{"id":39922,"date":"2025-04-06T23:02:24","date_gmt":"2025-04-06T15:02:24","guid":{"rendered":"https:\/\/17aitech.com\/?p=39922"},"modified":"2025-04-06T23:02:24","modified_gmt":"2025-04-06T15:02:24","slug":"cvpr%e6%bb%a1%e5%88%86%e8%ae%ba%e6%96%87-%e8%8b%b1%e4%bc%9f%e8%be%be%e5%bc%80%e6%ba%90%e5%8f%8c%e7%9b%ae%e6%b7%b1%e5%ba%a6%e4%bc%b0%e8%ae%a1%e5%a4%a7%e6%a8%a1%e5%9e%8bfoundationstereo","status":"publish","type":"post","link":"https:\/\/17aitech.com\/?p=39922","title":{"rendered":"CVPR\u6ee1\u5206\u8bba\u6587 | \u82f1\u4f1f\u8fbe\u5f00\u6e90\u53cc\u76ee\u6df1\u5ea6\u4f30\u8ba1\u5927\u6a21\u578bFoundationStereo"},"content":{"rendered":"<p>\u6587\u7ae0\u6765\u6e90\u4e8e\u4e92\u8054\u7f51:<a href=\"https:\/\/www.jiqizhixin.com\/articles\/2025-04-06-2\" target=\"_blank\">CVPR\u6ee1\u5206\u8bba\u6587 | \u82f1\u4f1f\u8fbe\u5f00\u6e90\u53cc\u76ee\u6df1\u5ea6\u4f30\u8ba1\u5927\u6a21\u578bFoundationStereo<\/a><\/p>\n<section><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2025\/04\/frc-8b8fd77d41bfde2fc826af0a05365bbf.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2025\/04\/frc-8b8fd77d41bfde2fc826af0a05365bbf.png\"><\/a><\/section>\n<p>\u672c\u6587\u4ecb\u7ecd\u4e86 FoundationStereo\uff0c\u4e00\u79cd\u7528\u4e8e\u7acb\u4f53\u6df1\u5ea6\u4f30\u8ba1\u7684\u57fa\u7840\u6a21\u578b\uff0c\u65e8\u5728\u5b9e\u73b0\u5f3a\u5927\u7684\u96f6\u6837\u672c\u6cdb\u5316\u80fd\u529b\u3002\u901a\u8fc7\u6784\u5efa\u5927\u89c4\u6a21\uff08100 \u4e07\u7acb\u4f53\u56fe\u50cf\u5bf9\uff09\u5408\u6210\u8bad\u7ec3\u6570\u636e\u96c6\uff0c\u7ed3\u5408\u81ea\u52a8\u81ea\u7b5b\u9009\u6d41\u7a0b\u53bb\u9664\u6a21\u7cca\u6837\u672c\uff0c\u5e76\u8bbe\u8ba1\u4e86\u7f51\u7edc\u67b6\u6784\u7ec4\u4ef6\uff08\u5982\u4fa7\u8c03\u8c10\u7279\u5f81\u4e3b\u5e72\u548c\u8fdc\u7a0b\u4e0a\u4e0b\u6587\u63a8\u7406\uff09\u6765\u589e\u5f3a\u53ef\u6269\u5c55\u6027\u548c\u51c6\u786e\u6027\u3002\u8fd9\u4e9b\u521b\u65b0\u663e\u8457\u63d0\u5347\u4e86\u6a21\u578b\u5728\u4e0d\u540c\u9886\u57df\u7684\u9c81\u68d2\u6027\u548c\u7cbe\u5ea6\uff0c\u4e3a\u96f6\u6837\u672c\u7acb\u4f53\u6df1\u5ea6\u4f30\u8ba1\u8bbe\u7acb\u4e86\u65b0\u6807\u51c6\u3002<\/p>\n<p>\u76f8\u5173\u8bba\u6587 FoundationStereo: Zero-Shot Stereo Matching \u83b7\u5f97 CVPR 2025 \u6ee1\u5206\u8bc4\u5ba1\uff0c\u4ee3\u7801\u5df2\u5f00\u6e90\u3002<\/p>\n<p><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2025\/04\/frc-6a055c8f42266b51d38c6078daed615d.