{"id":3029,"date":"2023-02-02T18:08:59","date_gmt":"2023-02-02T10:08:59","guid":{"rendered":"http:\/\/www.yatenglg.cn\/blog\/?p=3029"},"modified":"2023-04-04T17:34:06","modified_gmt":"2023-04-04T09:34:06","slug":"sensaturban%e5%9f%8e%e5%b8%82%e8%a7%84%e6%a8%a1%e7%82%b9%e4%ba%91%e8%af%ad%e4%b9%89%e5%88%86%e5%89%b2","status":"publish","type":"post","link":"http:\/\/www.yatenglg.cn\/blog\/?p=3029","title":{"rendered":"SensatUrban:\u57ce\u5e02\u89c4\u6a21\u70b9\u4e91\u8bed\u4e49\u5206\u5272"},"content":{"rendered":"

\u8bba\u6587\u5730\u5740\uff1a<\/span>Towards Semantic Segmentation of Urban-Scale 3D Point Clouds: A Dataset, Benchmarks and Challenges<\/a><\/p>\n

Github\uff1aQingyongHu<\/span>\/<\/span>SensatUrban<\/strong><\/a><\/p>\n

\u4e00. \u7b80\u4ecb<\/h1>\n

\u63d0\u51fa\u4e86\u4e00\u4e2a\u57ce\u5e02\u89c4\u6a21\u7684\u6444\u5f71\u6d4b\u91cf\u70b9\u4e91\u6570\u636e\u96c6\uff0c\u5176\u4e2d\u5305\u542b\u4e09\u4e2a\u82f1\u56fd\u57ce\u5e02(\u4f2f\u660e\u7ff0\uff0c\u5251\u6865\u4ee5\u53ca\u7ea6\u514b)7.6\u5e73\u65b9\u516c\u91cc<\/b>\u4e2d\u7684\u8fd130\u4ebf<\/b>\u5177\u6709\u8be6\u7ec6\u8bed\u4e49\u6807\u6ce8\u7684\u70b9\uff0c\u5176\u4e2d\u6bcf\u4e2a\u70b9\u90fd\u88ab\u6807\u8bb0\u4e3a13\u4e2a\u8bed\u4e49\u7c7b\u522b\u3002<\/p>\n

    \n
  • \u5730\u9762(ground)<\/i><\/li>\n
  • \u690d\u88ab(vegetation)<\/i><\/li>\n
  • \u5efa\u7b51\u7269(building)<\/i><\/li>\n
  • \u5899(wall)<\/i><\/li>\n
  • \u6865\u6881(bridge)<\/i><\/li>\n
  • \u505c\u8f66\u573a(parking)<\/i><\/li>\n
  • \u94c1\u8f68(rail)<\/i><\/li>\n
  • \u4ea4\u901a\u8def(traffic road)<\/i><\/li>\n
  • \u8857\u9053\u8bbe\u65bd(street furniture)<\/i><\/li>\n
  • \u6c7d\u8f66(car)<\/i><\/li>\n
  • \u4eba\u884c\u9053(footpath)<\/i><\/li>\n
  • \u81ea\u884c\u8f66(bike)<\/i><\/li>\n
  • \u6c34(water)<\/i><\/li>\n<\/ul>\n

    \u4e8c. \u6570\u636e\u91c7\u96c6<\/h1>\n

    2.1 \u91c7\u96c6\u8fc7\u7a0b<\/h2>\n

    \u901a\u8fc7\u56fa\u5b9a\u7ffc\u65e0\u4eba\u673a\u91c7\u96c6\u503e\u659c\uff08oblique\uff09\u7167\u7247\u4e0e\u6700\u4f4e\u70b9\uff08nadir\uff09\u7167\u7247\uff0c\u901a\u8fc7rtk\u5bf9\u7167\u7247\u4f4d\u7f6e\u8fdb\u884c\u5730\u7406\u5bf9\u5e94\uff0c\u901a\u8fc7\u8fd0\u52a8\u7ed3\u6784\u6cd5\u5219\uff08SfM\uff09\u4e0e\u591a\u89c6\u56fe\u7acb\u4f53\uff08MVS\uff09\u8fdb\u884c\u4e09\u7ef4\u70b9\u4e91\u91cd\u5efa\u3002<\/p>\n

