{"id":3889,"date":"2024-06-13T10:28:40","date_gmt":"2024-06-13T02:28:40","guid":{"rendered":"https:\/\/nullthought.net\/?p=3889"},"modified":"2024-10-12T10:29:42","modified_gmt":"2024-10-12T02:29:42","slug":"deep-patch-visual-odometry-dpvo","status":"publish","type":"post","link":"https:\/\/nullthought.net\/?p=3889","title":{"rendered":"Deep Patch Visual Odometry (DPVO)"},"content":{"rendered":"\n<p><a href=\"https:\/\/arxiv.org\/pdf\/2208.04726\" target=\"_blank\" rel=\"noreferrer noopener\">Deep Patch Visual Odometry (DPVO)<\/a>\u662f\u6765\u81ea\u666e\u6797\u65af\u987f\u5927\u5b66\u7684Zachary Teed\u3001Lahav Lipson\u548cJia Deng\u7684\u6700\u65b0\u7814\u7a76\u6210\u679c\u3002DPVO 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class=\"wp-block-heading\">\u4e00\u3001\u76f8\u5173\u5de5\u4f5c<\/h4>\n\n\n\n<p>\u89c6\u89c9\u91cc\u7a0b\u8ba1\uff08VO\uff09\u548c\u540c\u65f6\u5b9a\u4f4d\u4e0e\u5730\u56fe\u6784\u5efa\uff08SLAM\uff09\u7cfb\u7edf\u662f\u4f30\u8ba1\u673a\u5668\u4eba\u4f4d\u7f6e\u548c\u65b9\u5411\u7684\u6838\u5fc3\u6280\u672f\u3002\u4f20\u7edfVO\u65b9\u6cd5\u5305\u62ec\u95f4\u63a5\u6cd5\uff08\u57fa\u4e8e\u5173\u952e\u70b9\uff09\u548c\u76f4\u63a5\u6cd5\uff08\u57fa\u4e8e\u50cf\u7d20\u5f3a\u5ea6\uff09\u3002\u8fd1\u5e74\u6765\uff0c\u6df1\u5ea6\u5b66\u4e60\u65b9\u6cd5\u5728\u7279\u5f81\u63d0\u53d6\u548c\u4f18\u5316\u65b9\u9762\u8868\u73b0\u51fa\u8272\uff0c\u5982DROID-SLAM\uff0c\u4f46\u5176\u8ba1\u7b97\u5f00\u9500\u5de8\u5927\u3002<\/p>\n\n\n\n<h4 class=\"wp-block-heading\">\u4e8c\u3001\u65b9\u6cd5<\/h4>\n\n\n\n<p>DPVO\u7684\u6838\u5fc3\u662f\u4e00\u4e2a\u65b0\u9896\u7684\u9012\u5f52\u7f51\u7edc\u67b6\u6784\uff0c\u7528\u4e8e\u7a00\u758f\u5757\u5339\u914d\u548c\u53ef\u5fae\u5206\u7684\u675f\u8c03\u6574\uff08BA\uff09\uff1a<\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li><strong>\u7279\u5f81\u63d0\u53d6<\/strong>\uff1a\n<ul class=\"wp-block-list\">\n<li>\u4f7f\u7528\u6b8b\u5dee\u7f51\u7edc\u63d0\u53d6\u5339\u914d\u7279\u5f81\u548c\u4e0a\u4e0b\u6587\u7279\u5f81\u3002<\/li>\n\n\n\n<li>\u4ece\u56fe\u50cf\u4e2d\u968f\u673a\u91c7\u6837\u4f4d\u7f6e\u751f\u6210\u56fe\u50cf\u5757\uff0c\u5e76\u901a\u8fc7\u53cc\u7ebf\u6027\u63d2\u503c\u4ece\u7279\u5f81\u56fe\u4e2d\u88c1\u526a\u51fa\u5757\u7279\u5f81\u3002<\/li>\n<\/ul>\n<\/li>\n\n\n\n<li><strong>\u66f4\u65b0\u7b97\u5b50<\/strong>\uff1a\n<ul 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class=\"wp-block-heading\">\u4e09\u3001\u5b9e\u9a8c<\/h4>\n\n\n\n<p>DPVO\u5728\u591a\u4e2a\u57fa\u51c6\u6570\u636e\u96c6\u4e0a\u8fdb\u884c\u4e86\u8bc4\u4f30\uff0c\u5305\u62ecTartanAir\u3001TUM-RGBD\u3001EuRoC\u548cICL-NUIM\u3002\u7ed3\u679c\u663e\u793a\uff0cDPVO\u5728\u5e73\u5747\u8bef\u5dee\u3001\u8fd0\u884c\u901f\u5ea6\u548c\u5185\u5b58\u4f7f\u7528\u4e0a\u5747\u4f18\u4e8e\u73b0\u6709\u65b9\u6cd5\u3002<\/p>\n\n\n\n<h4 class=\"wp-block-heading\">\u56db\u3001\u7ed3\u8bba<\/h4>\n\n\n\n<p>DPVO\u901a\u8fc7\u7a00\u758f\u5757\u5339\u914d\u548c\u9012\u5f52\u7f51\u7edc\u5b9e\u73b0\u4e86\u9ad8\u6548\u3001\u51c6\u786e\u7684\u89c6\u89c9\u91cc\u7a0b\u8ba1\u4f30\u8ba1\uff0c\u663e\u8457\u63d0\u5347\u4e86\u7cfb\u7edf\u6027\u80fd\u5e76\u964d\u4f4e\u4e86\u8ba1\u7b97\u5f00\u9500\u3002<\/p>\n\n\n\n<h4 