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2025\/04\/frc-6a055c8f42266b51d38c6078daed615d.png\"><\/a><\/p>\n<ul>\n<li>\n<p>\u8bba\u6587\u5730\u5740\uff1ahttps:\/\/arxiv.org\/abs\/2501.09898 \u00a0<\/p>\n<\/li>\n<li>\n<p>\u9879\u76ee\u4e3b\u9875\uff1ahttps:\/\/nvlabs.github.io\/FoundationStereo\/ \u00a0<\/p>\n<\/li>\n<li>\n<p>\u9879\u76ee\u4ee3\u7801\u548c\u6570\u636e\u96c6\uff1ahttps:\/\/github.com\/NVlabs\/FoundationStereo\/ \u00a0<\/p>\n<\/li>\n<\/ul>\n<section><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2025\/04\/frc-9f8d75cea0974c71c614e94ddcf6ded2.gif\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2025\/04\/frc-9f8d75cea0974c71c614e94ddcf6ded2.gif\"><\/a><\/section>\n<p><span data-pm-slice='1 1 [\"para\",{\"tagName\":\"p\",\"attributes\":{\"style\":\"margin-left: 8px; margin-right: 8px; line-height: 1.75em;\"},\"namespaceURI\":\"http:\/\/www.w3.org\/1999\/xhtml\"}]'>\u5bf9\u6bd4\u5e38\u7528 RGBD \u76f8\u673a:<\/span><\/p>\n<section><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2025\/04\/frc-0f6a759b0443d96c17acdd8df40d18e5.gif\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2025\/04\/frc-0f6a759b0443d96c17acdd8df40d18e5.gif\"><\/a><\/section>\n<p><span data-pm-slice='1 1 [\"para\",{\"tagName\":\"p\",\"attributes\":{\"style\":\"margin-left: 8px; margin-right: 8px; line-height: 1.75em;\"},\"namespaceURI\":\"http:\/\/www.w3.org\/1999\/xhtml\"}]'>\u76ee\u524d FoundationStereo \u5728 Middlebury, ETH3D \u7b49\u591a\u4e2a\u6392\u884c\u699c\u4f4d\u5217\u7b2c\u4e00\u3002<\/span><\/p>\n<p><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2025\/04\/frc-fa651e29648110374b728d212479fe45.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2025\/04\/frc-fa651e29648110374b728d212479fe45.png\"><\/a><\/p>\n<p><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2025\/04\/frc-85331723d1293fcc0a2cd8ccbe2008cf.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2025\/04\/frc-85331723d1293fcc0a2cd8ccbe2008cf.png\"><\/a><\/p>\n<p><strong>\u5f15\u8a00<\/strong><\/p>\n<p>\u7acb\u4f53\u5339\u914d\u7b97\u6cd5\u867d\u5728\u57fa\u51c6\u6570\u636e\u96c6\u4e0a\u8868\u73b0\u4f18\u5f02\uff0c\u4f46\u96f6\u6837\u672c\u6cdb\u5316\u80fd\u529b\u4ecd\u4e0d\u8db3\u3002\u73b0\u6709\u65b9\u6cd5\u4f9d\u8d56\u76ee\u6807\u57df\u5fae\u8c03\uff0c\u4e14\u53d7\u9650\u4e8e\u7f51\u7edc\u7ed3\u6784\u6216\u6570\u636e\u89c4\u6a21\u3002\u672c\u6587\u63d0\u51fa FoundationStereo\uff0c\u901a\u8fc7\u5927\u89c4\u6a21\u5408\u6210\u6570\u636e\u3001\u81ea\u7b5b\u9009\u6d41\u7a0b\u53ca\u7ed3\u5408\u5355\u76ee\u5148\u9a8c\u7684\u67b6\u6784\u8bbe\u8ba1\uff0c\u5b9e\u73b0\u4e86\u65e0\u9700\u5fae\u8c03\u7684\u8de8\u57df\u6cdb\u5316\u80fd\u529b\u3002\u4e3b\u8981\u8d21\u732e\u5982\u4e0b:<\/p>\n<p><strong>1.FoundationStereo \u5927\u6a21\u578b<\/strong><\/p>\n<ul>\n<li>\n<p>\u63d0\u51fa\u9996\u4e2a\u96f6\u6837\u672c\u6cdb\u5316\u80fd\u529b\u5f3a\u5927\u7684<strong>\u7acb\u4f53\u5339\u914d\u57fa\u7840\u6a21\u578b<\/strong>\uff0c\u65e0\u9700\u76ee\u6807\u57df\u5fae\u8c03\u5373\u53ef\u5728\u591a\u6837\u573a\u666f\uff08\u5ba4\u5185 \/ \u5ba4\u5916\u3001\u65e0\u7eb9\u7406 \/ \u53cd\u5c04 \/ \u900f\u660e\u7269\u4f53\u7b49\uff09\u4e2d\u5b9e\u73b0\u9ad8\u7cbe\u5ea6\u6df1\u5ea6\u4f30\u8ba1\u3002<\/p>\n<\/li>\n<\/ul>\n<p><strong>2. \u5927\u89c4\u6a21\u5408\u6210\u6570\u636e\u96c6\uff08FSD\uff09<\/strong><\/p>\n<ul>\n<li>\n<p>\u6784\u5efa\u5305\u542b <strong>100 \u4e07\u7acb\u4f53\u56fe\u50cf<\/strong>\u5bf9\u7684\u9ad8\u4fdd\u771f\u5408\u6210\u6570\u636e\u96c6\uff0c\u8986\u76d6\u590d\u6742\u5149\u7167\u3001\u968f\u673a\u76f8\u673a\u53c2\u6570\u53ca\u591a\u6837\u5316 3D \u8d44\u4ea7\uff0c\u5e76\u901a\u8fc7<strong>\u8def\u5f84\u8ffd\u8e2a\u6e32\u67d3<\/strong>\u63d0\u5347\u771f\u5b9e\u6027\u3002<\/p>\n<\/li>\n<li>\n<p>\u8bbe\u8ba1<strong>\u8fed\u4ee3\u81ea\u7b5b\u9009\u6d41\u7a0b<\/strong>\uff0c\u81ea\u52a8\u5254\u9664\u6a21\u7cca\u6837\u672c\uff08\u5982\u91cd\u590d\u7eb9\u7406\u3001\u7eaf\u8272\u533a\u57df\uff09\uff0c\u63d0\u5347\u6570\u636e\u8d28\u91cf\u3002<\/p>\n<\/li>\n<\/ul>\n<p><strong>3. \u5355\u76ee\u5148\u9a8c\u9002\u914d\uff08STA \u6a21\u5757\uff09<\/strong><\/p>\n<ul>\n<li>\n<p>\u63d0\u51fa\u4fa7\u8c03\u8c10\u9002\u914d\u5668\uff08STA\uff09\uff0c\u5c06\u5355\u76ee\u6df1\u5ea6\u4f30\u8ba1\u6a21\u578b\uff08DepthAnythingV2\uff09\u7684<strong>\u4e92\u8054\u7f51\u5c3a\u5ea6\u51e0\u4f55\u5148\u9a8c<\/strong>\u4e0e CNN \u7279\u5f81\u7ed3\u5408\uff0c\u663e\u8457\u7f13\u89e3\u5408\u6210\u5230\u771f\u5b9e\u7684\u57df\u5dee\u8ddd\u3002<\/p>\n<\/li>\n<\/ul>\n<p><strong>4. \u6ce8\u610f\u529b\u6df7\u5408\u6210\u672c\u8fc7\u6ee4\uff08AHCF\uff09<\/strong><\/p>\n<ul>\n<li>\n<p><strong>\u8f74\u5411\u5e73\u9762\u5377\u79ef\uff08APC\uff09<\/strong>\uff1a\u5c06 3D \u5377\u79ef\u89e3\u8026\u4e3a\u7a7a\u95f4\u548c\u89c6\u5dee\u7ef4\u5ea6\u7684\u72ec\u7acb\u64cd\u4f5c\uff0c\u6269\u5c55\u611f\u53d7\u91ce\u5e76\u964d\u4f4e\u8ba1\u7b97\u5f00\u9500\u3002<\/p>\n<\/li>\n<li>\n<p><strong>\u89c6\u5dee Transformer\uff08DT\uff09<\/strong>\uff1a\u5728\u6210\u672c\u4f53\u79ef\u4e2d\u5f15\u5165\u8de8\u89c6\u5dee\u81ea\u6ce8\u610f\u529b\u673a\u5236\uff0c\u589e\u5f3a\u957f\u7a0b\u4e0a\u4e0b\u6587\u63a8\u7406\u80fd\u529b\u3002<\/p>\n<\/li>\n<\/ul>\n<p><strong>5. \u5b9e\u9a8c\u6027\u80fd\u7a81\u7834<\/strong><\/p>\n<ul>\n<li>\n<p><strong>\u96f6\u6837\u672c\u6cdb\u5316<\/strong>\uff1a\u5728 