1988 \u5e74\u7684\u51ac\u5929\uff0c\u4e00\u8f86\u706b\u8f66\u4ece\u6cd5\u56fd\u51fa\u53d1\u3001\u5f00\u5f80\u5362\u68ee\u5821\u3002<\/p>\n
\u706b\u8f66\u4e0a\u6709\u4e00\u884c\u56db\u4eba\uff0c\u6765\u81ea\u6cd5\u56fd\u5357\u9521\uff0c\u4ed6\u4eec\u7cbe\u795e\u7115\u53d1\uff0c\u5174\u9ad8\u91c7\u70c8\u5730\u8ba8\u8bba\u7740\u5373\u5c06\u5f00\u59cb\u7684\u65c5\u7a0b\u3002\u4ece\u5357\u9521\u5230\u5230\u5362\u68ee\u5821\uff0c\u4ed6\u4eec\u5c06\u5728\u5362\u68ee\u5821\u4e58\u5750\u98de\u673a\uff0c\u98de\u5f80\u7f8e\u56fd\u4f5b\u7f57\u91cc\u8fbe\u53c2\u52a0\u7b2c\u4e8c\u5c4a\u56fd\u9645\u8ba1\u7b97\u673a\u89c6\u89c9\u5927\u4f1a ICCV\u3002<\/p>\n
\u4ed6\u4eec\u4e2d\uff0c\u6709\u552f\u4e00\u4e00\u4f4d\u6765\u81ea\u4e2d\u56fd\u7684\u4e1c\u65b9\u9762\u5b54\uff0c\u5185\u5fc3\u5c24\u4e3a\u6fc0\u52a8\u2014\u2014\u8fd9\u662f\u4ed6\u7b2c\u4e00\u6b21\u53bb\u7f8e\u56fd\uff0c\u4e5f\u662f\u4ed6\u7b2c\u4e00\u6b21\u53c2\u52a0\u56fd\u9645\u4e0a\u7684\u9876\u7ea7\u5b66\u672f\u4f1a\u8bae\uff0c\u6709\u673a\u4f1a\u4e0e\u6765\u81ea\u4e16\u754c\u5404\u5730\u7684\u540c\u884c\u4ea4\u6d41\u5207\u78cb\u3002<\/p>\n
\u8fd9\u4f4d\u610f\u6c14\u98ce\u53d1\u7684\u9752\u5e74\uff0c\u5c31\u662f\u540e\u6765\u4e2d\u56fd\u8ba1\u7b97\u673a\u89c6\u89c9\u5927\u5e08\u3001\u9999\u6e2f\u79d1\u6280\u5927\u5b66\u8ba1\u7b97\u673a\u89c6\u89c9\u5b9e\u9a8c\u5ba4\u7684\u5f00\u62d3\u8005\u2014\u2014\u6743\u9f99\u3002<\/p>\n
\u90a3\u4e00\u5e74\uff0c\u6743\u9f99 24 \u5c81\u3002<\/p>\n \u4e0e\u6743\u9f99\u4e00\u540c\u51fa\u53d1\u7684\uff0c\u8fd8\u6709\u4ed6\u7684\u535a\u58eb\u5bfc\u5e08 Roger Mohr\u3001\u4e24\u4f4d\u7814\u7a76\u5458 Karl Tombre \u4e0e Gerald Masini\u3002<\/p>\n \u6df1\u5ea6\u5b66\u4e60\u6d6a\u6f6e\u5174\u8d77\u540e\uff0c\u534e\u4eba\u79d1\u5b66\u5bb6\u9010\u6e10\u6210\u4e3a\u8ba1\u7b97\u673a\u89c6\u89c9\u4e09\u5927\u9876\u4f1a\uff08ICCV\u3001CVPR\u3001ECCV\uff09\u7684\u53c2\u4f1a\u4e3b\u529b\uff0c\u53d1\u8868\u4e86\u5927\u91cf\u7684\u79d1\u7814\u6210\u679c\uff0c\u5e76\u6458\u5f97\u5404\u5927\u91cd\u8981\u5956\u9879\u3002\u4f46\u5728\u4e0a\u4e16\u7eaa 80 \u5e74\u4ee3\uff0cICCV \u5927\u4f1a\u73b0\u573a\u7684\u534e\u4eba\u9762\u5b54\u5be5\u5be5\u65e0\u51e0\uff0c\u76f4\u5230 1988 \u5e74\u6cd5\u56fd\u7559\u5b66\u751f\u6743\u9f99\u6253\u7834\u4e86\u5c40\u9762\u3002<\/p>\n 1988 \u5e74\uff0c\u5728\u6cd5\u56fd\u56fd\u7acb\u6d1b\u6797\u7406\u5de5\u5b66\u9662\uff08INPL\uff09\u3001\u56fd\u5bb6\u79d1\u5b66\u7814\u7a76\u4e2d\u5fc3\uff08CNRS\uff09\u548c\u56fd\u5bb6\u4fe1\u606f\u4e0e\u81ea\u52a8\u5316\u7814\u7a76\u6240\uff08INRIA\uff09\u7684\u5171\u540c\u5b9e\u9a8c\u5ba4\u653b\u8bfb\u8ba1\u7b97\u673a\u535a\u58eb\u7684\u4e2d\u56fd\u5b66\u751f\u6743\u9f99\uff0c\u5728\u5bfc\u5e08 Roger Mohr \u7684\u6307\u5bfc\u4e0b\uff0c\u5199\u4e86\u4e00\u7bc7\u4ece\u51e0\u4f55\u7ea6\u675f\u7814\u7a76\u5ba4\u5185\u573a\u666f\u56fe\u50cf\u5339\u914d\u7684\u8bba\u6587\u3002<\/p>\n \u8bba\u6587\u88ab\u521a\u521a\u8bde\u751f\u7684 ICCV \u63a5\u6536\uff0c\u6210\u4e3a\u4e86\u5b9e\u9a8c\u5ba4\u7684\u7b2c\u4e00\u7bc7\u89c6\u89c9\u9876\u4f1a\u8bba\u6587\uff0c\u4e5f\u6807\u5fd7\u7740\u534e\u4eba\u5b66\u8005\u5728\u8fd9\u4e2a\u89c6\u89c9\u4f1a\u8bae\u4e0a\u7684\u9996\u6b21\u4eae\u76f8\u3002<\/p>\n 1987 \u5e74\u7b2c\u4e00\u5c4a ICCV \u5728\u82f1\u56fd\u4f26\u6566\u6210\u7acb\uff0c\u6743\u9f99\u7684\u5bfc\u5e08 Roger Mohr \u53c2\u52a0\u4e86\u8fd9\u4e2a\u91cc\u7a0b\u7891\u7684\u4f1a\u8bae\uff0c\u4ece\u4f1a\u8bae\u73b0\u573a\u5e26\u56de\u6765\u552f\u4e00\u4e00\u672c Proceeding \u4f1a\u8bae\u8bba\u6587\u96c6\u3002\u90a3\u65f6\u53c2\u4f1a\u4eba\u5458\u7684\u300c\u4f20\u7edf\u300d\u5c31\u662f\u5fc5\u987b\u5e26\u4e00\u672c Proceeding \u56de\u5bb6\u53bb\u8bfb\u3002\u6743\u9f99\u5bf9\u8fd9\u672c\u300c\u5b64\u672c\u300d\u975e\u5e38\u73cd\u60dc\uff0c\u7ec6\u5fc3\u9605\u8bfb\uff0c\u8bfb\u5b8c\u540e\u5199\u4e86\u4e24\u7bc7\u6587\u7ae0\uff0c\u5176\u4e2d\u4e00\u7bc7\u5728\u5b9e\u9a8c\u5ba4\u5185\u90e8\u53cd\u9988\u5f88\u597d\uff0c\u679c\u4e0d\u5176\u7136\u4e2d\u4e86\u7b2c\u4e8c\u5c4a ICCV\u3002<\/p>\n \u8bba\u6587\u5730\u5740\uff1ahttps:\/\/ieeexplore.ieee.org\/document\/590050<\/p>\n 1988 \u5e74\u7684\u7f8e\u56fd\u4e4b\u884c\uff0c\u4e3a\u4e86\u8ba9\u5927\u5bb6\u4e0d\u8d1f\u6b64\u884c\uff0c\u53c2\u52a0 ICCV \u4e4b\u4f59\uff0cRoger Mohr \u8fd8\u8054\u7cfb\u4e86\u5404\u5927\u9ad8\u6821\uff0c\u7ec4\u7ec7\u4e86\u4e00\u6b21\u5168\u7f8e\u77e5\u540d\u5b9e\u9a8c\u5ba4\u7684\u6e38\u5b66\u4e4b\u65c5\u3002\u6743\u9f99\u7b2c\u4e00\u6b21\u53c2\u4f1a\uff0c\u5c31\u611f\u53d7\u5230\u4e86\u8ba1\u7b97\u673a\u89c6\u89c9\u9886\u57df\u6700\u524d\u6cbf\u7684\u5b66\u672f\u7814\u8ba8\u6c1b\u56f4\u3002<\/p>\n \u6743\u9f99\u5728 1985 \u5e74\u4ece\u4e2d\u56fd\u8d74\u6cd5\u7559\u5b66\u3002<\/p>\n \u8fd9\u4e2a\u6210\u957f\u4e8e\u5c71\u897f\u592a\u539f\u7684\u4e2d\u56fd\u9752\u5e74\uff0c\u4ece\u5c0f\u65f6\u5019\u5728\u5c11\u5e74\u5bab\u7f8e\u672f\u7ec4\u5f00\u59cb\u5c31\u4e00\u76f4\u5bf9\u56fe\u50cf\u6709\u7740\u6d53\u539a\u7684\u5174\u8da3\u30021980 \u5e74\uff0c\u6743\u9f99\u8003\u4e0a\u4e86\u5317\u65b9\u4ea4\u901a\u5927\u5b66\uff08\u73b0\u5317\u4eac\u4ea4\u901a\u5927\u5b66\uff09\u901a\u4fe1\u4e13\u4e1a\u6bd5\u4e1a\uff0c\u6210\u7ee9\u4f18\u79c0\uff0c\u57281984\u5e74\u6bd5\u4e1a\u65f6\u8003\u53d6\u6559\u80b2\u90e8\u8d74\u6cd5\u7559\u5b66\u7814\u7a76\u751f\u3002<\/p>\n \u90a3\u65f6\u5317\u65b9\u4ea4\u5927\u7684\u4fe1\u606f\u79d1\u5b66\u7814\u7a76\u6240\u5c31\u805a\u96c6\u4e86\u4e00\u6279\u70ed\u7231\u56fe\u50cf\u7814\u7a76\u7684\u5b66\u8005\uff0c\u5b9e\u9a8c\u5ba4\u89c4\u6a21\u5e9e\u5927\uff0c\u5728\u6a21\u5f0f\u8bc6\u522b\u3001\u56fe\u50cf\u7406\u89e3\u4e43\u81f3\u8ba1\u7b97\u673a\u56fe\u5f62\u5b66\u4e0a\u5747\u6709\u6d89\u730e\u3002<\/p>\n \u6743\u9f99\u5728\u672c\u79d1\u6bd5\u4e1a\u8bbe\u8ba1\u65f6\u5c31\u8ddf\u968f\u65f6\u4efb\u6240\u957f\u8881\u4fdd\u5b97\u4ee5\u53ca\u521a\u7559\u6cd5\u56de\u56fd\u7684\u5468\u5fe0\u94b0\uff0c\u540e\u8005\u5e26\u7740\u6743\u9f99\u7684\u672c\u79d1\u6bd5\u4e1a\u8bbe\u8ba1\uff0c\u7ed9\u4e86\u6743\u9f99\u4e0d\u5c11\u6307\u5bfc\u3002<\/p>\n \u6743\u9f99\u51fa\u56fd\u7559\u5b66\u4e5f\u53d7\u5230\u4e86\u4ed6\u54e5\u54e5\u6743\u5168\u7684\u5f71\u54cd\u3002\u6743\u5168\u5728 1978 \u5e74\u4ee5\u4f18\u5f02\u6210\u7ee9\u8003\u5165\u6e05\u534e\u5927\u5b66\uff0c\u51e0\u4e2a\u6708\u540e\u5c31\u88ab\u6559\u80b2\u90e8\u6d3e\u9063\u5230\u6bd4\u5229\u65f6\u672c\u79d1\u7559\u5b66\uff0c\u6781\u53ef\u80fd\u662f\u6211\u56fd\u6539\u9769\u5f00\u653e\u540e\u5c71\u897f\u592a\u539f\u51fa\u56fd\u7559\u5b66\u7b2c\u4e00\u4eba\u3002 \u56e0\u6b64\uff0c\u6743\u9f99\u5f88\u65e9\u5bf9\u51fa\u56fd\u7559\u5b66\u6709\u6240\u4e86\u89e3\uff0c\u5e76\u8003\u53d6\u4e86 1984 \u5e74\u6559\u80b2\u90e8\u7684\u6d3e\u9063\u7559\u5b66\u7814\u7a76\u751f\uff0c\u6210\u4e3a\u5f53\u5e74\u5317\u65b9\u4ea4\u5927\u51fa\u56fd\u7559\u5b66\u7684 8 \u540d\u5b66\u751f\u4e4b\u4e00\u3002<\/p>\n \u5728\u6cd5\u56fd\uff0c\u6743\u9f99\u7ed3\u8bc6\u4e86\u66f4\u65e9\u7559\u6cd5\u7684\u9a6c\u9882\u5fb7\uff08\u539f\u4e2d\u79d1\u9662\u81ea\u52a8\u5316\u7814\u7a76\u6240\u6240\u957f\uff09\u3001\u5f20\u6b63\u53cb\uff08\u73b0\u817e\u8baf\u9996\u5e2d\u79d1\u5b66\u5bb6\uff09\uff0c\u4e09\u4eba\u5e76\u79f0\u4e3a\u300c\u6cd5\u56fd\u534e\u4eba\u89c6\u89c9\u4e09\u5251\u5ba2\u300d\uff0c\u800c\u4ed6\u4eec\u5728\u51a5\u51a5\u4e4b\u4e2d\u65e9\u6709\u6e0a\u6e90\uff1a<\/p>\n \u5728\u5317\u65b9\u4ea4\u5927\u7684\u6700\u540e\u4e00\u5e74\uff0c\u6743\u9f99\u8ddf\u968f\u5468\u5fe0\u94b0\u505a\u7814\u7a76\uff0c\u5411\u5bf9\u65b9\u8bf7\u6559\u7559\u6cd5\u7ecf\u9a8c\uff0c\u540e\u8005\u7814\u7a76\u56fe\u5f62\u5b66\uff0c\u662f 