    <\/p>\n

    2.2 \u6570\u636e\u5206\u5e03<\/h2>\n

    <\/p>\n

    \u70b9\u4e91\u6570\u636e\u7c7b\u522b\u76f4\u63a5\u5206\u5e03\u4e0d\u5e73\u8861\u662f\u5e38\u6001\uff08\u4e0a\u56fe\u8fd9\u4e2a\u60c5\u51b5\u6574\u4f53\u5206\u5e03\u8fd8\u662f\u6bd4\u8f83\u5e73\u8861\u7684\uff09\u3002<\/p>\n

    \u4e09. \u5b9e\u9a8c\u7ed3\u679c<\/h1>\n

    3.1 \u4e0d\u540c\u6a21\u578b\u5bf9\u6bd4<\/h2>\n

    <\/p>\n

    KP\u5728\u5904\u7406\u70b9\u4e91\u65b9\u9762\uff0c\u57fa\u672c\u662f\u6548\u679c\u6700\u597d\u7684\uff08\u7ea6\u7b49\u4e8e\u56fe\u50cf\u7279\u5f81\u63d0\u53d6\u65b9\u9762\u7684\u5377\u79ef<\/strong>\u5bf9\u6bd4\u611f\u77e5\u673a<\/strong>\uff09\u3002<\/p>\n

    3.2 \u6570\u636e\u9884\u5904\u7406\u5f71\u54cd<\/h2>\n

    <\/p>\n

    \u6570\u636e\u9884\u5904\u7406\u65b9\u9762\uff0c\u9664\u4e86\u6570\u636e\u589e\u5f3a\u5916\uff0c\u70b9\u4e91\u8f93\u5165\u65b9\u5f0f\u5f71\u54cd\u4e5f\u6bd4\u8f83\u5927\u3002<\/p>\n

    \u7f51\u683c\u4e0b\u91c7\u6837\u6bd4\u968f\u673a\u4e0b\u91c7\u6837\uff0c\u66f4\u52a0\u8d34\u5408\u539f\u59cb\u70b9\u4e91\u7684\u5bc6\u5ea6\u5206\u5e03\uff0c\u53ef\u4ee5\u66f4\u597d\u7684\u4fdd\u7559\u539f\u59cb\u70b9\u4e91\u7a7a\u95f4\u7279\u5f81\u3002<\/p>\n

    \u56fa\u5b9a\u6570\u91cf\u8f93\u5165\uff0c\u5bf9\u6a21\u578b\u8bad\u7ec3\u4f1a\u66f4\u52a0\u53cb\u597d\uff08\u53ef\u4ee5\u6279\u6b21\u5904\u7406\uff0c\u4e14\u66f4\u5229\u4e8e\u8bad\u7ec3\u8fc7\u7a0b\u6a21\u578b\u4f18\u5316\uff09\u3002\u6587\u7ae0\u867d\u7136\u4e0d\u662f\u51fa\u4e8e\u6279\u6b21\u8003\u8651\u7684\uff0c\u4f46\u53ef\u4ee5\u770b\u51fa\uff0c\u56fa\u5b9a\u6570\u91cf\u8f93\u5165\uff0c\u53ef\u4ee5\u83b7\u5f97\u66f4\u9ad8\u7684\u7cbe\u5ea6\u3002<\/p>\n

    3.3 \u989d\u5916\u4fe1\u606f\u5f71\u54cd(\u8fd9\u91cc\u4e3b\u8981\u662frgb\u4fe1\u606f)<\/h2>\n

