\u8868\u5f81\u5f15\u5165\u5730\u70b9\u8bc6\u522b\uff0c\u540c\u65f6\u652f\u6301<strong>\u5355\u5e27\u68c0\u7d22\u548c\u5e8f\u5217\u7ea7\u68c0\u7d22<\/strong>\u3002<\/p>\n\n\n\n<p>\u27a2 \u8054\u5408\u5229\u7528 <strong>2D Token \u4e0e 3D Token<\/strong>&nbsp;\u6784\u5efa\u5730\u70b9\u63cf\u8ff0\u5b50\uff1a2D \u7279\u5f81\u8d1f\u8d23\u63cf\u8ff0\u7eb9\u7406\u548c\u8bed\u4e49\u4fe1\u606f\uff0c3D \u7279\u5f81\u8d1f\u8d23\u63cf\u8ff0\u573a\u666f\u51e0\u4f55\u4e0e\u7a7a\u95f4\u7ed3\u6784\uff0c\u4f7f\u4e8c\u8005\u5f62\u6210\u4e92\u8865\u3002<\/p>\n\n\n\n<p>\u27a2 \u9488\u5bf9\u4e0d\u540c Token \u7279\u6027\u8bbe\u8ba1\u5dee\u5f02\u5316\u805a\u5408\u7b56\u7565\uff1a\u6570\u91cf\u8f83\u5c11\u7684 <strong>CLS\/Register Token \u4f7f\u7528 GeM Pooling<\/strong>\uff0c\u5927\u91cf Patch Token \u4f7f\u7528\u57fa\u4e8e <strong>Optimal Transport + Sinkhorn<\/strong>&nbsp;\u7684\u805a\u5408\u65b9\u6cd5\uff0c\u4ee5\u4fdd\u7559\u7ec6\u7c92\u5ea6\u7a7a\u95f4\u5bf9\u5e94\u5173\u7cfb\u3002 \u27a2 \u63d0\u51fa<strong>\u53ef\u53d8\u957f\u5ea6\u591a\u5e27\u7279\u5f81\u805a\u5408\u65b9\u6cd5<\/strong>\uff0c\u8bad\u7ec3\u65f6\u4f7f\u7528\u56fa\u5b9a\u957f\u5ea6\u5e8f\u5217\uff0c\u4f46\u63a8\u7406\u65f6\u80fd\u591f\u5904\u7406\u4e0d\u540c\u6570\u91cf\u7684\u8f93\u5165\u56fe\u50cf\uff0c\u63d0\u9ad8\u5e8f\u5217 VPR \u5bf9\u5b9e\u9645\u91c7\u6837\u65b9\u5f0f\u53d8\u5316\u7684\u9002\u5e94\u80fd\u529b\u3002<\/p>\n\n\n\n<h1 class=\"wp-block-heading\">\u65b9\u6cd5<\/h1>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"445\" src=\"https:\/\/www.15zhi.net\/blog\/wp-content\/uploads\/2026\/09\/image-17-1024x445.png\" alt=\"\" class=\"wp-image-5536\" srcset=\"https:\/\/www.15zhi.net\/blog\/wp-content\/uploads\/2026\/09\/image-17-1024x445.png 1024w, https:\/\/www.15zhi.net\/blog\/wp-content\/uploads\/2026\/09\/image-17-300x130.png 300w, https:\/\/www.15zhi.net\/blog\/wp-content\/uploads\/2026\/09\/image-17-768x334.png 768w, https:\/\/www.15zhi.net\/blog\/wp-content\/uploads\/2026\/09\/image-17.png 1076w\" sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u27a2 <strong>\u591a\u89c6\u89d2\u7279\u5f81\u63d0\u53d6\uff1a<\/strong>&nbsp;\u8f93\u5165\u5355\u5e45\u56fe\u50cf\u6216\u56fe\u50cf\u5e8f\u5217\uff0c\u9996\u5148\u901a\u8fc7 <strong>DINOv2 Encoder<\/strong>&nbsp;\u63d0\u53d6 2D CLS Token\u3001Register Token \u548c Patch Token\uff1b\u968f\u540e\u5c06 Patch Token \u8f93\u5165 VGGT \u7684 <strong>Frame Attention + Global Attention<\/strong>&nbsp;\u4ea4\u66ff\u6a21\u5757\uff0c\u8fdb\u4e00\u6b65\u751f\u6210\u5177\u6709\u591a\u89c6\u89d2\u51e0\u4f55\u4fe1\u606f\u7684 3D Camera\u3001Register \u548c Patch Token\u3002<\/p>\n\n\n\n<p>\u27a2 <strong>Token \u9009\u62e9\uff1a<\/strong>&nbsp;2D \u5206\u652f\u4fdd\u7559 <strong>CLS + Register + Patch Token<\/strong>\uff1b3D \u5206\u652f\u4e3a\u4e86\u589e\u5f3a\u89c6\u89d2\u4e0d\u53d8\u6027\uff0c\u820d\u5f03\u5305\u542b\u76f8\u673a\u59ff\u6001\u4fe1\u606f\u7684 <strong>Camera Token<\/strong>\uff0c\u4ec5\u4f7f\u7528 <strong>3D Register Token \u548c 3D Patch Token<\/strong>&nbsp;\u6784\u5efa\u51e0\u4f55\u63cf\u8ff0\u3002\u6574\u4e2a\u8fc7\u7a0b\u4e0d\u9700\u8981\u989d\u5916\u8f93\u5165\u76f8\u673a\u5185\u5916\u53c2\uff0c\u4ec5\u4f9d\u8d56 RGB \u56fe\u50cf\u3002<\/p>\n\n\n\n<p>\u27a2 <strong>Register\/CLS \u7279\u5f81\u805a\u5408\uff1a<\/strong>&nbsp;\u5bf9\u6570\u91cf\u8f83\u5c11\u7684 2D CLS\u30012D Register \u548c 3D Register Token\uff0c\u5148\u7ecf\u8fc7 MLP \u6295\u5f71\uff0c\u518d\u5229\u7528 <strong>GeM Pooling<\/strong>&nbsp;\u805a\u5408\u4e3a\u7d27\u51d1\u63cf\u8ff0\u5b50\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image aligncenter size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"489\" height=\"150\" src=\"https:\/\/www.15zhi.net\/blog\/wp-content\/uploads\/2026\/09\/image-16.png\" alt=\"\" class=\"wp-image-5535\" style=\"width:205px;height:auto\" srcset=\"https:\/\/www.15zhi.net\/blog\/wp-content\/uploads\/2026\/09\/image-16.png 489w, https:\/\/www.15zhi.net\/blog\/wp-content\/uploads\/2026\/09\/image-16-300x92.png 300w\" sizes=\"auto, (max-width: 489px) 100vw, 489px\" \/><\/figure>\n\n\n\n<p>\u5176\u4e2d pp \u4e3a\u53ef\u5b66\u4e60\u7684\u6c60\u5316\u53c2\u6570\u3002<\/p>\n\n\n\n<p>\u27a2 <strong>Patch \u7279\u5f81\u805a\u5408\uff1a<\/strong>&nbsp;\u5bf9\u6570\u91cf\u8f83\u591a\u7684 2D\/3D Patch Token\uff0c\u91c7\u7528\u7c7b\u4f3c SALAD \u7684 <strong>Optimal Transport \u805a\u5408<\/strong>\u3002\u7f51\u7edc\u5b66\u4e60 Patch \u4e0e\u7279\u5f81\u7c07\u4e4b\u95f4\u7684 Assignment Score\uff0c\u5e76\u589e\u52a0 Dustbin \u5438\u6536\u5929\u7a7a\u3001\u9053\u8def\u3001\u52a8\u6001\u7269\u4f53\u7b49\u65e0\u6548\u7279\u5f81\uff0c\u518d\u4f7f\u7528 <strong>Sinkhorn Algorithm<\/strong>&nbsp;\u5f97\u5230\u6700\u4f18\u8f6f\u5206\u914d\u77e9\u9635\uff0c\u6700\u7ec8\u805a\u5408\u4e3a Patch Descriptor\u3002<\/p>\n\n\n\n<p>\u27a2 <strong>\u7edf\u4e00\u5730\u70b9\u63cf\u8ff0\u5b50\uff1a<\/strong>&nbsp;\u6700\u7ec8\u5c06<\/p>\n\n\n\n<figure class=\"wp-block-image aligncenter size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"493\" height=\"44\" src=\"https:\/\/www.15zhi.net\/blog\/wp-content\/uploads\/2026\/09\/image-15.png\" alt=\"\" class=\"wp-image-5534\" style=\"width:274px;height:auto\" srcset=\"https:\/\/www.15zhi.net\/blog\/wp-content\/uploads\/2026\/09\/image-15.png 493w, https:\/\/www.15zhi.net\/blog\/wp-content\/uploads\/2026\/09\/image-15-300x27.png 300w\" sizes=\"auto, (max-width: 493px) 100vw, 493px\" \/><\/figure>\n\n\n\n<p>\u4e94\u90e8\u5206\u62fc\u63a5\uff0c\u5f97\u5230\u7edf\u4e00 Global Descriptor\uff0c\u7528\u4e8e\u6570\u636e\u5e93\u6700\u8fd1\u90bb\u68c0\u7d22\u3002\u27a2 <strong>\u5e8f\u5217\u5339\u914d\uff1a<\/strong>&nbsp;\u591a\u5e27\u8f93\u5165\u65f6\uff0c\u4ee5\u7b2c\u4e00\u5e27\u4f5c\u4e3a <strong>Anchor Frame<\/strong>\u3001\u5176\u4f59\u5e27\u4f5c\u4e3a Support Frames\u3002\u8de8\u5e27 CLS\/Register Token \u91c7\u7528 GeM \u805a\u5408\uff0cPatch Token \u5219\u8054\u5408\u591a\u4e2a\u5e27\u540e\u8fdb\u884c OT \u805a\u5408\uff0c\u4f7f\u591a\u4e2a\u89c2\u5bdf\u89c6\u89d2\u6700\u7ec8\u538b\u7f29\u4e3a\u4e00\u4e2a<strong>\u5e8f\u5217\u7ea7\u5730\u70b9\u63cf\u8ff0\u5b50<\/strong>\uff0c\u5e76\u652f\u6301\u53ef\u53d8\u957f\u5ea6\u5e8f\u5217\u3002<\/p>\n\n\n\n<h1 class=\"wp-block-heading\">\u5b9e\u9a8c<\/h1>\n\n\n\n<p>\u27a2 <strong>\u5b9e\u9a8c\u8bbe\u7f6e\uff1a<\/strong>&nbsp;\u5355\u5e27\u6a21\u578b\u5728 <strong>GSV-Cities<\/strong>&nbsp;\u4e0a\u8bad\u7ec3\uff0c\u5e76\u5728 MSLS\u3001Pittsburgh250k\u3001NordLand\u3001SPED\u3001Tokyo 24\/7\u3001SF-XL \u7b49\u591a\u4e2a\u6570\u636e\u96c6\u4e0a\u6d4b\u8bd5\uff1b\u5e8f\u5217\u6a21\u578b\u5728 <strong>MSLS<\/strong>&nbsp;\u4e0a\u8bad\u7ec3\uff0c\u5e76\u5728 MSLS\u3001NordLand\u3001Oxford1\u3001Oxford2 \u4e0a\u6d4b\u8bd5\u3002\u7edf\u4e00\u91c7\u7528 <strong>Recall@k<\/strong>&nbsp;\u4f5c\u4e3a\u8bc4\u4ef7\u6307\u6807\u3002<\/p>\n\n\n\n<p>\u27a2 <strong>\u5355\u5e27\u68c0\u7d22\u6027\u80fd\uff1a<\/strong>&nbsp;UniPR-3D \u5728\u591a\u6570\u6570\u636e\u96c6\u548c\u8bc4\u4ef7\u6307\u6807\u4e0a\u8d85\u8fc7 NetVLAD\u3001CosPlace\u3001MixVPR\u3001SALAD\u3001MegaLoc \u7b49\u65b9\u6cd5\u3002\u4f8b\u5982 NordLand \u4e0a R@1 \u4ece SALAD \u7684 <strong>76.0% \u63d0\u5347\u81f3 78.4%<\/strong>\uff0c\u8868\u660e 3D \u51e0\u4f55\u7279\u5f81\u80fd\u591f\u8fdb\u4e00\u6b65\u589e\u5f3a\u4f20\u7edf\u5355\u5e27 VPR \u7684\u9c81\u68d2\u6027\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"299\" src=\"https:\/\/www.15zhi.net\/blog\/wp-content\/uploads\/2026\/09\/image-20-1024x299.png\" alt=\"\" class=\"wp-image-5540\" srcset=\"https:\/\/www.15zhi.net\/blog\/wp-content\/uploads\/2026\/09\/image-20-1024x299.png 1024w, https:\/\/www.15zhi.net\/blog\/wp-content\/uploads\/2026\/09\/image-20-300x88.png 300w, https:\/\/www.15zhi.net\/blog\/wp-content\/uploads\/2026\/09\/image-20-768x224.png 768w, https:\/\/www.15zhi.net\/blog\/wp-content\/uploads\/2026\/09\/image-20.png 1073w\" sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u27a2 <strong>\u5e8f\u5217\u68c0\u7d22\u6027\u80fd\uff1a<\/strong>&nbsp;\u5728 Oxford1 \u7684\u4e25\u683c <strong>2 m<\/strong>&nbsp;\u9608\u503c\u4e0b\uff0cUniPR-3D \u7684 R@1 \u8fbe\u5230 <strong>95.4%<\/strong>\uff0c\u9ad8\u4e8e CaseVPR \u7684 90.5%\uff1bOxford2 \u4e0a R@1 \u4ece <strong>72.8% \u63d0\u5347\u81f3 80.6%<\/strong>\uff0c\u8bf4\u660e\u591a\u89c6\u89d2 3D Token \u5bf9\u5e8f\u5217\u5339\u914d\u5177\u6709\u660e\u663e\u4f5c\u7528\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"409\" src=\"https:\/\/www.15zhi.net\/blog\/wp-content\/uploads\/2026\/09\/image-21-1024x409.png\" alt=\"\" class=\"wp-image-5541\" srcset=\"https:\/\/www.15zhi.net\/blog\/wp-content\/uploads\/2026\/09\/image-21-1024x409.png 1024w, https:\/\/www.15zhi.net\/blog\/wp-content\/uploads\/2026\/09\/image-21-300x120.png 300w, https:\/\/www.15zhi.net\/blog\/wp-content\/uploads\/2026\/09\/image-21-768x306.png 768w, https:\/\/www.15zhi.net\/blog\/wp-content\/uploads\/2026\/09\/image-21.png 1075w\" sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u27a2 <strong>\u6d88\u878d\u5b9e\u9a8c\uff1a<\/strong>\u00a02D Patch \u4e3b\u8981\u5173\u6ce8\u6d77\u62a5\u3001\u552e\u8d27\u4ead\u3001\u81ea\u884c\u8f66\u7b49<strong>\u7eb9\u7406\u4e30\u5bcc\u533a\u57df<\/strong>\uff0c3D Patch \u66f4\u5173\u6ce8\u5899\u4f53\u3001\u5efa\u7b51\u7269\u7b49<strong>\u7ed3\u6784\u7a33\u5b9a\u533a\u57df<\/strong>\uff1b\u663e\u5f0f\u52a0\u5165\u76f8\u5bf9 3D Pose \u53cd\u800c\u7565\u5fae\u964d\u4f4e\u6027\u80fd\uff0c\u8bf4\u660e VGGT \u7684 3D Token \u5df2\u7ecf\u9690\u5f0f\u7f16\u7801\u4e86\u8f83\u5145\u5206\u7684\u7a7a\u95f4\u5173\u7cfb\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"237\" src=\"https:\/\/www.15zhi.net\/blog\/wp-content\/uploads\/2026\/09\/image-22-1024x237.png\" alt=\"\" class=\"wp-image-5542\" srcset=\"https:\/\/www.15zhi.net\/blog\/wp-content\/uploads\/2026\/09\/image-22-1024x237.png 