{"id":5688,"date":"2026-10-22T17:22:11","date_gmt":"2026-10-22T09:22:11","guid":{"rendered":"https:\/\/www.15zhi.net\/blog\/?p=5688"},"modified":"2026-10-22T17:22:11","modified_gmt":"2026-10-22T09:22:11","slug":"202610%e8%ae%ba%e6%96%87%e7%a0%94%e8%af%bb-reloc3rlarge-scale-training-of-relative-camera-pose-regression-for-generalizable-fastand-accurate-visual-localization","status":"publish","type":"post","link":"https:\/\/www.15zhi.net\/blog\/202610%e8%ae%ba%e6%96%87%e7%a0%94%e8%af%bb-reloc3rlarge-scale-training-of-relative-camera-pose-regression-for-generalizable-fastand-accurate-visual-localization\/","title":{"rendered":"202610\u8bba\u6587\u7814\u8bfb-Reloc3r:Large-Scale Training of Relative Camera Pose Regression for Generalizable, Fast,and Accurate Visual Localization"},"content":{"rendered":"\n<p class=\"wp-block-paragraph\">\u4f5c\u8005\uff1aSiyan Dong1* Shuzhe Wang2* Shaohui Liu3 Lulu Cai1<br>Qingnan Fan4 Juho Kannala2,5\u2020 Yanchao Yang1\u2020<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u5355\u4f4d\uff1a\u00b9\u9999\u6e2f\u5927\u5b66 \u00b2\u963f\u5c14\u6258\u5927\u5b66 \u00b3\u82cf\u9ece\u4e16\u8054\u90a6\u7406\u5de5\u5b66\u9662 \u2074\u7ef4\u6c83\u79fb\u52a8\u901a\u4fe1 \u2075\u5965\u5362\u5927\u5b66<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u6765\u6e90\uff1aCVPR2025<\/p>\n\n\n\n<h2 class=\"wp-block-heading\">\u80cc\u666f<\/h2>\n\n\n\n<p class=\"wp-block-paragraph\"><strong>\u89c6\u89c9\u5b9a\u4f4d\uff08Visual Localization\uff09<\/strong> \u65e8\u5728\u6839\u636e\u67e5\u8be2\u56fe\u50cf\u548c\u5e26\u6709\u5df2\u77e5\u4f4d\u59ff\u7684\u53c2\u8003\u56fe\u50cf\u6570\u636e\u5e93\uff0c\u4f30\u8ba1\u67e5\u8be2\u76f8\u673a\u5728\u4e16\u754c\u5750\u6807\u7cfb\u4e2d\u7684 6DoF \u4f4d\u59ff\uff0c\u5373\u4e09\u7ef4\u4f4d\u7f6e\u4e0e\u65cb\u8f6c\u671d\u5411\u3002<br><strong>\u4f20\u7edf\u57fa\u4e8e\u51e0\u4f55\u7ed3\u6784\u7684\u5b9a\u4f4d\u65b9\u6cd5 <\/strong>\u901a\u5e38\u5229\u7528\u7279\u5f81\u5339\u914d\u3001\u4e09\u7ef4\u91cd\u5efa\u548c\u51e0\u4f55\u6c42\u89e3\u4f30\u8ba1\u76f8\u673a\u4f4d\u59ff\uff0c\u867d\u7136\u5b9a\u4f4d\u7cbe\u5ea6\u8f83\u9ad8\uff0c\u4f46\u7279\u5f81\u5339\u914d\u4e0e\u9c81\u68d2\u4f30\u8ba1\u7684\u8ba1\u7b97\u5f00\u9500\u8f83\u5927\uff0c\u96be\u4ee5\u517c\u987e\u5b9e\u65