1979 \u5e74\u4e0e\u9a6c\u9882\u5fb7\u540c\u6279\u8d74\u6cd5\u7684\u5b66\u751f\u4e4b\u4e00\u3002<\/p>\n \u5230 1987 \u5e74\uff0c\u6743\u9f99\u53bb\u6cd5\u56fd\u7684\u7b2c\u4e8c\u5e74\uff0c\u5728\u6cd5\u56fd\u56fd\u5bb6\u4fe1\u606f\u4e0e\u81ea\u52a8\u5316\u7814\u7a76\u6240\uff08INRIA\uff09\u5b9e\u4e60\u65f6\u53c8\u7ed3\u8bc6\u4e86\u540c\u6837\u901a\u8fc7\u6559\u80b2\u90e8\u6d3e\u9063\u7559\u5b66\u7684\u5f20\u6b63\u53cb\u3002\u5f20\u6b63\u53cb\u5148\u5728\u5357\u9521\u5927\u5b66\u8ba1\u7b97\u673a\u7cfb\u8bfb\u7855\uff0c\u540e\u53c8\u53bb\u6cd5\u56fd\u5df4\u9ece\u7b2c\u5341\u4e00\u5927\u5b66\u8bfb\u535a\u3002<\/p>\n \u5f53\u65f6\u6b27\u6d32\u7684\u4eba\u5de5\u667a\u80fd\u5df2\u8d77\u6b65\uff0c\u6559\u80b2\u53d1\u8fbe\uff0c\u8bde\u751f\u5728\u6cd5\u56fd\u7684 Prolog \u4f5c\u4e3a\u300c\u53e4\u65e9\u300d\u4eba\u5de5\u667a\u80fd\u8bed\u8a00\u6b63\u5f15\u9886\u4eba\u5de5\u667a\u80fd\u4ee5\u53ca\u7b2c\u4e94\u4ee3\u8ba1\u7b97\u673a\u7684\u53d1\u5c55\uff0c\u6743\u9f99\u53bb\u6cd5\u56fd\u7684\u7b2c\u4e00\u5fd7\u613f\u4e5f\u662f\u7814\u7a76\u4eba\u5de5\u667a\u80fd\u3002<\/p>\n \u6700\u65e9\u5728\u56fd\u5185\u63a5\u89e6\u300c\u4eba\u5de5\u667a\u80fd\u300d\u8fd9\u95e8\u8bfe\u65f6\uff0c\u6743\u9f99\u6709\u4e9b\u5931\u671b\uff0c\u56e0\u4e3a\u8bfe\u7a0b\u5185\u5bb9\u7ffb\u6765\u8986\u53bb\u53ea\u6d89\u53ca\u4e86\u4e00\u4e9b\u641c\u7d22\u7b97\u6cd5\uff0c\u5e76\u6ca1\u6709\u592a\u591a\u4ed6\u6240\u671f\u5f85\u7684\u300c\u667a\u80fd\u300d\u3002\u800c\u5230\u4e86\u6cd5\u56fd\u540e\uff0c\u6cd5\u56fd\u7684\u7814\u7a76\u4e2d\u5fc3\u6db5\u76d6\u4e86\u8bed\u97f3\u3001\u56fe\u50cf\u3001\u903b\u8f91\u3001\u4e13\u5bb6\u7cfb\u7edf\u7b49\u591a\u4e2a\u7814\u7a76\u65b9\u5411\uff0c\u540c\u529e\u516c\u5ba4\u7684\u4e24\u4e2a\u6cd5\u56fd\u540c\u5b66\u751a\u81f3\u5df2\u7ecf\u5f00\u59cb\u7814\u7a76\u4e3a\u4eca\u5929\u7684\u795e\u7ecf\u7f51\u7edc\u63d0\u4f9b\u7406\u8bba\u57fa\u7840\u7684\u300c\u8fde\u63a5\u4e3b\u4e49\u300d\u3002<\/p>\n \u5728\u524d\u6cbf\u7684\u7814\u7a76\u73af\u5883\u4e2d\uff0c\u6743\u9f99\u987f\u65f6\u71c3\u8d77\u4e86\u7814\u7a76\u7684\u70ed\u60c5\u3002\u7531\u4e8e\u4ece\u5c0f\u5bf9\u56fe\u50cf\u4e0e\u7a7a\u95f4\u611f\u5174\u8da3\uff0c\u6743\u9f99\u51b3\u5b9a\u7814\u7a76\u56fe\u50cf\u7406\u89e3\uff0c\u7531\u6b64\u8e0f\u5165\u4e86\u8ba1\u7b97\u673a\u89c6\u89c9\u7684\u5927\u95e8\u3002<\/p>\n \u6743\u9f99\u7684\u5bfc\u5e08 Roger Mohr \u662f\u6cd5\u56fd\u5c04\u5f71\u51e0\u4f55\u4e0e\u8ba1\u7b97\u673a\u89c6\u89c9\u7684\u7814\u7a76\u5148\u9a71\uff0c\u4ece\u5230\u6cd5\u56fd\u7684\u7b2c\u4e00\u5929\u8d77\uff0c\u6743\u9f99\u5c31\u8ddf\u7740 Roger Mohr \u505a\u7814\u7a76\uff0c\u4e00\u76f4\u5230 2002 \u5e74\u79bb\u5f00\u6cd5\u56fd\uff0c\u6574\u6574 16 \u5e74\u90fd\u662f\u4e00\u4e2a\u56e2\u961f\u30021988 \u5e74\u6743\u9f99\u4e2d ICCV \u8bba\u6587\uff0c1989 \u5e74\uff08\u5728\u6cd5\u56fd\u7684\u7b2c\u56db\u5e74\uff09\u5c31\u83b7\u5f97\u4e86 INPL \u535a\u58eb\u5b66\u4f4d\u3002<\/p>\n 1990 \u5e74\uff0c\u6743\u9f99\u52a0\u5165\u6cd5\u56fd\u56fd\u5bb6\u7814\u7a76\u4e2d\u5fc3\uff0c\u5728 INRIA \u62c5\u4efb\u9ad8\u7ea7\u7814\u7a76\u79d1\u5b66\u5bb6\u3002Roger Mohr \u4f5c\u4e3a\u4e3b\u8981\u6210\u5458\u5728 INRIA Grenoble\uff08\u683c\u52d2\u8bfa\u5e03\u5c14\uff09\u5f00\u62d3\u8ba1\u7b97\u673a\u89c6\u89c9\u5c0f\u7ec4\uff0c\u6743\u9f99\u6210\u4e3a\u521b\u59cb\u6210\u5458\uff0c\u4e5f\u5f00\u59cb\u5e26\u9886\u81ea\u5df1\u7684\u5b66\u751f\uff0c\u5e76\u89c1\u8bc1\u4e86\u6b27\u6d32\u4e09\u7ef4\u89c6\u89c9\u7684\u9ec4\u91d1\u65f6\u4ee3\u3002<\/p>\n 1982 \u5e74\u5927\u536b\u00b7\u9a6c\u5c14\u51fa\u7248\u300a\u89c6\u89c9\u300b\u4e00\u4e66\uff0c\u4ece edge \u7814\u7a76\u89c6\u89c9\u8ba1\u7b97\u6210\u4e3a\u884c\u4e1a\u7684\u4e3b\u6d41\u3002\u5230 1990-2000 \u5e74\uff0c\u884c\u4e1a\u5185\u51fa\u73b0\u53d8\u5316\uff0c\u4ece edge \u8f6c\u5411\u7814\u7a76\u51e0\u4f55\u95ee\u9898\uff0c\u5373\u300c\u4e09\u7ef4\u91cd\u5efa\u300d\u3002\u4e0a\u4e16\u7eaa 90 \u5e74\u4ee3\uff0c\u6b27\u6d32\u7fa4\u82f1\u835f\u8403\uff0c\u6b27\u76df\u6709\u4e00\u4e2a\u5927\u9879\u76ee\uff08\u300c\u6b27\u76df\u7814\u53d1\u6846\u67b6\u8ba1\u5212\u300d\uff09\u805a\u96c6\u4e86\u4e00\u6279\u7814\u7a76\u4e0d\u53d8\u91cf\u548c\u51e0\u4f55\u7684\u4eba\u624d\uff08\u4e3b\u8981\u6765\u81ea INRIA \u3001\u82f1\u56fd\u725b\u6d25\u5927\u5b66\u3001\u6bd4\u5229\u65f6\u9c81\u6c76\u5927\u5b66\u3001\u745e\u5178\u7687\u5bb6\u7406\u5de5\u5b66\u9662\uff09\uff0c\u6210\u4e3a\u4e09\u7ef4\u89c6\u89c9\u7684\u7814\u7a76\u5723\u5730\uff0c\u800c\u6b27\u6d32\u4e09\u7ef4\u89c6\u89c9\u7684\u53d1\u6e90\u5730\u53c8\u5728\u6cd5\u56fd\u3002<\/p>\n \u6743\u9f99\u6240\u5728\u7684 INRIA \u4e00\u9a6c\u5f53\u5148\u30021992 \u5e74\uff0cINRIA \u7684\u4e00\u4f4d\u7814\u7a76\u5458 Olivier Faugeras \u53d1\u8868\u8bba\u6587\u300cWhat Can be Seen in Three Dimensions with an Uncalibrated Stereo Rig\u300d\uff0c\u8bd5\u56fe\u7528\u6570\u5b66\u5206\u6790\u53cc\u76ee\u80fd\u8ba9\u4eba\u611f\u77e5\u5230\u4e09\u7ef4\u7684\u539f\u56e0\u3002Oliver \u63d0\u51fa\u300c\u4e03\u70b9\u7b97\u6cd5\u300d\uff0c\u5373\uff1a\u901a\u8fc7\u5728\u975e\u6807\u5b9a\u76f8\u673a\u7684\u4e24\u5f20\u56fe\u50cf\u4e2d\u6807\u51fa 7 \u4e2a\u5bf9\u5e94\u70b9\uff0c\u5c31\u53ef\u4ee5\u8ba1\u7b97\u51fa\u83b7\u5f97\u4e09\u7ef4\u7684\u57fa\u7840\u77e9\u9635\u3002\u8fd9\u4e2a\u5de5\u4f5c\u62c9\u5f00\u4e86\u4e09\u7ef4\u89c6\u89c9\u7814\u7a76\u7684\u5e8f\u5e55\u3002<\/p>\n \u4e09\u5e74\u540e\u30011995 \u5e74\uff0c\u6743\u9f99\u53d1\u8868\u7684\u300c\u516d\u70b9\u7b97\u6cd5\u300d\uff0c\u53c8\u5c06\u4e09\u7ef4\u91cd\u5efa\u5411\u524d\u63a8\u8fdb\u4e86\u4e00\u5927\u6b65\u3002<\/p>\n \u5728\u300c\u516d\u70b9\u7b97\u6cd5\u300d\uff0c\u6743\u9f99\u63a2\u7d22\u4e86\u4e09\u7ef4\u91cd\u5efa\u7684\u6700\u5c0f\u6570\u636e\u9700\u6c42\uff0c\u5f97\u5230\u300c\u516d\u4e2a\u70b9\u3001\u4e09\u5e45\u56fe\u50cf\u300d\u7684\u65b9\u6cd5\u8bba\uff0c\u4e0d\u4ec5\u4e3a\u4e09\u7ef4\u91cd\u5efa\u7684\u57fa\u7840\u7406\u8bba\u4f5c\u51fa\u6770\u51fa\u8d21\u732e\uff0c\u4e4b\u540e\u51e0\u4e4e\u6240\u6709\u57fa\u4e8e\u975e\u6807\u5b9a\u76f8\u673a\u7684\u4e09\u7ef4\u91cd\u5efa\u6280\u672f\u90fd\u53d7\u5230\u4e86\u8fd9\u4e00\u7b97\u6cd5\u7684\u542f\u53d1\u3002\u6743\u9f99\u7531\u6b64\u58f0\u540d\u5927\u566a\uff0c\u6210\u4e3a\u4e09\u7ef4\u91cd\u5efa\u7684\u9886\u519b\u4eba\u7269\u3002<\/p>\n \u8bba\u6587\u5730\u5740\uff1ahttps:\/\/citeseerx.ist.psu.edu\/document?repid=rep1&type=pdf&doi=4fa70fb737a514afe8e902a9d8fd56f6cc3d6b60<\/p>\n \u5728\u4e5d\u5341\u5e74\u4ee3\uff0c\u8ba1\u7b97\u673a\u89c6\u89c9\u9886\u57df\u6700\u91cd\u8981\u7684\u6210\u5c31\u4e4b\u4e00\u662f\u53d1\u5c55\u4e86\u4e00\u79cd\u4e09\u7ef4\u89c6\u89c9\u51e0\u4f55\u6280\u672f\uff0c\u5373\u4ece\u975e\u6807\u5b9a\u7684\u56fe\u50cf\uff08uncalibrated images\uff09\u6216\u8fd0\u52a8\u7ed3\u6784\uff08Structure from Motion\uff09\u4e2d\u8fdb\u884c\u4e09\u7ef4\u91cd\u5efa\u3002\u53ea\u8981\u8f93\u5165\u56fe\u50cf\u5b58\u5728\u91cd\u53e0\uff0c\u5c31\u80fd\u5168\u81ea\u52a8\u5730\u8ba1\u7b97\u51fa\u6240\u6709\u76f8\u673a\u7684\u4f4d\u7f6e\u548c\u65b9\u5411\uff0c\u5e76\u91cd\u5efa\u573a\u666f\u7684\u4e09\u7ef4\u70b9\u3002<\/p>\n \u56fe\u50cf\u7684\u4e09\u7ef4\u91cd\u5efa\u662f\u8ba1\u7b97\u673a\u89c6\u89c9\u3001\u673a\u5668\u4eba\u5b66\u3001\u6444\u5f71\u6d4b\u91cf\u5b66\u548c\u8ba1\u7b97\u673a\u56fe\u5f62\u5b66\u7684\u57fa\u7840\uff0c\u800c\u4e09\u7ef4\u89c6\u89c9\u51e0\u4f55\u7684\u6574\u4e2a\u4f53\u7cfb\u5efa\u7acb\u5728\u4e24\u89c6\u56fe\u3001\u4e09\u89c6\u56fe\u548cN\u89c6\u56fe\u51e0\u4f55\u8fd9\u4e09\u4e2a\u57fa\u672c\u8981\u7d20\u4e4b\u4e0a\u3002<\/p>\n \u4e24\u89c6\u56fe\u51e0\u4f55\u95ee\u9898\uff0c\u4ee5\u57fa\u7840\u77e9\u9635\uff08fundamental matrix\uff09\u4e3a\u7279\u5f81\uff0c\u5728 1992 \u5e74\u7531 Olivier Faugeras \u548c Richard Hartley \u5404\u81ea\u72ec\u7acb\u89e3\u51b3\uff1b\u4e09\u89c6\u56fe\u51e0\u4f55\u95ee\u9898\u5219\u662f\u7531\u6743\u9f99\u5728 1994 \u5e74\u53d1\u8868\u7684\u8bba\u6587\u300aInvariants of Six Points and Projective Reconstruction from Three Uncalibrated Images\u300b\u4e2d\u5f97\u4ee5\u89e3\u51b3\u3002<\/p>\n \u4e24\u89c6\u56fe\u51e0\u4f55\u5728\u4f7f\u7528\u4e03\u70b9\u7b97\u6cd5\u542f\u52a8\u8ba1\u7b97\u65f6\u662f\u57fa\u7840\u6027\u7684\uff0c\u4f46\u5b83\u4f1a\u5bfc\u81f4\u5bf9\u5e94\u5173\u7cfb\u6b67\u4e49\u3002\u4e0e\u4e4b\u76f8\u6bd4\uff0c\u4e09\u89c6\u56fe\u51e0\u4f55\u5728\u552f\u4e00\u6027\u5730\u8868\u5f81\u6295\u5f71\u7ed3\u6784\u548c\u6d88\u9664\u91cd\u5efa\u53ca\u5bf9\u5e94\u5173\u7cfb\u6b67\u4e49\u65b9\u9762\uff0c\u65e2\u662f\u6700\u5c0f\u7684\u4e5f\u662f\u6700\u5b8c\u6574\u7684\u3002<\/p>\n \u6743\u9f99\u5f15\u5165\u7684\u300c\u516d\u70b9\u7b97\u6cd5\u300d\uff0c\u4ee5\u5c01\u95ed\u5f62\u5f0f\u89e3\u51b3\u4e86\u4e09\u89c6\u56fe\u51e0\u4f55\u95ee\u9898\uff0c\u6700\u591a\u63d0\u4f9b\u4e09\u4e2a\u4ee3\u6570\u89e3\u3002\u7531\u4e8e\u4e09\u89c6\u56fe\u4e4b\u5916\u6ca1\u6709\u5176\u4ed6\u72ec\u7acb\u7684\u51e0\u4f55\u5173\u7cfb\uff0c\u4e09\u89c6\u56fe\u51e0\u4f55\u548c\u4e24\u89c6\u56fe\u51e0\u4f55\u662f\u591a\u89c6\u56fe\u51e0\u4f55\u4e2d\u552f\u4e8c\u7684\u57fa\u7840\u51e0\u4f55\uff0c\u56e0\u6b64\u4e09\u89c6\u56fe\u7684\u516d\u70b9\u7b97\u6cd5\u548c\u4e24\u89c6\u56fe\u7684\u4e03\u70b9\u7b97\u6cd5\u4e5f\u662f\u56fe\u50cf\u4e09\u7ef4\u91cd\u5efa\u4e2d\u6700\u57fa\u7840\u7684\u4e24\u4e2a\u7b97\u6cd5\u3002<\/p>\n \u800c\u7531\u4e8e N \u89c6\u56fe\u51e0\u4f55\u672c\u8d28\u4e0a\u662f\u4e00\u4e2a\u4ee3\u6570\u5197\u4f59\u7cfb\u7edf\uff0c\u7f3a\u4e4f\u901a\u7528\u7684\u4ee3\u6570\u89e3\u51b3\u65b9\u6848\uff0c\u6240\u4ee5\u53ea\u80fd\u901a\u8fc7\u4f18\u5316\u65b9\u6cd5\u6765\u89e3\u51b3\u30021992 \u5e74\uff0c\u5728 Faugeras \u548c Hartley \u5bf9\u4e24\u89c6\u56fe\u51e0\u4f55\u7684\u4ee3\u6570\u5206\u6790\u540c\u65f6\uff0c\u6743\u9f99\u53ca\u5176\u540c\u4e8b\u521b\u65b0\u6027\u5730\u63d0\u51fa\u4e86\u4e00\u79cd\u4f18\u5316\u65b9\u6cd5\uff0c\u91c7\u7528\u7a7a\u95f4\u4e2d\u7684\u89c4\u8303\u6295\u5f71\u57fa\uff0c\u9996\u6b21\u5b9e\u73b0\u4e86\u591a\u89c6\u56fe\u7684\u6295\u5f71\u91cd\u5efa\u3002<\/p>\n \u8fd9\u7bc7\u300aRelative Reconstruction from Multiple Uncalibrated Images\u300b\u4e0e Faugeras \u548c Hartley \u540c\u5e74\u5728\u4e24\u89c6\u56fe\u51e0\u4f55\u65b9\u9762\u7684\u91cc\u7a0b\u7891\u5f0f\u7814\u7a76\u9f50\u540d\uff0c\u5176\u57fa\u7840\u6027\u8d21\u732e\u5728\u5b66\u672f\u754c\u53d7\u5230\u4e86\u9ad8\u5ea6\u8ba4\u53ef\u3002<\/p>\n \u6743\u9f99\u5728\u4e09\u89c6\u56fe\u4e0e N \u89c6\u56fe\u8fd9\u4e24\u4e2a\u5173\u952e\u9886\u57df\u7684\u91cd\u8981\u8d21\u732e\uff0c\u4f7f\u4ed6\u6210\u4e3a\u4e09\u7ef4\u8ba1\u7b97\u673a\u89c6\u89c9\u53d1\u5c55\u7684\u4e3b\u8981\u63a8\u52a8\u8005\u4e4b\u4e00\u3002\u5728\u90a3\u4e2a\u65f6\u671f\uff0c\u6743\u9f99\u7684\u8d21\u732e\u4e0d\u4ec5\u9650\u4e8e\u6b64\uff0c\u8fd8\u89e3\u51b3\u4e86\u5176\u4ed6\u89c6\u89c9\u51e0\u4f55\u9886\u57df\u7684\u8bf8\u591a\u95ee\u9898\u3002<\/p>\n \u300c\u516d\u70b9\u7b97\u6cd5\u300d\u4e5f\u662f\u6743\u9f99\u4e0e\u4e00\u4f17\u65e9\u671f\u4e2d\u56fd\u8ba1\u7b97\u673a\u89c6\u89c9\u534e\u4eba\u5b66\u8005\u7ed3\u7f18\u7684\u5951\u673a\u3002<\/p>\n \u300c\u516d\u70b9\u7b97\u6cd5\u300d\u53d1\u8868\u540e\uff0c1995 \u5e74\uff0c\u6743\u9f99\u53bb\u7f8e\u56fd\u6ce2\u58eb\u987f\u53c2\u52a0 ICCV\uff0c\u5728\u54c8\u4f5b David Mumford \u5b9e\u9a8c\u5ba4\u7ed3\u8bc6\u4e86\u5f53\u65f6\u8bfb\u535a\u7684\u6731\u677e\u7eaf\u3002<\/p>\n 1996 \u5e74\uff0c\u6743\u9f99\u5728\u5b66\u672f\u4f11\u5047 \uff08sabatical year\uff09\u65f6\u5230\u5361\u5185\u57fa\u6885\u9686\u5927\u5b66\u62dc\u8bbf Takeo Kanade\uff0c\u7ed3\u8bc6\u4e86\u6c88\u5411\u6d0b\u3002\u65e9\u671f\u8ba1\u7b97\u673a\u89c6\u89c9\u9886\u57df\u7684\u534e\u4eba\u5f88\u5c11\uff0c\u4e2d\u56fd\u5b66\u8005\u8054\u7cfb\u7d27\u5bc6\uff0c\u6743\u9f99\u4e0e\u6c88\u5411\u6d0b\u7684\u53cb\u8c0a\u4e5f\u4e00\u76f4\u5ef6\u7eed\u81f3\u4eca\uff0c\u4e43\u81f3\u5f71\u54cd\u4e86\u4e0b\u4e00\u4ee3\u5728\u6e2f\u79d1\u5927\u4e0e MSRA \u7684\u5b66\u5b50\uff0c\u8fd9\u662f\u540e\u8bdd\u3002<\/p>\n \u4ece 1990 \u5230 2000 \u5e74\uff0c\u4e09\u7ef4\u89c6\u89c9\u5728\u6b27\u6d32\u7684\u7814\u7a76\u5982\u706b\u5982\u837c\u30022001 \u5e74\uff0cRichard Hartley \u548c Andrew Zisserman \u51fa\u7248\u591a\u89c6\u51e0\u4f55\u7406\u8bba\u6559\u6750\u300aMultiple View Geometry in Computer Vision\u300b\uff0c\u6807\u5fd7\u7740\u4e09\u7ef4\u89c6\u89c9\u9886\u57df\u7684\u57fa\u672c\u7406\u8bba\u6846\u67b6\u786e\u7acb\u3002<\/p>\n \u8fd9\u5341\u5e74\u4e5f\u662f\u7fa4\u661f\u95ea\u8000\u7684\u5341\u5e74\uff0c\u6b27\u6d32\u89c6\u89c9\u5708\u6d8c\u73b0\u4e86\u4e00\u6279\u540e\u6765\u540d\u58f0\u5982\u96f7\u8d2f\u8033\u7684\u5b66\u8005\u4eba\u7269\uff0c\u5982 Oliver Faugeras\u3001Richard Hartly\u3001Andrew Zisserman\u3001Luc Van Gool \u7b49\u7b49\uff0c\u6743\u9f99\u4f5c\u4e3a\u5176\u4e2d\u5c11\u6570\u7684\u4e1c\u65b9\u9762\u5b54\uff0c\u4e5f\u72ec\u6811\u4e00\u5e1c\u3002<\/p>\n \u76f8\u6bd4\u4e4b\u4e0b\uff0c\u4e09\u7ef4\u91cd\u5efa\u5728\u5317\u7f8e\u5b66\u672f\u5708\u5e76\u4e0d\u6d3b\u8dc3\uff0c\u76f8\u5173\u7814\u7a76\u6210\u679c\u8427\u6761\uff0c\u552f\u6709\u5f7c\u65f6\u5728\u901a\u7528\u7535\u6c14\u516c\u53f8\u7814\u53d1\u4e2d\u5fc3\u7684 Richard Hartley \u53d1\u8868\u4e86\u4e00\u7cfb\u5217\u975e\u5e38\u6709\u5f71\u54cd\u529b\u7684\u5de5\u4f5c\u3002\u5b9e\u9645\u4e0a\uff0cRichard Hartley\u4e0e\u725b\u6d25\u56e2\u961f\u8054\u7cfb\u5bc6\u5207\uff0c\u56e0\u4e3a\u4ed6\u5728\u901a\u7528\u7535\u6c14\u7684\u8001\u677f Joe Mundy \u66fe\u5728\u725b\u6d25\u5b66\u672f\u4f11\u5047\uff0c\u5e76\u4e0e\u5176\u56e2\u961f\u5408\u4f5c\u8fc7\u3002<\/p>\n INRIA Grenoble \u591a\u6b21\u9080\u8bf7 Richard Hartley \u524d\u5f80\u5176\u5b9e\u9a8c\u5ba4\uff0c\u4e0e\u6743\u9f99\u4ed6\u4eec\u8ba8\u8bba\u5bf9\u4e09\u7ef4\u91cd\u5efa\u7684\u524d\u6cbf\u63a2\u7d22\uff0c\u6743\u9f99\u4e5f\u5e2e\u52a9Richard \u5728Grenoble \u5b8c\u6210\u4e86\u4ed6\u7684\u8457\u540d\u516b\u70b9\u7b97\u6cd5\u3002<\/p>\n \u76f4\u5230 1999 \u5e74\uff0cDavid Lowe \u63d0\u51fa\u8457\u540d\u7684 SIFT \u7b97\u6cd5\u3002<\/p>\n \u6743\u9f99\u540e\u6765\u544a\u8bc9\u96f7\u5cf0\u7f51\uff0c\u56e0\u4e3a\u4e8c\u4eba\u90fd\u5728\u8ba1\u7b97\u673a\u89c6\u89c9\u4e2d\u4ece\u4e8b\u611f\u77e5\u5206\u7ec4\u7684\u5de5\u4f5c\uff0c\u4ed6\u4ece\u8bfb\u535a\u5f00\u59cb\u5c31\u8bfb\u8fc7 David Lowe \u7684\u8bba\u6587\uff0c\u76f4\u5230\u73b0\u5728\u8fd8\u4f1a\u5076\u5c14\u7ffb\u9605 David Lowe \u7684\u6587\u7ae0\uff0c\u300cDavid Lowe \u5199\u7684\u4e1c\u897f\u90fd\u5f88\u6df1\u523b\uff0c\u4ed6\u7684\u6210\u529f\u4e0d\u662f\u7a81\u5982\u5176\u6765\u7684\u3002\u4ed6\u7684\u6210\u679c\u5728\u5f88\u591a\u5730\u65b9\u90fd\u80fd\u76f4\u63a5\u5e94\u7528\uff0c\u6bd4\u5982 \u00a0SIFT\uff0cvisual features\uff08\u89c6\u89c9\u7279\u5f81\uff09\uff0c\u662f\u4e3a\u51e0\u4f55\u800c\u751f\u3001\u4e3a\u505a\u4e09\u7ef4\u91cd\u5efa\u5b9a\u4e49\u7684\u3002\u300d<\/p>\n \u5728\u6cd5\u56fd\uff0c\u6743\u9f99\u8fd8\u57f9\u517b\u4e86\u4e24\u4f4d\u5f97\u610f\u95e8\u751f\uff1a\u7b2c\u4e00\u4e2a\u535a\u58eb\u751f Peter Sturm\uff0c\u4ed6\u5728\u4e09\u7ef4\u91cd\u5efa\u5947\u5f02\u6027\uff08reconstruction singularity\uff09\u65b9\u9762\u505a\u51fa\u4e86\u8d21\u732e\uff0c1998 \u5e74\u5728\u6743\u9f99\u6307\u5bfc\u4e0b\u5b8c\u6210\u7684\u535a\u58eb\u8bba\u6587\u83b7\u5f97\u4e86\u6cd5\u56fd\u7b2c\u4e00\u4e2a SPECIF \u5956\uff08\u6bcf\u5e74\u53ea\u9881\u7ed9\u4e00\u7bc7\u6cd5\u56fd\u8ba1\u7b97\u673a\u79d1\u5b66\u535a\u58eb\u8bba\u6587\uff09\uff1b\u53e6\u4e00\u4e2a\u5b66\u751f Maxime Lhuillier\uff0c\u4f5c\u4e3a\u51c6\u5bc6\u96c6\u65b9\u6cd5\uff08Quasi-dense approach\uff09\u7684\u5f00\u521b\u8005\uff0c\u4e5f\u83b7\u5f97\u4e86\u56fd\u9645\u6a21\u5f0f\u8bc6\u522b\u5927\u4f1a\uff08ICPR\uff09\u7684\u6700\u4f73\u5b66\u751f\u5956\u3002<\/p>\n \u4e0e\u5929\u624d\u540c\u884c\u3001\u6c42\u7d22\u4e09\u7ef4\u89c6\u89c9\uff0c\u5145\u5b9e\u4e86\u6743\u9f99\u7684\u6cd5\u5170\u897f\u5c81\u6708\u3002<\/p>\n <\/p>\n \u6e2f\u79d1\u5927\u89c6\u89c9\u7b2c\u4e00\u4eba<\/strong><\/p>\n 2001 \u5e74\uff0c\u6743\u9f99\u4f5c\u4e86\u4e00\u4e2a\u91cd\u8981\u7684\u4eba\u751f\u9009\u62e9\uff1a\u7ed3\u675f 16 \u5e74\u300c\u6cd5\u6f02\u300d\uff0c\u56de\u5230\u4e2d\u56fd\u9999\u6e2f\u3002<\/p>\n \u4fc3\u4f7f\u6743\u9f99\u4f5c\u51fa\u8fd9\u4e00\u51b3\u5b9a\u7684\uff0c\u662f\u65f6\u4efb\u9999\u6e2f\u79d1\u6280\u5927\u5b66\u8ba1\u7b97\u673a\u4e0e\u5de5\u7a0b\u7cfb\uff08CSE\uff09\u7684\u7cfb\u4e3b\u4efb\u94b1\u5927\u5eb7\u3002<\/p>\n \u6e2f\u79d1\u5927 CSE \u6210\u7acb\u4e8e 1991 \u5e74\uff0c\u94b1\u5927\u5eb7\u4f5c\u4e3a\u7b2c\u4e00\u6279\u6559\u804c\u4eba\u5458\u5728 1992 \u5e74\u52a0\u5165\u3002\u9999\u6e2f\u56de\u5f52\u540e\uff0c\u4e0e\u5927\u9646\u7684\u8054\u7cfb\u52a0\u5f3a\uff0c\u9999\u6e2f\u5404\u9ad8\u6821\u5f00\u59cb\u62db\u63fd\u6709\u5927\u9646\u80cc\u666f\u7684\u79d1\u5b66\u5bb6\uff0c\u9999\u6e2f\u79d1\u6280\u5927\u5b66\uff08HKUST\uff09\u65b0\u6210\u7acb\u7684\u8ba1\u7b97\u673a\u79d1\u5b66\u7cfb\u4e5f\u6b63\u79ef\u6781\u62db\u8058\u4eba\u5458\uff0c\u5728\u4e09\u7ef4\u91cd\u5efa\u9886\u57df\u58f0\u540d\u9e4a\u8d77\u7684\u6743\u9f99\u4e5f\u8fdb\u5165\u4e86\u9999\u6e2f\u9ad8\u6821\u7684\u89c6\u91ce\u4e2d\u3002<\/p>\n \u4e0e\u6743\u9f99\u51e0\u4e4e\u662f\u540c\u65f6\u52a0\u5165\u6e2f\u79d1\u5927\u8ba1\u7b97\u673a\u79d1\u5b66\u7cfb\u7684\u8fd8\u6709\u6768\u5f3a\uff0c\u4e8c\u4eba\u52a0\u5165\u540e\uff0c\u7b2c\u4e8c\u5e74\u53e6\u4e00\u4f4d\u534e\u4eba\u79d1\u5b66\u5bb6\u502a\u660e\u9009\u62c5\u4efb CSE \u7684\u7cfb\u4e3b\u4efb\u3002\u6743\u9f99\u540e\u6765\u5411\u96f7\u5cf0\u7f51(\u516c\u4f17\u53f7\uff1a\u96f7\u5cf0\u7f51)<\/span>\u56de\u5fc6\uff0c\u6e2f\u79d1\u5927\u7684\u6821\u9886\u5bfc\u300c\u90fd\u5f88\u653e\u624b\u300d\u3002<\/p>\n \u4e8e\u662f\uff0c\u521a\u5230\u6e2f\u79d1\u5927\u7684\u7b2c\u4e00\u5e74\uff0c\u6743\u9f99\u5c31\u5e26\u7740\u79ef\u7d2f\u591a\u5e74\u7684\u524d\u6cbf\u8ba1\u7b97\u673a\u89c6\u89c9\u77e5\u8bc6\uff0c\u5efa\u7acb\u4e86\u6e2f\u79d1\u5927\u7b2c\u4e00\u4e2a\u8ba1\u7b97\u673a\u89c6\u89c9\u5b9e\u9a8c\u5ba4\u300c VisGraph\u300d \u3002\u300cVisGraph\u300d \u53d6\u300c\u89c6\u89c9\uff08Vision\uff09\u300d\u548c\u300c\u56fe\u578b\u5b66\uff08Graphics\uff09\u300d\u4e24\u4e2a\u542b\u4e49\uff0c\u5b9e\u9a8c\u5ba4\u5750\u843d\u5728\u4e5d\u9f99\u6e05\u6c34\u6e7e\u6e2f\u79d1\u5927\u6559\u5b66\u697c\u7684 4204 \u623f\u95f4\u3002<\/p>\n VisGraph \u5b9e\u9a8c\u5ba4\u5185\u90e8<\/p>\n \u5728\u6cd5\u56fd\u7684 16 \u5e74\uff0c\u6743\u9f99\u6559\u5bfc\u51fa\u4e86 Peter Sturm \u7b49\u4e09\u7ef4\u89c6\u89c9\u9886\u57df\u7684\u9752\u5e74\u4f7c\u4f7c\u8005\u3002\u56de\u5230\u6e2f\u79d1\u5927\u540e\uff0c\u4ed6\u51e0\u4e4e\u76f8\u5f53\u4e8e\u4ece\u96f6\u5f00\u59cb\uff0c\u53ea\u6709 Maxime Lhuillier \u8ddf\u4ed6\u6765\u9999\u6e2f\u3002\u5927\u7ea6\u4e00\u5e74\u540e\uff0cMaxime \u5c06\u51c6\u5bc6\u96c6\u65b9\u6cd5\u63a8\u8fdb\u5230\u4e86\u90a3\u4e2a\u65f6\u671f\u6700\u4f73\u7684 3D \u91cd\u5efa\u7b97\u6cd5\u3002<\/p>\n \u9999\u6e2f\u56de\u5f52\u540e\uff0c\u4e3a\u4e86\u5438\u5f15\u5185\u5730\u5b66\u751f\u6765\u6e2f\u6df1\u9020\u5c31\u4e1a\uff0c1998 \u5e74\u5f00\u59cb\uff0c\u9999\u6e2f\u5404\u9ad8\u6821\u5f00\u59cb\u901a\u8fc7\u5408\u4f5c\u3001\u59d4\u6258\u5185\u5730 10 \u6240\u9ad8\u6821\u4ee3\u62db\u5185\u5730\u751f\u3002<\/p>\n \u5f88\u5feb\uff0c\u6743\u9f99\u52a0\u5165\u6e2f\u79d1\u5927\u7684\u7b2c\u4e00\u5e74\uff0c\u5c31\u4ece\u5317\u4eac\u5927\u5b66\u62db\u4e86\u4e24\u540d\u5b66\u751f\uff1a\u5371\u5937\u6668\u4e0e\u66fe\u94a2\u3002<\/p>\n 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\u5728\u5df4\u897f\u91cc\u7ea6\u70ed\u5185\u5362\u4e3e\u529e\uff0c\u6743\u9f99\u5e26\u8096\u5065\u96c4\u53bb\u53c2\u4f1a\uff0c\u51fa\u53d1\u5f53\u5929\uff0c\u6743\u9f99\u8fdc\u8fdc\u5c31\u770b\u5230\u8096\u5065\u96c4\u63d0\u4e86\u4e00\u4e2a\u6a58\u7ea2\u8272\u7684\u624b\u63d0\u7bb1\u8d70\u6765\uff0c\u7ed9\u6743\u9f99\u7559\u4e0b\u4e86\u6df1\u523b\u7684\u5370\u8c61\u3002\u6743\u9f99\u95ee\u4ed6\u4e3a\u4ec0\u4e48\u9009\u62e9\u989c\u8272\u8fd9\u4e48\u51fa\u4f17\u7684\u7bb1\u5b50\uff0c\u8096\u5065\u96c4\u56de\u7b54\u8bf4\u662f\u56e0\u4e3a\u8fd9\u6837\u300ceasily recognizable\uff08\u8fa8\u8bc6\u5ea6\u9ad8\uff09\u300d\u3002<\/p>\n \u8096\u5065\u96c4\u8111\u5b50\u806a\u660e\u3001\u53cd\u5e94\u4e5f\u5feb\u3002\u540e\u6765\u6743\u9f99\u7ade\u9009 2011 \u5e74 ICCV \u5927\u4f1a\u4e3b\u5e2d\u65f6\uff0c\u7ade\u4e89\u6fc0\u70c8\uff0c\u6743\u9f99\u4e0e\u6fb3\u5927\u5229\u4e9a\u7684 Richard Hartley \u662f\u547c\u58f0\u6700\u9ad8\u7684\u4eba\u9009\u4e4b\u4e00\uff0c\u540e\u9762\u7531\u4e8e\u8bb0\u7968\u573a\u9762\u6df7\u4e71\uff0c\u5927\u4f1a\u5c31\u5728\u7ade\u9009\u4f1a\u8bae\u5ba4\u5f00\u4e86\u4e24\u4e2a\u95e8\u3001\u5206\u522b\u4ee3\u8868\u6743\u9f99\u4e0e\u53e6\u4e00\u4f4d\u7ade\u9009\u8005\uff0c\u6295\u7968\u8005\u4ece\u54ea\u4e2a\u95e8\u51fa\u53bb\u3001\u5c31\u8868\u793a\u9009\u8c01\uff0c\u8096\u5065\u96c4\u505a\u4e86\u5f88\u591a\u53c2\u4f1a\u8005\u7684\u5de5\u4f5c\uff0c\u4f7f\u6743\u9f99\u4ee5\u51e0\u7968\u4e4b\u5dee\u9669\u80dc\u3002<\/p>\n \u6240\u4ee5 2008 \u5e74\u8096\u5065\u96c4\u672c\u79d1\u6bd5\u4e1a\u540e\uff0c\u6743\u9f99\u5c31\u628a\u4ed6\u62db\u8fdb\u4e86\u7ec4\u91cc\u8bfb Mphil\u3002\u8096\u5065\u96c4\u7684\u672c\u79d1\u4e0e\u7855\u58eb\u8bba\u6587\u90fd\u662f\u5173\u4e8e\u4e09\u7ef4\u91cd\u5efa\u4e0e\u8857\u666f\u5206\u6790\uff0c\u7855\u58eb\u65f6\u671f\u7684\u6210\u679c\u8fd8\u5f71\u54cd\u8fc7\u8c37\u6b4c\u65e0\u4eba\u8f66\u7684\u7814\u7a76\uff08\u8c37\u6b4c\u56e2\u961f\u65e9\u671f\u7814\u7a76\u65e0\u4eba\u8f66\u662f\u4ee5\u8c37\u6b4c\u8857\u666f\u4e3a\u57fa\u7840\uff09\u3002<\/p>\n \u8096\u5065\u96c4\u7533\u8bf7\u53bb\u7f8e\u56fd\u8bfb\u535a\u65f6\uff0c\u6743\u9f99\u7ed9\u4ed6\u5199\u63a8\u8350\u4fe1\uff0c\u539f\u5148\u60f3\u5199\u300cHe is a genius\u300d\uff08\u7535\u5f71\u300a\u7f8e\u4e3d\u5fc3\u7075\u300b\u7eb3\u4ec0\u63a8\u8350\u4fe1\u7684\u5178\u6545\uff09\uff0c\u540e\u6765\u59d4\u5a49\u70b9\u6539\u6210\u4e86\u300coutstanding\u300d\u3002\u62e5\u6709\u51fa\u8272\u5c65\u5386\u7684\u8096\u5065\u96c4\u53d7\u5230\u7f8e\u56fd\u5404\u5927\u9ad8\u6821\u7684\u54c4\u62a2\uff0c\u6700\u540e\u4ed6\u9009\u62e9\u4e86\u9ebb\u7701\u7406\u5de5\u5b66\u9662\uff08MIT\uff09\u3002<\/p>\n \u8096\u5065\u96c4<\/p>\n <\/p>\n \u4ece\u5934\u53d1\u5230\u5730\u7403<\/strong><\/p>\n 2012 \u5e74\u540e\uff0c\u8ba1\u7b97\u673a\u89c6\u89c9\u7684\u98ce\u5c1a\u4ece\u5377\u79ef\u795e\u7ecf\u7f51\u7edc\u8bc6\u522b\u5230\u89c6\u89c9\u751f\u6210\u5927\u6a21\u578b\uff0c\u4f46 2012 \u5e74\u4e4b\u524d\u76f8\u5f53\u957f\u7684\u4e00\u6bb5\u65f6\u95f4\u91cc\uff0c\u4e09\u7ef4\u91cd\u5efa\u90fd\u662f\u89c6\u89c9\u7814\u7a76\u7684\u6838\u5fc3\u95ee\u9898\u3002\u6b64\u5916\uff0c\u8ba1\u7b97\u673a\u89c6\u89c9\u4e0e\u56fe\u5f62\u5b66\u4e24\u4e2a\u65b9\u5411\u7684\u4ea4\u53c9\u4e5f\u5f88\u591a\uff0c\u6743\u9f99\u9886\u5bfc