class=\"wp-block-heading\">\u4e94\u3001\u4e3b\u8981\u8d21\u732e<\/h4>\n\n\n\n<ol class=\"wp-block-list\">\n<li>\u63d0\u51fa\u4e86\u4e00\u79cd\u7a00\u758f\u5757\u5339\u914d\u7684\u65b9\u6cd5\uff0c\u663e\u8457\u63d0\u9ad8\u4e86\u89c6\u89c9\u91cc\u7a0b\u8ba1\u7684\u6548\u7387\u548c\u51c6\u786e\u6027\u3002<\/li>\n\n\n\n<li>\u8bbe\u8ba1\u4e86\u4e00\u4e2a\u65b0\u9896\u7684\u9012\u5f52\u7f51\u7edc\u67b6\u6784\uff0c\u5305\u62ec\u76f8\u5173\u6027\u8ba1\u7b97\u3001\u65f6\u95f4\u5377\u79ef\u3001Softmax\u805a\u5408\u548c\u53ef\u5fae\u675f\u8c03\u6574\u3002<\/li>\n\n\n\n<li>\u5728\u591a\u4e2a\u57fa\u51c6\u6570\u636e\u96c6\u4e0a\uff0cDPVO\u7684\u6027\u80fd\u8d85\u8fc7\u4e86\u6240\u6709\u73b0\u6709\u65b9\u6cd5\u3002<\/li>\n<\/ol>\n\n\n\n<p>\u8be5\u8bba\u6587\u8be6\u7ec6\u63cf\u8ff0\u4e86DPVO\u7cfb\u7edf\u7684\u8bbe\u8ba1\u3001\u5b9e\u73b0\u548c\u5b9e\u9a8c\u8bc4\u4f30\uff0c\u5c55\u793a\u4e86\u5176\u5728\u5355\u76ee\u89c6\u89c9\u91cc\u7a0b\u8ba1\u4e2d\u7684\u4f18\u52bf\u548c\u6f5c\u529b\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image aligncenter size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"725\" height=\"812\" src=\"https:\/\/nullthought.net\/wp-content\/uploads\/2024\/06\/image-3.png\" alt=\"\" class=\"wp-image-3890\" srcset=\"https:\/\/nullthought.net\/wp-content\/uploads\/2024\/06\/image-3.png 725w, https:\/\/nullthought.net\/wp-content\/uploads\/2024\/06\/image-3-268x300.png 268w\" sizes=\"auto, (max-width: 725px) 100vw, 725px\" \/><figcaption class=\"wp-element-caption\"><a href=\"https:\/\/arxiv.org\/pdf\/2208.04726\" target=\"_blank\" rel=\"noreferrer noopener\">Deep Patch Visual Odometry (DPVO)<\/a><br>By Zachary Teed, Lahav Lipson, Jia Deng<\/figcaption><\/figure>\n\n\n\n<p>P.S., \u4e0e\u6b64\u8bba\u6587\u7814\u7a76\u6210\u679c\u76f8\u5173\u7684\u4ee3\u7801\u6216Demo\uff1a<\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li><a href=\"https:\/\/github.com\/princeton-vl\/DPVO\" target=\"_blank\" rel=\"noreferrer noopener\">DPVO<\/a> on GitHub<\/li>\n\n\n\n<li><a href=\"https:\/\/huggingface.co\/spaces\/pablovela5620\/MiniDPVO\" target=\"_blank\" rel=\"noreferrer noopener\">MiniDPVO<\/a> demo on Huggingface\uff0c\u57fa\u4e8e<a href=\"https:\/\/rerun.io\/\" target=\"_blank\" rel=\"noreferrer noopener\">rerun<\/a>\u5b9e\u73b0\uff1bSource code <a href=\"https:\/\/github.com\/pablovela5620\/mini-dpvo\" target=\"_blank\" rel=\"noreferrer noopener\">mini-dpvo<\/a> on GitHub<\/li>\n<\/ol>\n","protected":false},"excerpt":{"rendered":"<p>Deep Patch Visual Odometry (DPVO)\u662f\u6765\u81ea\u666e\u6797\u65af\u987f\u5927\u5b66\u7684Zachary Teed [&hellip;]<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"site-sidebar-layout":"default","site-content-layout":"","ast-site-content-layout":"default","site-content-style":"default","site-sidebar-style":"default","ast-global-header-display":"","ast-banner-title-visibility":"","ast-main-header-display":"","ast-hfb-above-header-display":"","ast-hfb-below-header-display":"","ast-hfb-mobile-header-display":"","site-post-title":"","ast-breadcrumbs-content":"","ast-featured-img":"","footer-sml-layout":"","ast-disable-related-posts":"","theme-transparent-header-meta":"","adv-header-id-meta":"","stick-header-meta":"","header-above-stick-meta":"","header-main-stick-meta":"","header-below-stick-meta":"","astra-migrate-meta-layouts":"set","ast-page-background-enabled":"default","ast-page-background-meta":{"desktop":{"background-color":"","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-opacity":"","overlay-gradient":""},"tablet":{"background-color":"","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-opacity":"","overlay-gradient":""},"mobile":{"background-color":"","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-opacity":"","overlay-gradient":""}},"ast-content-background-meta":{"desktop":{"background-color":"var(--ast-global-color-5)","background-image":"","background-repeat":"repeat","background-position":"center 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center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-opacity":"","overlay-gradient":""}},"footnotes":""},"categories":[8,36],"tags":[39,61,80],"class_list":["post-3889","post","type-post","status-publish","format-standard","hentry","category-tech","category-36","tag-ai","tag-61","tag-cv"],"rttpg_featured_image_url":null,"rttpg_author":{"display_name":"NullThought","author_link":"https:\/\/nullthought.net\/?author=1"},"rttpg_comment":0,"rttpg_category":"<a href=\"https:\/\/nullthought.net\/?cat=8\" rel=\"category\">Tech<\/a> <a href=\"https:\/\/nullthought.net\/?cat=36\" rel=\"category\">\u79d1\u5b66<\/a>","rttpg_excerpt":"Deep Patch Visual Odometry (DPVO)\u662f\u6765\u81ea\u666e\u6797\u65af\u987f\u5927\u5b66\u7684Zachary Teed&hellip;","_links":{"self":[{"href":"https:\/\/nullthought.net\/index.php?rest_route=\/wp\/v2\/posts\/3889","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/nullthought.net\/index.php?rest_route=\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/nullthought.net\/index.php?rest_route=\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/nullthought.net\/index.php?rest_route=\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/nullthought.net\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=3889"}],"version-history":[{"count":2,"href":"https:\/\/nullthought.net\/index.php?rest_route=\/wp\/v2\/posts\/3889\/revisions"}],"predecessor-version":[{"id":3893,"href":"https:\/\/nullthought.net\/index.php?rest_route=\/wp\/v2\/posts\/3889\/revisions\/3893"}],"wp:attachment":[{"href":"https:\/\/nullthought.net\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=3889"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/nullthought.net\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=3889"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/nullthought.net\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=3889"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}