f6\u6027\u3002<br><strong>\u7edd\u5bf9\u4f4d\u59ff\u56de\u5f52\uff08APR\uff09<\/strong>\u80fd\u591f\u76f4\u63a5\u4ece\u56fe\u50cf\u9884\u6d4b\u76f8\u673a\u4f4d\u7f6e\u548c\u671d\u5411\uff0c\u63a8\u7406\u901f\u5ea6\u5feb\uff0c\u4f46\u901a\u5e38\u9700\u8981\u9488\u5bf9\u6bcf\u4e2a\u65b0\u573a\u666f\u5355\u72ec\u8bad\u7ec3\uff0c\u5e76\u4f9d\u8d56\u5bc6\u96c6\u89c6\u89d2\u8986\u76d6\uff0c\u8de8\u573a\u666f\u6cdb\u5316\u80fd\u529b\u4e0d\u8db3\u3002<br><strong>\u76f8\u5bf9\u4f4d\u59ff\u56de\u5f52\uff08RPR\uff09<\/strong> \u901a\u8fc7\u9884\u6d4b\u67e5\u8be2\u56fe\u50cf\u4e0e\u53c2\u8003\u56fe\u50cf\u4e4b\u95f4\u7684\u76f8\u5bf9\u4f4d\u59ff\u5b9e\u73b0\u8de8\u573a\u666f\u5b9a\u4f4d\uff0c\u4f46\u73b0\u6709\u65b9\u6cd5\u7cbe\u5ea6\u6709\u9650\uff0c\u4e14\u5355\u5bf9\u56fe\u50cf\u96be\u4ee5\u51c6\u786e\u6062\u590d\u5177\u6709\u771f\u5b9e\u5c3a\u5ea6\u7684\u76f8\u673a\u5e73\u79fb\u3002<br><strong>\u7814\u7a76\u76ee\u6807\uff1a<\/strong> \u63d0\u51fa Reloc3r \u6846\u67b6\uff0c\u901a\u8fc7\u5927\u89c4\u6a21\u76f8\u5bf9\u4f4d\u59ff\u5b66\u4e60\u4e0e\u591a\u53c2\u8003\u56fe\u50cf\u51e0\u4f55\u805a\u5408\uff0c\u5b9e\u73b0\u65e0\u9700\u573a\u666f\u4e13\u7528\u8bad\u7ec3\u3001\u517c\u5177\u9ad8\u7cbe\u5ea6\u4e0e\u9ad8\u63a8\u7406\u6548\u7387\u7684\u89c6\u89c9\u5b9a\u4f4d\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\">\u8d21\u732e<\/h2>\n\n\n\n<p class=\"wp-block-paragraph\"><strong>\u63d0\u51fa\u7b80\u6d01\u7684 Reloc3r \u89c6\u89c9\u5b9a\u4f4d\u6846\u67b6\uff1a<\/strong> \u5c06\u76f8\u5bf9\u76f8\u673a\u4f4d\u59ff\u56de\u5f52\u7f51\u7edc\u4e0e\u8fd0\u52a8\u5e73\u5747\uff08Motion Averaging\uff09\u6a21\u5757\u76f8\u7ed3\u5408\uff0c\u7531\u56fe\u50cf\u5bf9\u7684\u76f8\u5bf9\u4f4d\u59ff\u9884\u6d4b\u6062\u590d\u67e5\u8be2\u56fe\u50cf\u5728\u53c2\u8003\u6570\u636e\u5e93\u5750\u6807\u7cfb\u4e0b\u7684\u7edd\u5bf9\u4f4d\u59ff\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><strong>\u8bbe\u8ba1\u5b8c\u5168\u5bf9\u79f0\u7684\u76f8\u5bf9\u4f4d\u59ff\u56de\u5f52\u7f51\u7edc\uff1a<\/strong> \u57fa\u4e8e DUSt3R \u7684 ViT Encoder-Decoder \u67b6\u6784\uff0c\u901a\u8fc7\u53cc\u5206\u652f\u53c2\u6570\u5171\u4eab\u4e0e\u4ea4\u53c9\u6ce8\u610f\u529b\uff0c\u76f4\u63a5\u9884\u6d4b\u56fe\u50cf\u5bf9\u4e4b\u95f4\u7684\u76f8\u5bf9\u65cb\u8f6c\u548c\u76f8\u5bf9\u5e73\u79fb\u65b9\u5411\uff0c\u51cf\u5c11\u6a21\u578b\u590d\u6742\u5ea6\u4e0e\u56fe\u50cf\u987a\u5e8f\u504f\u5dee\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><strong>\u63d0\u51fa\u4e0d\u4f9d\u8d56\u5ea6\u91cf\u5c3a\u5ea6\u7684\u4f4d\u59ff\u5b66\u4e60\u65b9\u5f0f\uff1a <\/strong>\u7f51\u7edc\u4ec5\u5b66\u4e60\u76f8\u5bf9\u65cb\u8f6c\u548c\u5355\u4f4d\u5e73\u79fb\u65b9\u5411\uff0c\u901a\u8fc7\u89d2\u5ea6\u635f\u5931\u7edf\u4e00\u76d1\u7763\uff0c\u907f\u514d\u4e0d\u540c\u573a\u666f\u7684\u5c3a\u5ea6\u5dee\u5f02\u53ca\u65cb\u8f6c\u3001\u5e73\u79fb\u635f\u5931\u6743\u91cd\u5e73\u8861\u95ee\u9898\uff1b\u771f\u5b9e\u5c3a\u5ea6\u5728\u540e\u7eed\u51e0\u4f55\u6c42\u89e3\u9636\u6bb5\u6062\u590d\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><strong>\u5229\u7528\u5927\u89c4\u6a21\u591a\u573a\u666f\u8bad\u7ec3\u63d0\u5347\u6cdb\u5316\u80fd\u529b\uff1a<\/strong> \u6c47\u96c6\u7ea6 800 \u4e07\u5bf9\u5177\u6709\u4f4d\u59ff\u6807\u6ce8\u7684\u56fe\u50cf\uff0c\u8986\u76d6\u7269\u4f53\u3001\u5ba4\u5185\u548c\u5ba4\u5916\u573a\u666f\uff0c\u5728\u516d\u4e2a\u516c\u5f00\u6570\u636e\u96c6\u4e0a\u9a8c\u8bc1\u6a21\u578b\u7684\u5b9a\u4f4d\u7cbe\u5ea6\u3001\u63a8\u7406\u6548\u7387\u548c\u8de8\u573a\u666f\u6cdb\u5316\u80fd\u529b\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\">\u65b9\u6cd5<\/h2>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"198\" src=\"https:\/\/www.15zhi.net\/blog\/wp-content\/uploads\/2026\/10\/image-42-1024x198.png\" alt=\"\" class=\"wp-image-5690\" srcset=\"https:\/\/www.15zhi.net\/blog\/wp-content\/uploads\/2026\/10\/image-42-1024x198.png 1024w, https:\/\/www.15zhi.net\/blog\/wp-content\/uploads\/2026\/10\/image-42-300x58.png 300w, https:\/\/www.15zhi.net\/blog\/wp-content\/uploads\/2026\/10\/image-42-767x148.png 767w, https:\/\/www.15zhi.net\/blog\/wp-content\/uploads\/2026\/10\/image-42-1536x296.png 1536w, https:\/\/www.15zhi.net\/blog\/wp-content\/uploads\/2026\/10\/image-42.png 1751w\" sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p class=\"wp-block-paragraph\">Reloc3r \u7531\u4e24\u90e8\u5206\u6784\u6210\uff1a\u76f8\u5bf9\u76f8\u673a\u4f4d\u59ff\u56de\u5f52\u7f51\u7edc + \u8fd0\u52a8\u5e73\u5747\u6a21\u5757\u3002<br>\u6838\u5fc3\u65b9\u6cd5\u6d41\u7a0b<br>(1) \u53c2\u8003\u56fe\u50cf\u68c0\u7d22\uff1a \u8f93\u5165\u4e00\u5f20\u67e5\u8be2\u56fe\u50cfIq\uff0c\u5229\u7528 NetVLAD \u4ece\u5e26\u6709\u5df2\u77e5\u76f8\u673a\u4f4d\u59ff\u7684\u53c2\u8003\u6570\u636e\u5e93\u4e2d\u68c0\u7d22 Top-K \u76f8\u4f3c\u56fe\u50cf\uff0c\u6784\u5efa\u67e5\u8be2\u2014\u53c2\u8003\u56fe\u50cf\u5bf9\u3002<br>(2) \u76f8\u5bf9\u4f4d\u59ff\u56de\u5f52\uff1a \u5c06\u6bcf\u5bf9\u56fe\u50cf\u8f93\u5165\u5171\u4eab\u53c2\u6570\u7684\u53cc\u5206\u652f ViT \u7f51\u7edc\uff0c\u7ecf Encoder \u63d0\u53d6\u7279\u5f81\u3001Decoder \u8fdb\u884c\u4ea4\u53c9\u6ce8\u610f\u529b\u4ea4\u4e92\uff0c\u518d\u7531\u56de\u5f52\u5934\u76f4\u63a5\u9884\u6d4b\u4e24\u5e45\u56fe\u50cf\u4e4b\u95f4\u7684\u76f8\u5bf9\u65cb\u8f6c\u53ca\u5e73\u79fb\u65b9\u5411\u3002<br>(3) \u65e0\u5c3a\u5ea6\u4f4d\u59ff\u5b66\u4e60\uff1a \u4f7f\u7528\u65cb\u8f6c\u89d2\u5ea6\u8bef\u5dee\u548c\u5e73\u79fb\u65b9\u5411\u89d2\u5ea6\u8bef\u5dee\u4f5c\u4e3a\u76d1\u7763\u4fe1\u53f7\uff0c\u4ec5\u5b66\u4e60\u76f8\u673a\u95f4\u7684\u76f8\u5bf9\u671d\u5411\u4e0e\u79fb\u52a8\u65b9\u5411\uff0c\u4e0d\u8981\u6c42\u7f51\u7edc\u76f4\u63a5\u9884\u6d4b\u771f\u5b9e\u5e73\u79fb\u8ddd\u79bb\u3002<br>(4) \u65cb\u8f6c\u5e73\u5747\uff1a \u7ed3\u5408\u53c2\u8003\u56fe\u50cf\u7684\u5df2\u77e5\u7edd\u5bf9\u65cb\u8f6c\u4e0e\u7f51\u7edc\u9884\u6d4b\u7684\u76f8\u5bf9\u65cb\u8f6c\uff0c\u8ba1\u7b97\u591a\u4e2a\u67e5\u8be2\u76f8\u673a\u65cb\u8f6c\u4f30\u8ba1\uff0c\u901a\u8fc7\u56db\u5143\u6570\u65cb\u8f6c\u805a\u5408\u53ca\u4e2d\u4f4d\u6570\u7b56\u7565\u964d\u4f4e\u9884\u6d4b\u566a\u58f0\u3002<br>(5) \u76f8\u673a\u4e2d\u5fc3\u4e09\u89d2\u5316\uff1a \u5c06\u591a\u4e2a\u53c2\u8003\u76f8\u673a\u7684\u5df2\u77e5\u4f4d\u7f6e\u4e0e\u9884\u6d4b\u7684\u76f8\u5bf9\u5e73\u79fb\u65b9\u5411\u6784\u6210\u7a7a\u95f4\u5c04\u7ebf\uff0c\u4f7f\u7528\u6700\u5c0f\u4e8c\u4e58\u6cd5\u548c SVD \u6c42\u89e3\u67e5\u8be2\u76f8\u673a\u4e2d\u5fc3\uff0c\u6062\u590d\u5177\u6709\u771f\u5b9e\u5c3a\u5ea6\u7684\u4e09\u7ef4\u5750\u6807\u3002<br>\u6700\u7ec8\u8f93\u51fa\uff1a \u67e5\u8be2\u56fe\u50cf\u5728\u53c2\u8003\u6570\u636e\u5e93\u4e16\u754c\u5750\u6807\u7cfb\u4e0b\u7684\u7edd\u5bf9 6DoF \u4f4d\u59ff\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\">\u5b9e\u9a8c<\/h2>\n\n\n\n<p