VisGraph \u4e5f\u4e0d\u5c40\u9650\u5728 CV \u7684\u5708\u5b50\u91cc\u3002<\/p>\n \u4e0e\u300c\u552f\u8bba\u6587\u6570\u91cf\u300d\u7684\u5b9e\u9a8c\u5ba4\u98ce\u683c\u4e0d\u540c\uff0c\u6743\u9f99\u4ece\u4e0d\u8981\u6c42\u5b66\u751f\u8ffd\u8d76\u8bba\u6587\u300c\u6b7b\u4ea1\u7ebf\u300d\uff0c\u4e5f\u6ca1\u6709\u89c4\u5b9a\u5b66\u751f\u5fc5\u987b\u53d1\u8868\u591a\u5c11\u7bc7\u8bba\u6587\u624d\u80fd\u6bd5\u4e1a\u3002\u4ed6\u7684\u6307\u5bfc\u98ce\u683c\u968f\u548c\uff0c\u7ed9\u4e88\u5b66\u751f\u6781\u5927\u7684\u81ea\u7531\u5ea6\uff0c\u6bcf\u4e2a\u4eba\u90fd\u53ef\u4ee5\u63a2\u7d22\u81ea\u5df1\u611f\u5174\u8da3\u7684\u65b9\u5411\uff0c\u6240\u4ee5\u5371\u5937\u6668\u3001\u8c2d\u5e73\u7b49\u4eba\u90fd\u89c9\u5f97\uff0c\u5728 4204 \u5b9e\u9a8c\u5ba4\u5f88\u6709\u5b89\u5168\u611f\u4e0e\u5f52\u5c5e\u611f\u3002<\/p>\n \u4e00\u7fa4\u4f18\u79c0\u7684\u5b66\u751f\u805a\u5728\u4e00\u8d77\uff0c\u5f7c\u6b64\u4e4b\u95f4\u4e5f\u5f88\u5bb9\u6613\u5f62\u6210\u7ade\u76f8\u5411\u4e0a\u7684\u62c9\u529b\u3002\u8c2d\u5e73\u56de\u5fc6\uff0c\u8bfb\u535a\u65f6\u5b9e\u9a8c\u5ba4\u7684\u5e08\u5144\u5f1f\u7ecf\u5e38\u4e00\u8d77\u6ce1\u5b9e\u9a8c\u5ba4\uff0c\u6743\u9f99\u6bcf\u5929\u90fd\u4f1a\u6765\u5b9e\u9a8c\u5ba4\u4e0e\u5927\u5bb6\u4ea4\u6d41\uff0c\u6743\u9f99\u968f\u65f6\u6765\u3001\u5b66\u751f\u968f\u65f6\u5728\u3002\u6743\u9f99\u4f1a\u8fc7\u95ee\u6280\u672f\u7ec6\u8282\u3001\u4e0e\u5b66\u751f\u6df1\u5165\u63a2\u8ba8\u95ee\u9898\uff0c\u6cbb\u5b66\u4e25\u8c28\u3001\u70ed\u60c5\uff0c\u5e38\u5e38\u611f\u67d3\u5b9e\u9a8c\u5ba4\u7684\u540c\u5b66\u3002<\/p>\n \u8c2d\u5e73\u8bb0\u5f97\uff0c\u6743\u9f99\u5728\u8bfe\u4e0a\u505a\u8fc7\u4e00\u4e2a\u5b9e\u9a8c\uff0c\u8ba9\u8c2d\u5e73\u62ff\u7740\u4e24\u652f\u94c5\u7b14\u3001\u7b14\u5c16\u4e0e\u7b14\u5c16\u89e6\u78b0\u3002\u8fd9\u4e2a\u8fc7\u7a0b\u4e2d\uff0c\u5982\u679c\u8c2d\u5e73\u8499\u4e0a\u4e00\u53ea\u773c\u775b\uff0c\u53ea\u6709\u4e00\u53ea\u773c\u775b\u6821\u5bf9\uff0c\u4e00\u5f00\u59cb\u7b14\u5c16\u4e0e\u7b14\u5c16\u6ca1\u5bf9\u9f50\uff0c\u5c31\u4f1a\u53d1\u73b0\u4e4b\u540e\u518d\u600e\u4e48\u5bf9\u4e5f\u5bf9\u4e0d\u4e0a\u3002\u6743\u9f99\u901a\u8fc7\u4e00\u4e2a\u7b80\u5355\u7684\u5b9e\u9a8c\uff0c\u5c31\u8ba9\u5b66\u751f\u4f53\u4f1a\u5230\uff0c\u4eba\u662f\u9760\u53cc\u76ee\u624d\u6709\u6df1\u5ea6\u3001\u7acb\u4f53\u7684\u611f\u89c9\uff0c\u624d\u80fd\u4f7f\u7b14\u5c16\u4e0e\u7b14\u5c16\u78b0\u4e0a\u3002<\/p>\n \u5f53\u65f6\u6574\u4e2a\u5b9e\u9a8c\u5ba4\u90fd\u88ab\u6743\u9f99\u70b9\u71c3\uff0c\u5bf9\u4e09\u7ef4\u91cd\u5efa\u7684\u7814\u7a76\u70ed\u60c5\u9ad8\u6da8\u3002<\/p>\n \u4e09\u7ef4\u89c6\u89c9\u7684\u53d1\u5c55\u5927\u7ea6\u7ecf\u8fc7\u4e94\u4e2a\u9636\u6bb5\uff1a\u9996\u5148\u662f\u7406\u8bba\u9636\u6bb5\uff0c\u65b9\u6cd5\u662f\u6839\u636e\u5355\u5f20\u56fe\u7247\u7684\u5149\u5f71\u53d8\u5316\u5c06\u7269\u4f53\u7684\u4e09\u7ef4\u5f62\u72b6\u6062\u590d\u51fa\u6765\uff08\u5373\u300cshape from shading\u300d\uff0c\u5f00\u521b\u5b66\u8005\u662f Bruce Horn\uff09\uff1b\u5176\u6b21\u662f\u53cc\u76ee\u6216\u591a\u76ee\u9636\u6bb5\uff0c\u901a\u8fc7\u591a\u76f8\u673a\u4ece\u4e0d\u540c\u89d2\u5ea6\u62cd\u6444\u6784\u5efa\u4e09\u7ef4\u5f62\u72b6\uff0c\u4ee3\u8868\u6709\u6cd5\u56fd INRIA\uff0c\u4ee3\u8868\u6709 Richard Hartley\u3001\u6743\u9f99\u7b49\uff1b\u63a5\u7740\u662f\u89c6\u89c9 SLAM\uff08\u6307\u76f8\u673a\u5728\u8fd0\u52a8\u65f6\u901a\u8fc7\u7b97\u6cd5\u6c42\u51fa\u76f8\u673a\u7684\u4e09\u7ef4\u59ff\u6001\uff09\uff1b\u6700\u540e\u662f\u4e0e\u56fe\u5f62\u5b66\u4ea4\u53c9\u7ed3\u5408\uff0c\u4ee5\u53ca\u6311\u6218\u52a8\u6001\u573a\u666f\uff08\u4ee3\u8868\u662f XR\uff09\u3002<\/p>\n \u6743\u9f99\u5148\u524d\u7684\u4ee3\u8868\u4f5c\u662f\u516d\u70b9\u7b97\u6cd5\uff0c2000 \u5e74\u540e\u4e09\u7ef4\u91cd\u5efa\u9886\u57df\u51fa\u73b0\u4e86\u8bb8\u591a\u65b0\u7684\u95ee\u9898\uff0c\u5982\u7a00\u758f\u91cd\u5efa\u3002\u7a00\u758f\u91cd\u5efa\u662f\u6307\u4ece\u4e00\u7ec4\u7a00\u758f\u7684\u4e09\u7ef4\u70b9\u6216\u7279\u5f81\u4e2d\u6062\u590d\u51fa\u573a\u666f\u7684\u4e09\u7ef4\u7ed3\u6784\uff0c\u4e00\u822c\u4f1a\u5148\u53bb\u6c42\u89e3\u76f8\u673a\u4f4d\u7f6e\uff0c\u7136\u540e\u5f97\u5230\u4e00\u4e2a\u8868\u793a\u573a\u666f\u4e2d\u5173\u952e\u7279\u5f81\u70b9\u7684\u7a00\u758f\u70b9\u4e91\uff0c\u5176\u4e2d\u89c6\u89c9 SLAM \u662f\u4e00\u4e2a\u5173\u952e\u89e3\u6cd5\u3002<\/p>\n \u7b80\u5355\u6765\u8bf4\uff0c\u89c6\u89c9 SLAM \u662f\u4e00\u9879\u7528\u76f8\u673a\u6765\u6536\u96c6\u6570\u636e\u70b9\u3001\u5e76\u521b\u5efa\u5730\u56fe\u7684\u6280\u672f\uff0c\u73b0\u5df2\u88ab\u5e7f\u6cdb\u8fd0\u7528\u4e8e\u65e0\u4eba\u673a\u3001\u626b\u5730\u673a\u5668\u4eba\u4ee5\u53ca\u82f9\u679c\u7684\u300c\u5f53\u7ea2\u70b8\u5b50\u9e21\u300dVision Pro \u4e2d\u3002\u4f46\u5728\u5343\u79a7\u5e74\u521d\u59cb\uff0c\u8fd9\u4e2a\u65b9\u5411\u5e76\u4e0d\u53d7\u91cd\u89c6\uff0c\u7814\u7a76\u8005\u4e5f\u5be5\u5be5\u65e0\u51e0\uff0c\u6743\u9f99\u56e2\u961f\u662f\u5168\u7403\u6700\u65e9\u7814\u7a76\u8fd9\u4e00\u65b9\u5411\u7684\u56e2\u961f\u4e4b\u4e00\u3002<\/p>\n \u4f5c\u4e3a\u6700\u65e9\u5403\u8783\u87f9\u7684\u4eba\uff0c\u5f7c\u65f6\u56e2\u961f\u6295\u7a3f Visual SLAM \u7684\u8bba\u6587\u5e38\u5e38\u88ab\u62d2\uff0c\u76f4\u5230 2007 \u5e74\u4ee5\u540e\u624d\u5f00\u59cb\u6709\u5927\u91cf\u5de5\u4f5c\u51fa\u73b0\u3002\u8c2d\u5e73\u56de\u5fc6\uff0c\u5728\u81ea\u5df1\u8fdb\u5165\u5b9e\u9a8c\u5ba4\u7684\u5f88\u957f\u4e00\u6bb5\u65f6\u95f4\u91cc\uff0c\u6743\u9f99\u4e0e\u5e08\u5144\u5f1f\u4eec\u90fd\u662f\u5728\u75db\u82e6\u5730\u300c\u5c61\u8d25\u5c61\u6218\u300d\u3002<\/p>\n \u65e9\u671f\u7269\u4f53\u7684\u4e09\u7ef4\u5efa\u6a21\u5f80\u5f80\u662f\u901a\u8fc7\u5728 3D Max \u6216 CAD \u8f6f\u4ef6\u4e2d\u624b\u52a8\u62d6\u62fd\u5b8c\u6210\uff0c\u7136\u800c\uff0c\u73b0\u5b9e\u4e16\u754c\u7684\u590d\u6742\u6027\u8fdc\u8fdc\u8d85\u51fa\u4e86\u8fd9\u4e9b\u8f6f\u4ef6\u7684\u76f4\u89c2\u64cd\u4f5c\u8303\u56f4\u3002\u5373\u4f7f\u662f\u4e00\u76c6\u82b1\uff0c\u7528 3D Max \u8fdb\u884c\u4e09\u7ef4\u5efa\u6a21\u4e5f\u975e\u5e38\u75db\u82e6\u3002\u76f8\u6bd4\u4e4b\u4e0b\uff0c\u4ece\u56fe\u50cf\u4e2d\u63d0\u53d6\u4e09\u7ef4\u4fe1\u606f\u5219\u7b80\u5316\u4e86\u7269\u4f53\u7684\u5efa\u6a21\u8fc7\u7a0b\uff0c\u540c\u65f6\u8fd8\u80fd\u4fdd\u6301\u7269\u4f53\u7684\u7ec6\u8282\u3002<\/p>\n \u6240\u4ee5\u6743\u9f99\u4e5f\u5f88\u65e9\u5e26\u9886\u5b66\u751f\u7814\u7a76\u57fa\u4e8e\u56fe\u50cf\u7684\u4e09\u7ef4\u5efa\u6a21\uff0c\u540e\u6765\u8fd8\u5f00\u62d3\u4e86 Image-Based X Modeling\uff08\u7b80\u79f0 IBM\uff09\u7cfb\u5217\u3002<\/p>\n 2005 \u5e74\uff0c\u6e2f\u79d1\u5927\u89c6\u89c9\u5b9e\u9a8c\u5ba4\u5173\u4e8e IBM \u7684\u7b2c\u4e00\u4e2a\u5de5\u4f5c\u53d1\u8868\u5728\u8ba1\u7b97\u673a\u56fe\u5f62\u5b66\u9876\u4f1a SIGGRAPH \u4e0a\uff0c\u5efa\u6a21\u5bf9\u8c61\u662f\u5934\u53d1\u30022006 \u5e74\uff0c\u6743\u9f99\u56e2\u961f\u53c8\u53d1\u8868\u4e86\u56f4\u7ed5\u690d\u7269\u7684\u5efa\u6a21\uff0c2007 \u5e74\u30012008 \u5e74\u30012009 \u5e74\u5b9e\u9a8c\u5ba4\u7684 IBM \u5de5\u4f5c\u4e5f\u76f8\u7ee7\u4e2d\u4e86 SIGGRAPH\uff0c\u5efa\u6a21\u5bf9\u8c61\u4e5f\u4ece\u5934\u53d1\u3001\u690d\u7269\u5347\u7ea7\u5230\u5efa\u7b51\u3001\u8857\u9053\u4e0e\u57ce\u5e02\u3002 \u5982\u4eca\u81ea\u52a8\u9a7e\u9a76\u9886\u57df\u7684\u9ad8\u7cbe\u5730\u56fe\uff0c\u667a\u6167\u57ce\u5e02\u7684\u623f\u5c4b\u4e0e\u9053\u8def\u5efa\u6a21\u7b49\u6280\u672f\u6210\u719f\uff0c\u8bb8\u591a\u5de5\u4f5c\u5c31\u662f\u4ece\u5f53\u65f6\u6743\u9f99\u56e2\u961f\u7684\u5de5\u4f5c\u5ef6\u7eed\u800c\u6765\u7684\u3002<\/p>\n \u5371\u5937\u6668\u4e0e\u66fe\u94a2\u6700\u65e9\u52a0\u5165\u7814\u7a76\u4e2d\uff0c\u5371\u5937\u6668\u4e3b\u8981\u7814\u7a76\u5934\u53d1\u5efa\u6a21\uff0c\u540e\u7eed\u4e5f\u53d1\u8868\u4e86\u6570\u7bc7\u76f8\u5173\u7684\u6587\u7ae0\uff0c\u66fe\u94a2\u7684\u91cd\u70b9\u5219\u662f\u4e0e\u690d\u7269\u6709\u5173\u7684\u5efa\u6a21\u3002<\/p>\n \u8c2d\u5e73\u53c2\u4e0e\u7684\u9879\u76ee\u6700\u591a\uff0c\u5386\u7ecf\u4e86\u4ece\u82b1\u3001\u8857\u9053\u5230\u6574\u4e2a\u57ce\u5e02\u590d\u6742\u573a\u666f\u7684\u4e09\u7ef4\u5efa\u6a21\u3002\u738b\u4e95\u4e1c\u64c5\u957f\u7528\u56fe\u3001\u534a\u76d1\u7763\u7b49\u65b9\u6cd5\u5904\u7406\u56fe\u50cf\u5206\u5272\u95ee\u9898\uff0c\u5c06\u5728\u6e05\u534e\u5b9e\u9a8c\u5ba4\u4e60\u5f97\u7684\u673a\u5668\u5b66\u4e60\u7ecf\u9a8c\uff0c\u8fc1\u79fb\u5230\u4ee5\u5e94\u7528\u4e3a\u91cd\u7684\u9879\u76ee\u4e2d\u3002\u800c\u64c5\u957f\u5199\u7a0b\u5e8f\u7684\u65b9\u5929\u662f\u4e00\u4f4d\u6444\u5f71\u53d1\u70e7\u53cb\uff0c\u5e38\u7ed9\u6587\u7ae0\u63d0\u4f9b\u5177\u6709\u300c\u827a\u672f\u5bb6\u5ba1\u7f8e\u300d\u7684\u5efa\u8bae\u3002<\/p>\n \u6df1\u5ea6\u5b66\u4e60\u98ce\u6f6e\u6765\u4e34\u524d\uff0cSIGGRAPH \u662f\u8ba1\u7b97\u673a\u56fe\u5f62\u5b66\u7684\u72ec\u6709\u7684\u9876\u7ea7\u4f1a\u8bae\uff0c\u5f71\u54cd\u529b\u6781\u9ad8\uff0cGPU\u5c31\u662f\u8bde\u751f\u4e8e\u56fe\u5f62\u5b66\u3002\u800c\u6743\u9f99\u56e2\u961f\u7684 IBM \u7cfb\u5217\u5747\u88ab SIGGRAPH \u63a5\u6536\uff0c\u7814\u7a76\u542b\u91d1\u91cf\u53ef\u89c1\u4e00\u6591\u3002<\/p>\n \u6743\u9f99\u5bf9\u6e2f\u79d1\u5927\u89c6\u89c9\u5b9e\u9a8c\u5ba4\u5b66\u751f\u7684\u4e00\u5927\u5f71\u54cd\u662f\u5bf9\u4e8b\u7269\u7684\u6267\u8457\u8ffd\u6c42\u3002\u65b9\u5929\u5411\u96f7\u5cf0\u7f51\u8bc4\u4ef7\uff0c\u6743\u9f99\u662f\u4e00\u4e2a\u975e\u5e38\u7eaf\u7cb9\u7684\u4eba\uff0c\u505a\u7814\u7a76\u4f1a\u575a\u6301\u4e00\u4e2a\u65b9\u5411\u3002\u90a3\u65f6\u4ed6\u4eec\u5728\u6e2f\u79d1\u5927\u7814\u7a76\u4e09\u7ef4\u91cd\u5efa\uff0c\u867d\u7136\u9886\u57df\u4eba\u8ff9\u7f55\u81f3\u3001\u8bba\u6587\u5c61\u906d\u78b0\u58c1\uff0c\u4f46\u6743\u9f99\u8ba4\u4e3a\u8fd9\u4e2a\u65b9\u5411\u6709\u4ef7\u503c\uff0c\u575a\u6301\u63a2\u7d22\uff0c\u7ec8\u6210\u5f00\u8def\u4eba\u3002<\/p>\n \u8c2d\u5e73\u8bb0\u5f97\uff0c\u8bfb\u535a\u65f6\u4ed6\u4eec\u53bb\u53c2\u4f1a\uff0c\u6743\u9f99\u5728\u6cd5\u56fd\u65e9\u671f\u7684\u5b66\u751f\u90fd\u5df2\u7ecf\u5f88\u6210\u529f\uff0c\u662f\u5b66\u672f\u5708\u6709\u540d\u7684\u4eba\u7269\u3002\u6743\u9f99\u7684\u5730\u4f4d\u4e5f\u5f88\u9ad8\uff0c\u4f46\u4e3a\u4eba\u5374\u5f88\u7b80\u5355\uff0c\u5e0c\u671b\u5b66\u751f\u53bb\u6293\u4f4f\u4e00\u4e2a\u6700\u6839\u672c\u7684\u70b9\uff0c\u5c06\u590d\u6742\u7684\u4e8b\u60c5\u7b80\u5355\u5316\uff0c\u300c\u6709\u79cd\u5927\u9053\u81f3\u7b80\u7684\u611f\u89c9\u3002\u300d\u65b9\u5929\u5f62\u5bb9\u3002<\/p>\n \u6709\u65f6\u6743\u9f99\u4e0e\u5b66\u751f\u8ba8\u8bba\u95ee\u9898\uff0c\u4f1a\u4e00\u5f00\u59cb\u63d0\u51fa a \u65b9\u6848\uff0c\u5b9e\u9a8c\u5ba4\u7684\u5b66\u751f\u4e0d\u76f8\u4fe1\uff0c\u603b\u89c9\u5f97\u53ef\u4ee5\u641e b\u3001c\u3001d \u7b49\u7b49 N \u79cd\u65b9\u6848\uff0c\u7ed3\u679c\u515c\u515c\u8f6c\u8f6c\u4e00\u5708\uff0c\u53d1\u73b0 a \u65b9\u6848\u5c31\u662f\u6700\u7b80\u5355\u7684\u3002\u300c\u4eba\u751f\u7684\u8bb8\u591a\u4e8b\uff0c\u65e0\u8bba\u662f\u505a\u751f\u610f\u3001\u8fd8\u662f\u505a\u79d1\u7814\uff0c\u5982\u679c\u4e00\u4e2a\u4eba\u7684\u601d\u60f3\u592a\u590d\u6742\uff0c\u5c31\u4f1a\u5145\u6ee1\u5404\u79cd\u5404\u6837\u7684\u5c0f\u6280\u5de7\uff0c\u53d8\u5f97\u5341\u5206\u75b2\u60eb\u3002\u300d<\/p>\n \u56e0\u4e3a\u6743\u9f99\uff0c\u300c\u7b80\u5355\u662f\u7ec8\u6781\u7684\u590d\u6742\u300d\u4e0d\u4ec5\u662f\u4e00\u53e5\u5370\u5728\u82f9\u679c\u7b2c\u4e00\u672c\u4ea7\u54c1\u5ba3\u4f20\u624b\u518c\u4e2d\u7684 Slogan\uff0c\u6e2f\u79d1\u5927\u89c6\u89c9\u5b9e\u9a8c\u5ba4\u5185\u5404\u4eba\u5bf9\u7b80\u5355\u3001\u7eaf\u7cb9\u4e5f\u6709\u5185\u5fc3\u6df1\u5904\u7684\u4f53\u4f1a\u3002<\/p>\n <\/p>\n \u4e00\u6839\u85e4\u4e0a\u51e0\u6735\u82b1<\/strong><\/p>\n \u91cd\u89c6\u4ea7\u7814\u7ed3\u5408\u662f\u6e2f\u79d1\u5927\u89c6\u89c9\u5b9e\u9a8c\u5ba4\u7684\u4f20\u7edf\u3002\u5f97\u76ca\u4e8e\u6743\u9f99\u4e0e\u6c88\u5411\u6d0b\u3001MSRA \u7684\u7d27\u5bc6\u8054\u7cfb\uff0c\u6743\u9f99\u7684\u8bb8\u591a\u5b66\u751f\u4e5f\u5728\u8bfb\u535a\u65f6\u671f\u5c31\u52a0\u5165\u4e86 MSRA \u5b9e\u4e60\uff0c\u6210\u4e3a\u5317\u4eac\u4e0e\u9999\u6e2f\u4e24\u5730\u98de\u7684\u300c\u53cc\u57ce\u4f4f\u6c11\u300d\u3002<\/p>\n \u8bfb\u535a\u65f6\uff0c\u5371\u5937\u6668\u3001\u66fe\u94a2\u3001\u8c2d\u5e73\u3001\u8881\u8def\u90fd\u5728 MSRA \u5b9e\u4e60\u8fc7\uff0c\u800c\u4e14\u662f\u5728\u4e0d\u540c\u7684\u7ec4\uff0c\u6bcf\u4e2a\u4eba\u6709\u4e00\u4f4d mentor\u300c\u9760\u5c71\u300d\uff1a\u5371\u5937\u6668\u662f\u56fe\u5f62\u7ec4\u7684\u4ee5\u8272\u5217\u8001\u677f Eyal Ofek\uff0c\u66fe\u94a2\u662f Yasuyuki Matsushita\uff0c\u8c2d\u5e73\u662f Steve Lin\uff0c\u8881\u8def\u662f\u5b59\u5251\u3002<\/p>\n \u5371\u5937\u6668\u88ab SIGGRAPH \u63a5\u6536\u7684\u5934\u53d1\u5efa\u6a21\u8bba\u6587\u5c31\u662f VisGraph \u4e0e MSRA \u56e2\u961f\u5408\u4f5c\u7684\u6210\u679c\u3002<\/p>\n \u90a3\u65f6 MSRA \u662f\u5927\u9646\u5728 SIGGRAPH \u7684\u660e\u661f\u56e2\u961f\uff0c\u6c88\u5411\u6d0b\u5e26\u7740MSRA \u6a2a\u626b SIGGRAPH\u3002\u4e4b\u540e\uff0cMSRA \u56fe\u5f62\u7ec4\u6bcf\u5e74\u90fd\u80fd\u4e2d\u597d\u51e0\u7bc7SIGGRAPH\uff0c\u5b59\u5251\u4e5f\u662f\u5728\u90a3\u65f6\u5019\u6210\u957f\u8d77\u6765\u3002\u4ece 2003 \u5e74\u5230 2006 \u5e74\uff0c\u5b59\u5251\u6bcf\u5e74\u90fd\u53d1\u4e24\u7bc7 SIGGRAPH\u3002SIGGRAPH \u7684\u5de5\u4f5c\u91cf\u5f88\u5927\uff0c\u5f88\u8bb2\u56e2\u961f\u5408\u4f5c\uff0c\u5b59\u5251\u8ddf\u8d3e\u4f73\u4e9a\u5408\u4f5c\uff0c\u4e5f\u662f\u5728\u90a3\u65f6\u5019\u4e0e\u8d3e\u4f73\u4e9a\u5efa\u7acb\u8d77\u4e86\u6df1\u539a\u7684\u53cb\u8c0a\u3002\uff08\u66f4\u591a\u5f80\u4e8b\u53ef\u770b\u96f7\u5cf0\u7f51\u5148\u524d\u62a5\u9053\uff1a\u300a\u6e2f\u4e2d\u6587\u300c1026\u5b9e\u9a8c\u5ba4\u300d\u5f80\u4e8b\uff1a\u8d3e\u4f73\u4e9a\u4e0e\u4ed6\u7684\u5b66\u751f\u4eec\u300b\uff09<\/p>\n 2006 \u5e74\u535a\u58eb\u6bd5\u4e1a\uff0c\u5371\u5937\u6668\u5c31\u76f4\u63a5\u52a0\u5165\u4e86 MSRA \u7684\u89c6\u89c9\u7ec4\u3002<\/p>\n \u5371\u5937\u6668\u7684\u4ee3\u7801\u5199\u5f97\u4e0d\u9519\uff0c\u81ea\u6211\u8981\u6c42\u5f88\u9ad8\uff0c\u4e00\u4e2a\u8da3\u4e8b\u662f\uff0c\u535a\u58eb\u5feb\u6bd5\u4e1a\u65f6\uff0c\u6743\u9f99\u8ba9\u5371\u5937\u6668\u6574\u7406\u51fa\u4e00\u4efd\u4ee3\u7801\u4ea4\u63a5\u7ed9\u5e08\u5f1f\u4eec\u5b66\u4e60\u3002\u90a3\u5957\u4ee3\u7801\u76f8\u5f53\u4e8e OpenCV \u7684\u5916\u5305\u6e32\u67d3\u5e93\uff0c\u540e\u7eed\u5b9e\u9a8c\u5ba4\u7684\u5e08\u5f1f\u4eec\u4e00\u76f4\u5728\u7528\uff0c\u540e\u6765\u6743\u9f99\u6bcf\u6b21\u5230 MSRA \u90fd\u8868\u626c\u5371\u5937\u6668\u3002<\/p>\n \u5371\u5937\u6668\u5728 MSRA \u5de5\u4f5c\u4e86 12 \u5e74\uff0c\u671f\u95f4\u5728\u7269\u4f53\u68c0\u6d4b\u3001\u8bc6\u522b\u4e0e\u59ff\u6001\u4f30\u8ba1\u65b9\u5411\u7684\u8bb8\u591a\u5de5\u4f5c\u662f\u5fae\u8f6f\u591a\u4e2a\u4ea7\u54c1\u7684\u57fa\u7840\uff0c\u5305\u62ec Xbox Kinect\uff0cWindows Hello\u3001Bing\u3001Office\u3001Hololens\u3001Microsoft Cognitive Service \u4ee5\u53ca\u5fae\u8f6f\u5c0f\u51b0\u7b49\u3002\u5176\u4e2d\uff0cXbox Kinect \u4e00\u7ecf\u63a8\u51fa\u5c31\u9500\u91cf\u7834\u5343\u4e07\uff0c\u53f7\u79f0\u53f2\u4e0a\u6700\u6210\u529f\u7684\u6d88\u8d39\u7ea7\u7535\u5b50\u4ea7\u54c1\u3002<\/p>\n 2014 \u5e74\uff0c\u5371\u5937\u6668\u7b49\u4eba\u5728 CVPR \u53d1\u8868\u7684\u6bcf\u79d2 