    <\/p>\n

    \u8f93\u5165\u53ef\u9760<\/strong>\u7684\u989d\u5916\u4fe1\u606f\uff0c\u53ef\u4ee5\u63d0\u4f9b\u80fd\u591a\u7684\u7279\u5f81\uff0c\u8fdb\u4e00\u6b65\u7684\u63d0\u9ad8\u6a21\u578b\u7cbe\u5ea6\u3002<\/p>\n

    \u6587\u7ae0\u4e2d\u70b9\u4e91\u6570\u636e\u662f\u56fe\u7247\u4e09\u7ef4\u91cd\u5efa\u5f97\u5230\u7684\uff0c\u56e0\u800crgb\u4fe1\u606f\u4e0e\u70b9\u4e91\u5b8c\u7f8e\u8d34\u5408\u3002\u5982\u679c\u662f\u96f7\u8fbe\u626b\u63cf\u5f97\u5230\u7684\uff0c\u9700\u8981\u6ce8\u610f\u9644\u8272\u7cbe\u5ea6\uff08\u9644\u8272\u6548\u679c\u4e0d\u597d\uff0c\u8fd8\u662f\u4e0d\u6dfb\u52a0rgb\u6548\u679c\u6bd4\u8f83\u597d\uff09\u3002<\/p>\n

    3.4 \u635f\u5931\u51fd\u6570\u5f71\u54cd<\/h2>\n

    \u5728\u70b9\u4e91\u5206\u5272\u4e2d\uff0cmiou\u53d7\u8fb9\u754c\u90e8\u5206\u70b9\u7684\u5f71\u54cd\u8f83\u5927\u3002<\/p>\n

    wce \u4e0e wce + sqrt\uff0c\u672c\u8eab\u5bf9\u4e8e\u70b9\u4e91\u5206\u5272\u63d0\u5347\u6548\u679c\u6709\u9650\uff08\u5177\u4f53\u60c5\u51b5\u53d7\u6570\u636e\u5206\u5e03\u5f71\u54cd\u7279\u522b\u4e25\u91cd\uff09\u3002<\/p>\n

    lovas\u672c\u8eab\u504fiou\u635f\u5931\uff0c\u6700\u7ec8\u7684\u5bf9\u6bd4\u7ed3\u679c\u4e2d\uff0c\u7cbe\u5ea6\u4e5f\u6700\u9ad8\u3002<\/p>\n

    focal \u672c\u8eab\u53ef\u4ee5\u5bf9\u96be\u5206\u5272\u7c7b\u522b\u63d0\u5347\u8f83\u5927\uff08\u4f46\u5bf9\u6570\u636e\u6807\u6ce8\u8981\u6c42\u8f83\u9ad8\uff09\u3002<\/p>\n

    \u5177\u4f53\u7684\u635f\u5931\u51fd\u6570\u9009\u62e9\uff0c\u8fd8\u9700\u8981\u5177\u4f53\u7684\u5de5\u7a0b\u9700\u6c42\u6765\u5b9a\u3002<\/p>\n

    3.5 \u6cdb\u5316\u80fd\u529b<\/h2>\n

    <\/p>\n

    \u6df1\u5ea6\u5b66\u4e60\u6a21\u578b\u7684\u6cdb\u5316\u80fd\u529b\u51b3\u5b9a\u4e86\u6a21\u578b\u7684\u5b9e\u7528\u7a0b\u5ea6\u3002<\/p>\n

    \u6cdb\u80fd\u80fd\u529b\u7684\u5f3a\u5f31\uff0c\u4e0e\u6570\u636e\u4e30\u5bcc\u7a0b\u5ea6\u3001\u6a21\u578b\u63d0\u53d6\u7684\u7279\u5f81\u3001\u4ee5\u53ca\u8bad\u7ec3\u8fc7\u7a0b\u7b49\u606f\u606f\u76f8\u5173\uff0c\u53ef\u4ee5\u8bf4\u6df1\u5ea6\u5b66\u4e60\u4e2d\u6bcf\u4e2a\u90e8\u5206\u90fd\u4f1a\u5bf9\u6a21\u578b\u6cdb\u5316\u80fd\u529b\u9020\u6210\u5f71\u54cd\u3002<\/p>\n