class=\"wp-block-paragraph\"><strong>1\u3001\u5b9e\u9a8c\u51c6\u5907<\/strong><\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><strong>\u8bad\u7ec3\u6570\u636e\uff1a<\/strong> \u4ece CO3Dv2\u3001ScanNet++\u3001ARKitScenes\u3001BlendedMVS\u3001MegaDepth\u3001DL3DV \u548c RealEstate10K \u5171\u4e03\u4e2a\u516c\u5f00\u6570\u636e\u96c6\u4e2d\u6784\u5efa\u7ea6 800 \u4e07\u5bf9\u5e26\u771f\u5b9e\u76f8\u5bf9\u4f4d\u59ff\u7684\u56fe\u50cf\uff0c\u8986\u76d6\u7269\u4f53\u3001\u5ba4\u5185\u53ca\u5ba4\u5916\u573a\u666f\u3002<br><strong>\u6a21\u578b\u8bad\u7ec3\uff1a <\/strong>\u4f7f\u7528 DUSt3R \u9884\u8bad\u7ec3\u6743\u91cd\u521d\u59cb\u5316\uff0c\u91c7\u7528 24 \u5c42 ViT Encoder\u300112 \u5c42 Decoder \u548c\u4f4d\u59ff\u56de\u5f52\u5934\uff0c\u5728 8 \u5f20 AMD MI250X GPU \u4e0a\u8bad\u7ec3\u3002<br><strong>\u6a21\u578b\u8bc4\u4f30\uff1a<\/strong> \u5728\u516d\u4e2a\u516c\u5f00\u6570\u636e\u96c6\u4e0a\u8bc4\u4f30\uff0c\u5305\u62ec\u76f8\u5bf9\u4f4d\u59ff\u4f30\u8ba1\u3001\u7edd\u5bf9\u89c6\u89c9\u5b9a\u4f4d\u548c\u6d88\u878d\u5b9e\u9a8c\u3002\u4f7f\u7528 AUC@5\/10\/20\u3001RRA@15\u3001RTA@15\u3001mAA@30\uff0c\u4ee5\u53ca\u4f4d\u7f6e\u8bef\u5dee\uff08m\uff09\u548c\u65cb\u8f6c\u8bef\u5dee\uff08\u00b0\uff09\u4f5c\u4e3a\u8bc4\u4ef7\u6307\u6807\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><strong>2\u3001\u5b9e\u9a8c\u7ed3\u679c<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"267\" src=\"https:\/\/www.15zhi.net\/blog\/wp-content\/uploads\/2026\/10\/image-43-1024x267.png\" alt=\"\" class=\"wp-image-5691\" srcset=\"https:\/\/www.15zhi.net\/blog\/wp-content\/uploads\/2026\/10\/image-43-1024x267.png 1024w, https:\/\/www.15zhi.net\/blog\/wp-content\/uploads\/2026\/10\/image-43-300x78.png 300w, https:\/\/www.15zhi.net\/blog\/wp-content\/uploads\/2026\/10\/image-43-766x200.png 766w, https:\/\/www.15zhi.net\/blog\/wp-content\/uploads\/2026\/10\/image-43.png 1455w\" sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p class=\"wp-block-paragraph\">(1) Reloc3r \u5728 ScanNet1500 \u4e0a\u53d6\u5f97 34.79% \u7684 AUC@5\uff0c\u4f18\u4e8e DUSt3R \u7684 23.81% \u548c MASt3R \u7684 28.01%\uff0c\u8bf4\u660e\u76f4\u63a5\u8fdb\u884c\u4f4d\u59ff\u56de\u5f52\u4e5f\u53ef\u4ee5\u5b9e\u73b0\u9ad8\u7cbe\u5ea6\u76f8\u5bf9\u4f4d\u59ff\u4f30\u8ba1\u3002<br>(2) \u5728 