3000 \u5e27\u4eba\u8138\u5173\u952e\u70b9\u68c0\u6d4b\u6280\u672f\uff0c\u4e5f\u662f\u7b2c\u4e00\u4e2a\u80fd\u591f\u5728 PC\u548c\u624b\u673a\u4e0a\u5b9e\u65f6\u8fd0\u884c\u7684\u5168\u81ea\u7531\u5ea6\u624b\u52bf\u8ddf\u8e2a\u7cfb\u7edf\uff0c\u5927\u5e45\u63d0\u9ad8\u4e86\u6027\u80fd\u548c\u7cbe\u5ea6\uff0c\u5728\u4e1a\u754c\u5f71\u54cd\u5de8\u5927\uff0c\u542f\u53d1\u4e86\u8be5\u9886\u57df\u540e\u7eed\u4e00\u7cfb\u5217\u7684\u5de5\u4f5c\u3002<\/p>\n \u5728 MSRA\uff0c\u5371\u5937\u6668\u4e5f\u601d\u8003\u6e05\u695a\u4e86\u81ea\u5df1\u7684\u53d1\u5c55\u65b9\u5411\uff1a\u4ed6\u66f4\u613f\u610f\u505a\u80fd\u843d\u5730\u7684\u4ea7\u54c1\u6280\u672f\u7814\u53d1\uff0c\u800c\u975e\u5355\u7eaf\u7684\u79d1\u7814\u3002\u540e\u6765\uff0c\u5b59\u5251\u79bb\u5f00 MSRA \u52a0\u5165\u65f7\u89c6\uff0c\u5371\u5937\u6668\u4e5f\u5728\u5b59\u5251\u7684\u9080\u8bf7\u4e0b\u4e8e2018\u5e74\u52a0\u5165\u4e86\u65f7\u89c6\u3001\u62c5\u4efb\u65f7\u89c6\u4e0a\u6d77\u7814\u7a76\u9662\u8d1f\u8d23\u4eba\u3002<\/p>\n \u8c2d\u5e73\u6ca1\u6709\u5728 MSRA \u5168\u804c\u5de5\u4f5c\u8fc7\uff0c\u4f46\u4e5f\u4ee5\u5b9e\u4e60\u751f\u7684\u8eab\u4efd\u5728 MSRA \u5b9e\u4e60\u4e86\u4e03\u5e74\uff0c\u7814\u7a76\u751f\u4e09\u5e74\u52a0\u535a\u58eb\u56db\u5e74\u3002MSRA \u4e3a\u5b9e\u4e60\u751f\u63d0\u4f9b\u514d\u8d39\u7684\u53cc\u4eba\u5bbf\u820d\uff0c\u5bbf\u820d\u5728\u5317\u822a\u62db\u5f85\u6240\u4e00\u5757\uff0c\u5305\u5403\u5305\u4f4f\u3002\u8bfb\u535a\u65f6\uff0c\u8c2d\u5e73\u6bcf\u5e74\u57fa\u672c\u90fd\u662f\u51e0\u4e2a\u6708\u5728\u5317\u4eac\u3001\u51e0\u4e2a\u6708\u5728\u9999\u6e2f\uff0c\u56e0\u6b64\u81ea\u5df1\u8c03\u4f83\u4e3a\u300c\u5343\u5e74\u8001 intern\u300d\u3002<\/p>\n \u8c2d\u5e73\u8bc4\u4ef7\uff0cMSRA \u7684\u5b9e\u4e60\u662f\u6539\u53d8\u547d\u8fd0\u7684\u7ecf\u5386\uff0c\u300c\u5f53\u65f6\u548c\u5f88\u4f18\u79c0\u7684\u7814\u7a76\u4eba\u5458\u4e00\u8d77\u5408\u4f5c\uff0c\u5927\u5bb6\u5fd7\u540c\u9053\u5408\uff0c\u5408\u4f5c\u5199\u8bba\u6587\uff0c\u4e00\u70b9\u90fd\u4e0d\u89c9\u5f97\u82e6\u3002\u7b2c\u4e00\u6b21\u6295 SIGGRAPH \u65f6\uff0c\u622a\u7a3f\u7684\u6700\u540e\u4e00\u4e2a\u661f\u671f\u6211\u5e72\u8106\u5c31\u7761\u5728\u684c\u5b50\u5e95\u4e0b\uff0c\u5b8c\u5168\u4e0d\u60f3\u56de\u5bbf\u820d\uff0c\u5c31\u89c9\u5f97\u8fd8\u5dee\u4e00\u70b9\u70b9\u3002\u300d<\/p>\n \u738b\u4e95\u4e1c\u4e0e\u5371\u5937\u6668\u7684\u7ecf\u5386\u76f8\u4f3c\uff0c2007 \u5e74\u535a\u58eb\u6bd5\u4e1a\u540e\u52a0\u5165 MSRA \u5168\u804c\uff0c\u4e00\u5171\u5728 MSRA \u5ea6\u8fc7\u4e86 14 \u5e74\u540e\u624d\u79bb\u5f00\u3002\u738b\u4e95\u4e1c\u5728\u5fae\u8f6f\u7684\u65e5\u5b50\u5927\u4f53\u53ef\u5212\u5206\u4e3a\u4e24\u4e2a\u4e03\u5e74\uff1a<\/p>\n \u5728\u7b2c\u4e00\u4e2a\u4e03\u5e74\u4e2d\uff0c\u738b\u4e95\u4e1c\u81f4\u529b\u4e8e\u8ba1\u7b97\u673a\u89c6\u89c9\u6280\u672f\u5728\u591a\u5a92\u4f53\u641c\u7d22\u4e2d\u7684\u5e94\u7528\u30022007\u5e74\uff0c\u9762\u5bf9\u5fc5\u5e94\u56fe\u50cf\u641c\u7d22\u7684\u6311\u6218\uff0c\u521a\u535a\u58eb\u6bd5\u4e1a\u7684\u4ed6\u88ab\u6d3e\u53bb\u89e3\u51b3\u591a\u5a92\u4f53\u641c\u7d22\u4e2d\u7684\u56fe\u50cf\u68c0\u7d22\u96be\u9898\uff0c\u548c\u56e2\u961f\u4e00\u8d77\u5f00\u53d1\u4e86\u57fa\u4e8e\u8349\u56fe\u7684\u56fe\u50cf\u68c0\u7d22\u6280\u672f\uff0c\u663e\u8457\u63d0\u5347\u4e86\u641c\u7d22\u6548\u7387\u3002<\/p>\n \u56f4\u7ed5\u56fe\u50cf\u641c\u7d22\uff0c\u738b\u4e95\u4e1c\u4ece\u5e94\u7528\u8f6c\u5411\u57fa\u7840\u5173\u952e\u7b97\u6cd5\u7814\u7a76\uff0c\u6df1\u5165\u7814\u7a76\u4e86\u8fd1\u4f3c\u6700\u8fd1\u90bb\u7b97\u6cd5\uff08ANN\uff09\uff0c\u5e76\u8bbe\u8ba1\u4e86\u4e00\u79cd\u57fa\u4e8e\u8fd1\u90bb\u56fe\u7684 ANN \u641c\u7d22\u7b97\u6cd5\uff0c\u8be5\u7b97\u6cd5\u57282014\u5e74\u88ab\u5e94\u7528\u4e8e\u5fc5\u5e94\u7684\u56fe\u50cf\u641c\u7d22\u548c\u5e7f\u544a\u4e2d\uff0c\u6210\u4e3a\u5546\u4e1a\u4ea7\u54c1\u4e2d\u7684\u4e00\u4e2a\u521b\u65b0\u5e94\u7528\u3002<\/p>\n \u8fdb\u5165\u7b2c\u4e8c\u4e2a\u4e03\u5e74\uff0c\u738b\u4e95\u4e1c\u7684\u7814\u7a76\u91cd\u70b9\u8f6c\u5411\u4e86\u6df1\u5ea6\u5b66\u4e60\u3002\u65e9\u5728 2005 \u5e74\uff0c\u738b\u4e95\u4e1c\u5728\u9999\u6e2f\u8bfb\u535a\u65f6\u4fbf\u53c2\u4e0e\u8fc7\u5377\u79ef\u795e\u7ecf\u7f51\u7edc\uff08CNN\uff09\u8f66\u724c\u8bc6\u522b\u9879\u76ee\u3002\u800c\u5728\u5fae\u8f6f\uff0c\u738b\u4e95\u4e1c\u5f00\u59cb\u63a2\u7d22\u6df1\u5ea6\u5b66\u4e60\u7b97\u6cd5\u5728\u65b0\u5e94\u7528\u4e2d\u7684\u6f5c\u529b\uff0c\u5e76\u5173\u6ce8\u89c6\u89c9\u7f51\u7edc\u67b6\u6784\u7684\u8bbe\u8ba1\u3002<\/p>\n 2015 \u5e74\uff0c\u4ed6\u63d0\u51fa\u4fdd\u6301\u9ad8\u5206\u8fa8\u7387\u8868\u793a\u7684\u60f3\u6cd5\uff0c\u5e76\u5728 2018 \u5e74\u9886\u5bfc\u56e2\u961f\u8bbe\u8ba1\u4e86 HRNet\uff0c\u8be5\u67b6\u6784\u5728 2019 \u5e74\u7684 CVPR \u4e0a\u53d1\u5e03\uff0c\u8fc5\u901f\u83b7\u5f97\u4e86\u5b66\u672f\u754c\u548c\u5de5\u4e1a\u754c\u7684\u5e7f\u6cdb\u5173\u6ce8\u3002HRNet \u7684\u8bbe\u8ba1\u7a81\u7834\u4e86\u4f20\u7edf\u7684\u5206\u7c7b\u67b6\u6784\uff0c\u901a\u8fc7\u9ad8\u4e2d\u4f4e\u5206\u8fa8\u7387\u7684\u4e0d\u65ad\u4ea4\u4e92\u878d\u5408\uff0c\u4fdd\u6301\u4e86\u9ad8\u5206\u8fa8\u7387\u7684\u7279\u5f81\u8868\u793a\uff0c\u9002\u7528\u4e8e\u591a\u79cd\u89c6\u89c9\u4efb\u52a1\u3002<\/p>\n \u76f4\u5230 2021 \u5e74\uff0c\u738b\u4e95\u4e1c\u624d\u79bb\u5f00\u5fae\u8f6f\uff0c\u52a0\u5165\u767e\u5ea6\u4efb\u8ba1\u7b97\u673a\u89c6\u89c9\u9996\u5e2d\u79d1\u5b66\u5bb6\uff0c\u4e3a\u767e\u5ea6\u591a\u6761\u4e1a\u52a1\u7ebf\u63d0\u4f9b\u89c6\u89c9\u6280\u672f\u652f\u6301\u3002<\/p>\n \u6743\u9f99\uff08\u5de6\uff09\u4e0e\u738b\u4e95\u4e1c\uff08\u53f3\uff09<\/p>\n \u8881\u8def\u662f\u5728 2009 \u5e74\u535a\u58eb\u6bd5\u4e1a\u540e\u8fdb\u5165 MSRA \u89c6\u89c9\u8ba1\u7b97\u7ec4\u5de5\u4f5c\uff0c\u81f3\u4eca\u4ecd\u5728\u5fae\u8f6f\u4f9b\u804c\uff0c\u73b0\u5728\u662f\u5fae\u8f6f\u4e91\u4e0e AI \u8ba4\u77e5\u670d\u52a1\u7814\u7a76\u90e8\u95e8\u7684\u9996\u5e2d\u7814\u7a76\u7ecf\u7406\uff0c\u53c2\u4e0e\u7814\u7a76\u591a\u6a21\u6001\u5927\u6a21\u578b\u3002<\/p>\n \u5728\u5fae\u8f6f\u7684\u5341\u4e94\u5e74\u95f4\uff0c\u8881\u8def\u4e3b\u8981\u94bb\u7814\u8ba1\u7b97\u673a\u89c6\u89c9\u3001\u56fe\u5f62\u5b66\u3001\u8ba1\u7b97\u6444\u5f71\u5b66\u548c\u5e94\u7528\u673a\u5668\u5b66\u4e60\uff0c\u591a\u9879\u7814\u7a76\u6210\u679c\u88ab\u8fd0\u7528\u5230\u5fae\u8f6f\u7684\u4ea7\u54c1\u548c\u5e94\u7528\u4e2d\uff0c\u5305\u62ec\u5fae\u8f6f Pix \u76f8\u673a\u3001OfficeLens\u3001BLINK\u3001Hyperlapse\uff0c\u5176\u4e3b\u6301\u7814\u7a76\u5f00\u53d1\u7684\u300c\u5fae\u8f6f\u81ea\u62cd\u300dAPP\uff0c\u4e3b\u6253\u667a\u80fd\u7f8e\u989c\u3001\u4f4e\u5149\u7167\u7f8e\u5316\u7167\u7247\u7b49\u529f\u80fd\uff0c\u66fe\u83b7\u5f9754\u4e2a\u56fd\u5bb6\u300c\u6700\u4f73\u65b0APP\u300d\u3002<\/p>\n \u66fe\u94a2\u4e0e\u8c2d\u5e73\u535a\u58eb\u6bd5\u4e1a\u540e\u6ca1\u6709\u52a0\u5165\u5fae\u8f6f\uff0c\u800c\u662f\u9996\u5148\u8fdb\u5165\u4e86\u5b66\u672f\u754c\uff1a<\/p>\n 2006 \u5e74\u6bd5\u4e1a\u7684\u66fe\u94a2\u5148\u662f\u53bb\u4e86\u82cf\u9ece\u4e16\u8054\u90a6\u7406\u5de5\u5b66\u9662\u4ece\u4e8b\u52a9\u7406\u7814\u7a76\u5458\u5de5\u4f5c\uff0c\u73b0\u6210\u4e3a\u5317\u5927\u4eba\u5de5\u667a\u80fd\u7814\u7a76\u9662\u7684\u7814\u7a76\u5458\u4e0e\u535a\u58eb\u751f\u5bfc\u5e08\u30022007 \u5e74\u6bd5\u4e1a\u7684\u8c2d\u5e73\u5148\u662f\u53bb\u5230\u65b0\u52a0\u5761\u56fd\u7acb\u5927\u5b66\u7535\u5b50\u4e0e\u8ba1\u7b97\u673a\u5de5\u7a0b\u7cfb\u4efb\u52a9\u7406\u6559\u6388\uff0c2014 \u5e74\u53c8\u8f6c\u53bb\u52a0\u62ff\u5927\u3002<\/p>\n \u62ff\u5230\u6559\u804c\u540e\uff0c\u66fe\u94a2\u548c\u8c2d\u5e73\u90fd\u5411\u6743\u9f99\u8bf7\u6559\u8fc7\u5982\u4f55\u5f53\u4e00\u540d\u300c\u9752\u6912\uff08\u9752\u5e74\u6559\u5e08\uff09\u300d\uff0c\u6743\u9f99\u7ed9\u4e86\u4ed6\u4eec\u4e09\u4e2a\u5efa\u8bae\uff1a\u597d\u597d\u4e0a\u8bfe\uff0c\u591a\u62ff\u7ecf\u8d39\uff0c\u7528\u5fc3\u5e26\u5b66\u751f\u3002<\/p>\n <\/p>\n \u66f4\u5f7b\u5e95\u7684\u5de5\u4e1a\u4e3b\u4e49<\/strong><\/p>\n 2012 \u5e74\u540e\uff0c\u6df1\u5ea6\u5b66\u4e60\u5d1b\u8d77\uff0c\u8ba1\u7b97\u673a\u89c6\u89c9\u6210\u4e3a\u4e00\u95e8\u663e\u5b66\uff0c\u53d7\u5230\u4e86\u8d44\u672c\u7684\u70ed\u60c5\u8ffd\u6367\u3002\u5bf9\u7740\u6e2f\u79d1\u5927\u89c6\u89c9\u5b9e\u9a8c\u5ba4\u5728\u4e09\u7ef4\u91cd\u5efa\u4e0a\u7684\u7814\u7a76\u9010\u6b65\u6df1\u5165\uff0c\u6743\u9f99\u4e5f\u5f00\u59cb\u601d\u8003\u4e00\u4e2a\u65b0\u7684\u95ee\u9898\uff1a\u5982\u4f55\u5c06\u5b9e\u9a8c\u5ba4\u7684\u7814\u7a76\u6210\u679c\u4ea7\u4e1a\u5316\uff1f<\/p>\n \u6e2f\u79d1\u5927\u5386\u6765\u6709\u4ea7\u5b66\u7814\u7ed3\u5408\u7684\u4f20\u7edf\uff0c\u9ad8\u79c9\u5f3a\u3001\u674e\u6cfd\u6e58\u4e0e\u7518\u6d01\u7ec4\u6210\u7684\u300c\u94c1\u4e09\u89d2\u300d\u662f\u6e2f\u79d1\u5927\u4ea7\u5b66\u7814\u7684\u4ee3\u8868\uff0c\u4f8b\u5982\uff0c\u9ad8\u79c9\u5f3a\u6295\u8d44\u7684\u5b89\u9632 CIS \u9f99\u5934\u601d\u7279\u5a01\u5c31\u5728 2022 \u5e74\u6210\u529f\u4e0a\u5e02\u3002\u6280\u672f\u6210\u679c\u8f6c\u5316\u6700\u76f4\u63a5\u5f7b\u5e95\u7684\u65b9\u5f0f\u65e0\u7591\u662f\u521b\u4e1a\u3002<\/p>\n \u6743\u9f99\u548c\u5b66\u751f\u4eec\u521b\u4e1a\u7684\u5951\u673a\u53ef\u4ee5\u8ffd\u6eaf\u5230 2012 \u5e74\u3002<\/p>\n \u65b9\u5929\u5728\u4ed6\u7684\u535a\u58eb\u7814\u7a76\u4e2d\u4e3a\u4e00\u7cfb\u5217\u57fa\u4e8e\u56fe\u50cf\u7684\u5efa\u6a21\u5de5\u4f5c\u505a\u51fa\u4e86\u8d21\u732e\u3002\u6bd5\u4e1a\u540e\uff0c\u65b9\u5929\u7ee7\u7eed\u7559\u5728\u5b9e\u9a8c\u5ba4\u5f53\u535a\u58eb\u540e\uff0c\u5f53\u65f6\u65e0\u4eba\u673a\u5e02\u573a\u5f00\u59cb\u7206\u53d1\uff0c\u667a\u80fd\u624b\u673a\u4e5f\u8d8a\u6765\u8d8a\u666e\u53ca\uff0c\u4f5c\u4e3a\u4e00\u540d\u6444\u5f71\u53d1\u70e7\u53cb\uff0c\u65b9\u5929\u4e5f\u5f00\u59cb\u7422\u78e8\u8d77\u7528\u8fd9\u4e9b\u65b0\u8bbe\u5907\u62cd\u7167\u3002<\/p>\n 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\u5f00\u53d1\u4e86\u4e00\u4e2a3D\u91cd\u5efa\u4e91\u5e73\u53f0\uff0c\u9002\u7528\u4e8e\u6765\u81ea\u76f8\u673a\u3001\u624b\u673a\u548c\u65e0\u4eba\u673a\u7684\u6240\u6709\u56fe\u50cf\uff0c\u5df2\u6210\u529f\u5e94\u7528\u4e8e\u5927\u89c4\u6a21 3D \u5efa\u6a21\u3002<\/p>\n \u540c\u65f6\uff0c\u4ed6\u4eec\u4e5f\u5f00\u59cb\u5236\u4f5c\u57ce\u5e02\u7ea7\u522b\u7684\u5b9e\u666f\u4e09\u7ef4\u6a21\u578b\uff0c\u4e3a\u667a\u6167\u57ce\u5e02\u548c\u5b89\u9632\u7cfb\u7edf\u63d0\u4f9b\u4e86\u57fa\u7840\uff0c\u8fd8\u8fdb\u4e00\u6b65\u62d3\u5c55\u4e86\u5176\u6280\u672f\u7684\u5e94\u7528\u8303\u56f4\uff0c\u4e3a\u6d4b\u7ed8\u548c\u5730\u7406\u4fe1\u606f\u884c\u4e1a\u63d0\u4f9b\u5927\u89c4\u6a21\u6570\u636e\u5904\u7406\u670d\u52a1\u3002<\/p>\n \u6743\u9f99\u5341\u5206\u8ba4\u53ef\u65b9\u5929\u7684\u60f3\u6cd5\uff0c\u5728\u4ed6\u770b\u6765\uff0c\u4e09\u7ef4\u91cd\u5efa\u6280\u672f\u7684\u6838\u5fc3\u5728\u4e8e\u6570\u636e\u7684\u83b7\u53d6\u3002\u968f\u7740\u786c\u4ef6\u8bbe\u5907\u7684\u666e\u53ca\uff0c\u667a\u80fd\u624b\u673a\u3001\u65e0\u4eba\u673a\u4e0e\u65e0\u4eba\u9a7e\u9a76\u4e2d\u7684\u8f66\u8f7d\u76f8\u673a\u90fd\u914d\u5907\u4e86\u9ad8\u8d28\u91cf\u7684\u6444\u50cf\u5934\uff0c\u80fd\u4e3a\u4e09\u7ef4\u91cd\u5efa\u63d0\u4f9b\u4e86\u4e30\u5bcc\u7684\u7d20\u6750\u3002\u6d88\u8d39\u7ea7\u65e0\u4eba\u673a\u7684\u666e\u53ca\u66f4\u662f\u8ba9\u81ea\u52a8\u5316\u548c\u5927\u89c4\u6a21\u7684\u6570\u636e\u6536\u96c6\u6210\u4e3a\u53ef\u80fd\u3002<\/p>\n 2015 \u5e74 Altizure \u6210\u7acb\uff0c\u6743\u9f99\u4e0e\u65b9\u5929\u5c31\u540c\u6b65\u63a8\u51fa\u4e86\u540c\u540d\u7684\u6838\u5fc3\u4ea7\u54c1\u3002\u4f5c\u4e3a\u4e00\u4e2a\u521b\u65b0\u5e73\u53f0\uff0cAltizure \u80fd\u591f\u5c06\u65e0\u4eba\u673a\u822a\u62cd\u7167\u7247\u8f6c\u6362\u6210\u4e09\u7ef4\u5b9e\u666f\u6a21\u578b\u3002\u5728\u6743\u9f99\u548c\u65b9\u5929\u7684\u89c4\u5212\u4e2d\uff0cAltizure \u5c06\u5229\u7528\u65e0\u4eba\u673a\u98de\u624b\u7684\u529b\u91cf\uff0c\u9010\u6b65\u91cd\u5efa\u51fa\u6574\u4e2a\u5730\u7403\u7684\u4e09\u7ef4\u6a21\u578b\uff0c\u5f62\u6210\u4e00\u4e2a\u4f17\u5305\u7684 Google Earth\u3002<\/p>\n Altizure \u4e00\u7ecf\u53d1\u5e03\uff0c\u4fbf\u6df1\u53d7\u65e0\u4eba\u673a\u7231\u597d\u8005\u548c\u4e13\u4e1a\u7528\u6237\u7684\u9752\u7750\u3002<\/p>\n \u8d77\u521d\uff0cAltizure \u53ea\u5f00\u653e\u4e86\u7f51\u7ad9\u8fd9\u4e00\u4e2a\u9762\u5411\u6d88\u8d39\u8005\u7684\u5165\u53e3\u3002\u968f\u7740\u6280\u672f\u7684\u9010\u6e10\u6210\u719f\uff0c\u6743\u9f99\u548c\u65b9\u5929\u610f\u8bc6\u5230\uff0c\u670d\u52a1\u5e94\u66f4\u591a\u5730\u9762\u5411\u4f01\u4e1a\u548c\u653f\u5e9c\uff0c\u5373 2B \u548c 2G \u5e02\u573a\u3002<\/p>\n \u4e8e\u662f Altizure \u4e5f\u5f00\u59cb\u5236\u4f5c\u57ce\u5e02\u7ea7\u522b\u7684\u5b9e\u666f\u4e09\u7ef4\u6a21\u578b\uff0c\u4e3a\u667a\u6167\u57ce\u5e02\u548c\u5b89\u9632\u7cfb\u7edf\u63d0\u4f9b\u4e86\u57fa\u7840\uff0c\u8fd8\u8fdb\u4e00\u6b65\u62d3\u5c55\u4e86\u5176\u6280\u672f\u7684\u5e94\u7528\u8303\u56f4\uff0c\u4e3a\u6d4b\u7ed8\u548c\u5730\u7406\u4fe1\u606f\u884c\u4e1a\u63d0\u4f9b\u5927\u89c4\u6a21\u6570\u636e\u5904\u7406\u670d\u52a1\u3002<\/p>\n \u7531\u4e8e\u51fa\u8272\u7684\u4e09\u7ef4\u5efa\u6a21\u6280\u672f\uff0c Altizure \u5f88\u5feb\u88ab\u56fd\u9645\u5927\u5382\u5e76\u8d2d\u3002<\/p>\n \u800c\u5728\u6743\u9f99\u4e0e\u65b9\u5929\u4e4b\u540e\uff0cVisGraph \u7684\u7b2c\u4e8c\u4f4d\u521b\u4e1a\u8005\u662f\u8096\u5065\u96c4\u3002<\/p>\n \u8096\u5065\u96c4 2009 \u5e74\u53bb MIT \u8bfb\u535a\uff0c\u96b6\u5c5e\u4e8e\u77e5\u540d\u7684\u8ba1\u7b97\u673a\u79d1\u5b66\u4e0e\u4eba\u5de5\u667a\u80fd\u5b9e\u9a8c\u5ba4\uff08CSAIL\uff09\uff0c\u4e13\u6ce8\u4e8e\u5927\u6570\u636e\u9a71\u52a8\u7684\u4e09\u7ef4\u573a\u666f\u5206\u6790\u7814\u7a76\uff0c\u535a\u58eb\u671f\u95f4\u83b7\u5f97\u4e862012\u5e74 Google Research \u7684\u6700\u4f73\u8bba\u6587\u5956\u3002\u4e4b\u540e\uff0c\u4ed6\u52a0\u5165\u666e\u6797\u65af\u987f\u5927\u5b66\u62c5\u4efb\u52a9\u7406\u6559\u6388\uff0c\u7814\u7a76\u5982\u4f55\u5c06\u4e09\u7ef4\u89c6\u89c9\u5e94\u7528\u5728\u673a\u5668\u4eba\u9886\u57df\uff0c\u5f00\u62d3\u4e86 RGB-D \u573a\u666f\u5206\u6790\u548c\u4e09\u7ef4\u6df1\u5ea6\u5b66\u4e60\u4e24\u9879\u521b\u65b0\u7814\u7a76\uff0c\u5728\u65e0\u4eba\u9a7e\u9a76\u3001Visual SLAM \u548c\u673a\u5668\u4eba\u63a7\u5236\u7b49\u5b9e\u9645\u5e94\u7528\u9886\u57df\u90fd\u5c55\u73b0\u51fa\u4e86\u5de8\u5927\u6f5c\u529b\u3002<\/p>\n \u81ea\u52a8\u9a7e\u9a76\u5174\u8d77\u540e\uff0c2016 \u5e74\u8096\u5065\u96c4\u5c31\u8f9e\u6389\u4e86\u6559\u804c\u3001\u6295\u8eab\u521b\u4e1a\u5927\u6f6e\uff0c\u521b\u7acb\u4e86\u81ea\u52a8\u9a7e\u9a76\u6280\u672f\u516c\u53f8 AutoX\uff0c\u4e13\u6ce8\u5728 L4\u3002<\/p>\n \u7ee7\u8096\u5065\u96c4\u4e4b\u540e\uff0cVisGraph \u7684\u7b2c\u4e09\u4f4d\u521b\u4e1a\u8005\u662f\u8c2d\u5e73\u3002<\/p>\n 2019 \u5e74\uff0c\u8fdb\u5165\u5b66\u672f\u754c 12 \u5e74\u540e\u7684\u8c2d\u5e73\u5bf9\u5de5\u4e1a\u754c\u8fd8\u662f\u70ed\u60c5\u4e0d\u706d\uff0c\u9042\u56de\u56fd\u6295\u8eab AI \u4ea7\u4e1a\u5efa\u8bbe\uff0c\u4f46\u8fc7\u7a0b\u6709\u4e9b\u574e\u5777\u3002<\/p>\n \u4ed6\u5148\u77ed\u6682\u52a0\u5165 360 \u62c5\u4efb\u4eba\u5de5\u667a\u80fd\u7814\u7a76\u9662\u526f\u9662\u957f\uff0c\u4e0e\u989c\u6c34\u6210\u642d\u6863\u3002\u5f53\u65f6 360 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