1024w, https:\/\/www.15zhi.net\/blog\/wp-content\/uploads\/2026\/09\/image-22-300x69.png 300w, https:\/\/www.15zhi.net\/blog\/wp-content\/uploads\/2026\/09\/image-22-768x178.png 768w, https:\/\/www.15zhi.net\/blog\/wp-content\/uploads\/2026\/09\/image-22.png 1084w\" sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u27a2 <strong>\u53ef\u53d8\u957f\u5ea6\u80fd\u529b\uff1a<\/strong>\u00a0\u6a21\u578b\u8bad\u7ec3\u65f6\u5e8f\u5217\u957f\u5ea6\u4ec5\u4e3a 5\uff0c\u4f46\u6d4b\u8bd5\u65f6\u8f93\u5165 3\u300110\u300115 \u5e27\u5747\u80fd\u6b63\u5e38\u5de5\u4f5c\uff0c\u5e76\u4e14 Oxford2 R@1 \u968f\u5e27\u6570\u4ece <strong>70.3% \u2192 80.6% \u2192 89.1% \u2192 92.4%<\/strong>\u00a0\u6301\u7eed\u63d0\u5347\uff0c\u9a8c\u8bc1\u4e86\u591a\u5e27\u805a\u5408\u6a21\u5757\u5bf9\u4e0d\u540c\u5e8f\u5217\u957f\u5ea6\u7684\u6cdb\u5316\u80fd\u529b\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image aligncenter size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"516\" height=\"226\" src=\"https:\/\/www.15zhi.net\/blog\/wp-content\/uploads\/2026\/09\/image-23.png\" alt=\"\" class=\"wp-image-5543\" style=\"width:274px;height:auto\" srcset=\"https:\/\/www.15zhi.net\/blog\/wp-content\/uploads\/2026\/09\/image-23.png 516w, https:\/\/www.15zhi.net\/blog\/wp-content\/uploads\/2026\/09\/image-23-300x131.png 300w\" sizes=\"auto, (max-width: 516px) 100vw, 516px\" \/><\/figure>\n\n\n\n<h1 class=\"wp-block-heading\">\u603b\u7ed3<\/h1>\n\n\n\n<p>\u27a2 UniPR-3D \u5229\u7528 VGGT \u5c06\u591a\u4e2a\u89c6\u89c9\u89c2\u6d4b\u8f6c\u6362\u4e3a\u5177\u6709<strong>\u4e09\u7ef4\u51e0\u4f55\u611f\u77e5\u80fd\u529b\u7684 Token<\/strong>\uff0c\u4f7f VPR \u540c\u65f6\u4f9d\u636e\u7eb9\u7406\u548c\u7a7a\u95f4\u7ed3\u6784\u5224\u65ad\u5730\u70b9\u3002<\/p>\n\n\n\n<p>\u27a2 <strong>2D \u4e0e 3D \u7279\u5f81\u5177\u6709\u660e\u663e\u4e92\u8865\u6027\uff1a<\/strong> 2D Token \u66f4\u9002\u5408\u63cf\u8ff0\u5c40\u90e8\u7eb9\u7406\u548c\u8bed\u4e49\u4fe1\u606f\uff0c3D Token \u66f4\u9002\u5408\u6355\u83b7\u7a33\u5b9a\u7684\u51e0\u4f55\u7ed3\u6784\uff0c\u56e0\u6b64\u8054\u5408\u8868\u793a\u80fd\u591f\u589e\u5f3a\u5bf9<strong>\u5149\u7167\u3001\u5929\u6c14\u3001\u5b63\u8282\u4ee5\u53ca\u89c6\u89d2\u53d8\u5316<\/strong>\u7684\u9c81\u68d2\u6027\u3002<\/p>\n\n\n\n<p>\u27a2 <strong>\u591a\u5e27\u5e76\u975e\u7b80\u5355\u65f6\u95f4\u5e73\u6ed1\uff1a<\/strong> \u76f8\u6bd4\u4f20\u7edf\u5e8f\u5217 VPR \u6cbf\u65f6\u95f4\u7ef4\u5ea6\u7d2f\u79ef\u76f8\u4f3c\u5ea6\uff0cUniPR-3D \u5728\u591a\u5e27\u4e4b\u95f4\u5efa\u7acb\u51e0\u4f55\u611f\u77e5\u7279\u5f81\u8868\u793a\uff0c\u4f7f\u8fde\u7eed\u56fe\u50cf\u6210\u4e3a\u4e00\u4e2a\u7edf\u4e00\u7684<strong>\u7a7a\u95f4\u7ea7\u5730\u70b9\u63cf\u8ff0\u5b50<\/strong>\u3002<\/p>\n\n\n\n<p>\u27a2 <strong>\u4ee3\u4ef7\u4e0e\u5c40\u9650\uff1a<\/strong> 3D \u51e0\u4f55\u8868\u5f81\u5e26\u6765\u4e86\u989d\u5916\u8ba1\u7b97\u5f00\u9500\uff0c\u4f8b\u5982 Oxford \u5b9e\u9a8c\u4e2d UniPR-3D \u7684\u63a8\u7406\u5ef6\u8fdf\u9ad8\u4e8e CaseVPR\uff1b\u56e0\u6b64\u5176\u4f18\u52bf\u4e3b\u8981\u4f53\u73b0\u5728\u8bc6\u522b\u9c81\u68d2\u6027\u4e0e\u8de8\u89c6\u89d2\u6cdb\u5316\uff0c\u800c\u8ba1\u7b97\u6548\u7387\u4ecd\u5b58\u5728\u8fdb\u4e00\u6b65\u4f18\u5316\u7a7a\u95f4\u3002<\/p>\n\n\n\n<p><\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u4f5c\u8005\uff1aTianchen Deng1, Xun Chen3, Ziming Li1, Hongming Shen [&hellip;]<\/p>\n","protected":false},"author":70,"featured_media":0,"comment_status":"closed","ping_status":"","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[1],"tags":[],"class_list":["post-5533","post","type-post","status-publish","format-standard","hentry","category-events"],"_links":{"self":[{"href":"https:\/\/www.15zhi.net\/blog\/wp-json\/wp\/v2\/posts\/5533","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/www.15zhi.net\/blog\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/www.15zhi.net\/blog\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/www.15zhi.net\/blog\/wp-json\/wp\/v2\/users\/70"}],"replies":[{"embeddable":true,"href":"https:\/\/www.15zhi.net\/blog\/wp-json\/wp\/v2\/comments?post=5533"}],"version-history":[{"count":2,"href":"https:\/\/www.15zhi.net\/blog\/wp-json\/wp\/v2\/posts\/5533\/revisions"}],"predecessor-version":[{"id":5544,"href":"https:\/\/www.15zhi.net\/blog\/wp-json\/wp\/v2\/posts\/5533\/revisions\/5544"}],"wp:attachment":[{"href":"https:\/\/www.15zhi.net\/blog\/wp-json\/wp\/v2\/media?parent=5533"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/www.15zhi.net\/blog\/wp-json\/wp\/v2\/categories?post=5533"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/www.15zhi.net\/blog\/wp-json\/wp\/v2\/tags?post=5533"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}