RealEstate10K \u6570\u636e\u96c6\u4e0a\uff0cReloc3r-512 \u7684 AUC@5 \u8fbe\u5230 66.70%\uff0c\u8868\u73b0\u63a5\u8fd1 NoPoSplat\uff1b\u5728\u8bad\u7ec3\u65f6\u5b8c\u5168\u672a\u89c1\u8fc7\u7684 ACID \u6570\u636e\u96c6\u4e0a\uff0cAUC@20 \u8fbe\u5230 70.34%\uff0c\u4f53\u73b0\u4e86\u4e00\u5b9a\u7684\u8de8\u6570\u636e\u96c6\u6cdb\u5316\u80fd\u529b\uff0c\u4f46\u5e76\u975e\u6240\u6709\u6307\u6807\u5747\u6700\u4f18\u3002<br>(3) Reloc3r-512 \u5728\u8868 3 \u4e2d\u62a5\u544a\u7684\u5355\u56fe\u50cf\u5bf9\u63a8\u7406\u65f6\u95f4\u4e3a 25 ms\uff0c\u660e\u663e\u5feb\u4e8e MASt3R \u7684 294 ms \u548c DUSt3R \u7684 441 ms\u3002\u8be5\u65f6\u95f4\u4e0d\u4ee3\u8868\u5305\u542b Top-K \u68c0\u7d22\u4e0e\u5168\u90e8\u56fe\u50cf\u5bf9\u5904\u7406\u7684\u5b8c\u6574\u5b9a\u4f4d\u8017\u65f6\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"730\" height=\"435\" src=\"https:\/\/www.15zhi.net\/blog\/wp-content\/uploads\/2026\/10\/image-44.png\" alt=\"\" class=\"wp-image-5692\" style=\"aspect-ratio:1.6782270343427508;width:342px;height:auto\" srcset=\"https:\/\/www.15zhi.net\/blog\/wp-content\/uploads\/2026\/10\/image-44.png 730w, https:\/\/www.15zhi.net\/blog\/wp-content\/uploads\/2026\/10\/image-44-300x179.png 300w\" sizes=\"auto, (max-width: 730px) 100vw, 730px\" \/><\/figure>\n\n\n\n<p class=\"wp-block-paragraph\">(1) \u5728 CO3Dv2 \u6570\u636e\u96c6\u4e0a\uff0cReloc3r-512 \u7684\u76f8\u5bf9\u65cb\u8f6c\u7cbe\u5ea6 RRA@15 \u8fbe\u5230 95.8%\uff0c\u76f8\u5bf9\u5e73\u79fb\u65b9\u5411\u7cbe\u5ea6 RTA@15 \u8fbe\u5230 93.7%\uff0c\u7efc\u5408\u6307\u6807 mAA@30 \u8fbe\u5230 82.9%\u3002<br>(2) \u76f8\u6bd4 DUSt3R\u3001MASt3R \u7b49\u65b9\u6cd5\uff0cReloc3r \u5728\u4e09\u4e2a\u6307\u6807\u4e0a\u5747\u53d6\u5f97\u66f4\u4f18\u7ed3\u679c\uff0c\u8bf4\u660e\u5176\u5728\u5927\u89c6\u89d2\u53d8\u5316\u3001\u591a\u76f8\u673a\u914d\u7f6e\u4e0b\u5177\u6709\u8f83\u597d\u7684\u76f8\u5bf9\u4f4d\u59ff\u9884\u6d4b\u80fd\u529b\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"624\" height=\"171\" src=\"https:\/\/www.15zhi.net\/blog\/wp-content\/uploads\/2026\/10\/image-45.png\" alt=\"\" class=\"wp-image-5693\" style=\"aspect-ratio:3.649406787455164;width:299px;height:auto\" srcset=\"https:\/\/www.15zhi.net\/blog\/wp-content\/uploads\/2026\/10\/image-45.png 