    \u8868\u4e2d\u53ef\u4ee5\u770b\u51fa\uff0ckp\u7684\u6cdb\u5316\u80fd\u529b\u8f83\u5f3a\uff0c\u4e3b\u8981\u662fkp\u63d0\u53d6\u7684\u7279\u5f81\u66f4\u4e3a\u7cbe\u7ec6\u3002<\/p>\n

    \u4e2a\u522b\u7c7b\u522b\u7684\u6cdb\u5316\u6548\u679c\u5f31\uff0c\u4e3b\u8981\u53d6\u51b3\u4e8e\u8bad\u7ec3\u6837\u672c\u7684\u4e30\u5bcc\u7a0b\u5ea6\uff08\u5728\u5b9e\u9645\u7684\u5de5\u7a0b\u5e94\u7528\u4e2d\uff0c\u8fd9\u90e8\u5206\u6bd4\u6a21\u578b\u8fd8\u91cd\u8981\uff09\u3002\u5bf9\u4e8e\u6837\u672c\u91cf\u8f83\u5c11\u7684\u7c7b\u522b\uff0c\u53ef\u4ee5\u8fdb\u884c\u6570\u636e\u589e\u5f3a\u5904\u7406\u3002<\/p>\n

    3.6 \u7ed3\u679c\u5c55\u793a<\/h2>\n

    \u6587\u4e2d\u6570\u636e\u91cf\u968f\u7136\u5e9e\u5927\uff0c\u4f46\u662f\u4f9d\u7136\u4e0d\u8db3\u4ee5\u652f\u6491\u57ce\u5e02\u7ea7\u522b\u7684\u70b9\u4e91\u5206\u5272\u3002\u5927\u89c4\u6a21\u70b9\u4e91\u5206\u5272\uff0c\u6700\u7ec8\u7684\u96be\u70b9\u8fd8\u662f\u5728\u4e8e\u7279\u6b8a\u60c5\u51b5\u7684\u5904\u7406\u4ee5\u53ca\u5c0f\u6837\u672c\u91cf\u7c7b\u522b\u7684\u589e\u5f3a\u3002<\/p>\n

    <\/p>\n","protected":false},"excerpt":{"rendered":"

    \u8bba\u6587\u5730\u5740\uff1aTowards Semantic Segmentation of Urban-Scale 3D Po…<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"closed","ping_status":"closed","sticky":false,"template":"","format":"standard","meta":[],"categories":[28],"tags":[],"_links":{"self":[{"href":"http:\/\/www.yatenglg.cn\/blog\/index.php?rest_route=\/wp\/v2\/posts\/3029"}],"collection":[{"href":"http:\/\/www.yatenglg.cn\/blog\/index.php?rest_route=\/wp\/v2\/posts"}],"about":[{"href":"http:\/\/www.yatenglg.cn\/blog\/index.php?rest_route=\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"http:\/\/www.yatenglg.cn\/blog\/index.php?rest_route=\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"http:\/\/www.yatenglg.cn\/blog\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=3029"}],"version-history":[{"count":6,"href":"http:\/\/www.yatenglg.cn\/blog\/index.php?rest_route=\/wp\/v2\/posts\/3029\/revisions"}],"predecessor-version":[{"id":3038,"href":"http:\/\/www.yatenglg.cn\/blog\/index.php?rest_route=\/wp\/v2\/posts\/3029\/revisions\/3038"}],"wp:attachment":[{"href":"http:\/\/www.yatenglg.cn\/blog\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=3029"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"http:\/\/www.yatenglg.cn\/blog\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=3029"},{"taxonomy":"post_tag","embeddable":true,"href":"http:\/\/www.yatenglg.cn\/blog\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=3029"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}