624w, https:\/\/www.15zhi.net\/blog\/wp-content\/uploads\/2026\/10\/image-45-300x82.png 300w\" sizes=\"auto, (max-width: 624px) 100vw, 624px\" \/><\/figure>\n\n\n\n<p class=\"wp-block-paragraph\">(1) \u5bf9\u79f0\u7f51\u7edc\u7ed3\u6784\uff1a \u91c7\u7528\u53cc\u5206\u652f\u5171\u4eab\u53c2\u6570\u7684\u5bf9\u79f0\u7f51\u7edc\uff0cAUC@5 \u4ece\u975e\u5bf9\u79f0\u7ed3\u6784\u7684 32.71% \u63d0\u5347\u5230 34.79%\uff0c\u8bf4\u660e\u5bf9\u79f0\u8bbe\u8ba1\u6709\u52a9\u4e8e\u76f8\u5bf9\u4f4d\u59ff\u5b66\u4e60\uff0c\u540c\u65f6\u80fd\u591f\u964d\u4f4e\u7f51\u7edc\u590d\u6742\u5ea6\u3002<br>(2) \u65e0\u5c3a\u5ea6\u4f4d\u59ff\u5b66\u4e60\uff1a \u76f4\u63a5\u56de\u5f52\u5e26\u771f\u5b9e\u5c3a\u5ea6\u7684\u76f8\u5bf9\u4f4d\u59ff\u65f6\uff0cAUC@5 \u4ec5\u4e3a 25.70%\uff1b\u6539\u4e3a\u53ea\u5b66\u4e60\u76f8\u5bf9\u65cb\u8f6c\u4e0e\u5e73\u79fb\u65b9\u5411\u540e\u63d0\u5347\u81f3 34.79%\uff0c\u9a8c\u8bc1\u4e86\u4e0d\u4f9d\u8d56\u5ea6\u91cf\u5c3a\u5ea6\u7684\u56de\u5f52\u7b56\u7565\u66f4\u6709\u6548\u3002<br>(3) \u8f93\u5165\u5206\u8fa8\u7387\uff1a 512 \u5206\u8fa8\u7387\u6574\u4f53\u4f18\u4e8e 224 \u5206\u8fa8\u7387\uff0c\u4f46\u8ba1\u7b97\u5f00\u9500\u589e\u52a0\uff0c\u8bf4\u660e\u6a21\u578b\u5b58\u5728\u4e00\u5b9a\u7684\u7cbe\u5ea6\u4e0e\u6548\u7387\u6743\u8861\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\">\u603b\u7ed3<\/h2>\n\n\n\n<p class=\"wp-block-paragraph\">(1) \u63d0\u51fa Reloc3r \u89c6\u89c9\u5b9a\u4f4d\u6846\u67b6\uff0c\u901a\u8fc7\u76f8\u5bf9\u4f4d\u59ff\u56de\u5f52\u4e0e\u8fd0\u52a8\u5e73\u5747\uff0c\u5c06\u67e5\u8be2\u56fe\u50cf\u548c\u5e26\u5df2\u77e5\u4f4d\u59ff\u7684\u53c2\u8003\u56fe\u50cf\u4e4b\u95f4\u7684\u76f8\u5bf9\u51e0\u4f55\u5173\u7cfb\u8f6c\u6362\u4e3a\u7edd\u5bf9 6DoF \u4f4d\u59ff\uff0c\u5b9e\u73b0\u8de8\u573a\u666f\u89c6\u89c9\u5b9a\u4f4d\u3002<br>(2) \u57fa\u4e8e DUSt3R \u6784\u5efa\u5b8c\u5168\u5bf9\u79f0\u7684\u53cc\u5206\u652f ViT \u7f51\u7edc\uff0c\u901a\u8fc7\u5171\u4eab\u53c2\u6570\u4e0e\u4ea4\u53c9\u6ce8\u610f\u529b\u76f4\u63a5\u9884\u6d4b\u56fe\u50cf\u5bf9\u7684\u76f8\u5bf9\u65cb\u8f6c\u548c\u5e73\u79fb\u65b9\u5411\uff0c\u907f\u514d\u4f20\u7edf\u51e0\u4f55\u5b9a\u4f4d\u590d\u6742\u7684\u663e\u5f0f\u7279\u5f81\u5339\u914d\u548c\u9c81\u68d2\u6c42\u89e3\u6d41\u7a0b\u3002<br>(3) \u91c7\u7528 \u65e0\u5c3a\u5ea6\u76f8\u5bf9\u4f4d\u59ff\u5b66\u4e60\u4e0e\u591a\u53c2\u8003\u56fe\u50cf\u4e09\u89d2\u5316 \u7684\u7b56\u7565\uff0c\u5c06\u76f8\u5bf9\u65b9\u5411\u9884\u6d4b\u548c\u771f\u5b9e\u5c3a\u5ea6\u6062\u590d\u5206\u79bb\uff0c\u964d\u4f4e\u4e0d\u540c\u573a\u666f\u5c3a\u5ea6\u5dee\u5f02\u5bf9\u6a21\u578b\u8bad\u7ec3\u7684\u5f71\u54cd\u3002<br>(4) \u901a\u8fc7\u7ea6 800 \u4e07\u5bf9\u591a\u573a\u666f\u56fe\u50cf\u7684\u5927\u89c4\u6a21\u8bad\u7ec3\uff0c\u5728\u591a\u4e2a\u516c\u5f00\u57fa\u51c6\u4e0a\u53d6\u5f97\u8f83\u597d\u7684\u76f8\u5bf9\u4f4d\u59ff\u4f30\u8ba1\u548c\u89c6\u89c9\u5b9a\u4f4d\u6027\u80fd\uff0c\u4e14\u65e0\u9700\u9488\u5bf9\u65b0\u573a\u666f\u91cd\u65b0\u8bad\u7ec3\uff0c\u4f53\u73b0\u4e86\u8f83\u5f3a\u7684\u6cdb\u5316\u80fd\u529b\u548c\u5b9e\u65f6\u5e94\u7528\u6f5c\u529b\u3002<br>(5) \u8bba\u6587\u6838\u5fc3\u521b\u65b0\u5e76\u975e\u63d0\u51fa\u590d\u6742\u7684\u65b0\u51e0\u4f55\u6c42\u89e3\u7b97\u6cd5\uff0c\u800c\u662f\u901a\u8fc7\u7b80\u6d01\u7684\u76f8\u5bf9\u4f4d\u59ff\u56de\u5f52\u7ed3\u6784\u3001\u65e0\u5c3a\u5ea6\u76d1\u7763\u4e0e\u5927\u89c4\u6a21\u591a\u573a\u666f\u8bad\u7ec3\uff0c\u5b9e\u73b0\u7cbe\u5ea6\u3001\u6548\u7387\u548c\u6cdb\u5316\u80fd\u529b\u7684\u6709\u6548\u5e73\u8861\u3002<\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u4f5c\u8005\uff1aSiyan Dong1* Shuzhe Wang2* Shaohui Liu3 Lulu Cai1Qin [&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-5688","post","type-post","status-publish","format-standard","hentry","category-events"],"_links":{"self":[{"href":"https:\/\/www.15zhi.net\/blog\/wp-json\/wp\/v2\/posts\/5688","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=5688"}],"version-history":[{"count":1,"href":"https:\/\/www.15zhi.net\/blog\/wp-json\/wp\/v2\/posts\/5688\/revisions"}],"predecessor-version":[{"id":5694,"href":"https:\/\/www.15zhi.net\/blog\/wp-json\/wp\/v2\/posts\/5688\/revisions\/5694"}],"wp:attachment":[{"href":"https:\/\/www.15zhi.net\/blog\/wp-json\/wp\/v2\/media?parent=5688"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/www.15zhi.net\/blog\/wp-json\/wp\/v2\/categories?post=5688"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/www.15zhi.net\/blog\/wp-json\/wp\/v2\/tags?post=5688"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}