Middlebury\u3001ETH3D \u7b49\u57fa\u51c6\u4e0a\u8d85\u8d8a\u5fae\u8c03\u6a21\u578b\uff08\u5982 Middlebury BP-2 \u8bef\u5dee\u4ece 7.5% \u964d\u81f3 1.1%\uff09\u3002<\/p>\n<\/li>\n<li>\n<p><strong>\u9886\u57df\u5185\u6700\u4f18<\/strong>\uff1aScene Flow \u6d4b\u8bd5\u96c6 EPE \u5237\u65b0\u7eaa\u5f55\uff080.34\uff09\uff0cETH3D \u5fae\u8c03\u540e\u6392\u540d\u7b2c\u4e00\u3002<\/p>\n<\/li>\n<\/ul>\n<p><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2025\/04\/frc-a2a7d583dee11047b101d2dde02af861.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2025\/04\/frc-a2a7d583dee11047b101d2dde02af861.png\"><\/a><\/p>\n<p><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2025\/04\/frc-6f18748234032cbfb4b5c6108bfd642d.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2025\/04\/frc-6f18748234032cbfb4b5c6108bfd642d.png\"><\/a><\/p>\n<p><strong>\u65b9\u6cd5<\/strong><\/p>\n<p><strong>\u6982\u89c8<\/strong><\/p>\n<p>1. <strong>\u5355\u76ee &#8211; \u7acb\u4f53\u534f\u540c<\/strong>\uff1a\u901a\u8fc7 STA \u878d\u5408 ViT \u7684\u51e0\u4f55\u5148\u9a8c\u4e0e CNN \u7684\u5339\u914d\u80fd\u529b\uff0c\u7f29\u5c0f\u4eff\u771f &#8211; \u771f\u5b9e\u5dee\u8ddd\u3002<\/p>\n<p>2. <strong>\u6210\u672c\u4f53\u79ef\u9ad8\u6548\u6ee4\u6ce2<\/strong>\uff1aAPC\uff08\u5927\u89c6\u5dee\u6838\uff09 + DT\uff08\u5168\u5c40\u6ce8\u610f\u529b\uff09\u5b9e\u73b0\u591a\u5c3a\u5ea6\u4e0a\u4e0b\u6587\u805a\u5408\u3002<\/p>\n<p>3. <strong>\u6570\u636e\u9a71\u52a8\u6cdb\u5316<\/strong>\uff1a\u767e\u4e07\u7ea7\u5408\u6210\u6570\u636e + \u81ea\u52a8\u7b5b\u9009\uff0c\u8986\u76d6\u6781\u7aef\u573a\u666f\uff08\u900f\u660e \/ \u53cd\u5c04 \/ \u65e0\u7eb9\u7406\u7269\u4f53\uff09\u3002<\/p>\n<p><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2025\/04\/frc-87925214f34de4ab70627c0680c1c1bd.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2025\/04\/frc-87925214f34de4ab70627c0680c1c1bd.png\"><\/a><\/p>\n<p><strong>\u5355\u76ee\u57fa\u7840\u6a21\u578b\u9002\u914d\uff08Monocular Foundation Model Adaptation\uff09<\/strong><\/p>\n<p>1.\u52a8\u673a\uff1a\u5408\u6210\u6570\u636e\u8bad\u7ec3\u7684\u7acb\u4f53\u5339\u914d\u6a21\u578b\u5b58\u5728<strong>\u4eff\u771f &#8211; \u771f\u5b9e\u5dee\u8ddd\uff08sim-to-real gap\uff09<\/strong>\uff0c\u800c\u5355\u76ee\u6df1\u5ea6\u4f30\u8ba1\u6a21\u578b\uff08\u5982 DepthAnythingV2\uff09\u5728\u771f\u5b9e\u6570\u636e\u4e0a\u8bad\u7ec3\uff0c\u80fd\u63d0\u4f9b\u66f4\u5f3a\u7684\u51e0\u4f55\u5148\u9a8c\u3002<\/p>\n<p>2.\u65b9\u6cd5\uff1a<\/p>\n<ul>\n<li>\n<p>\u91c7\u7528\u4fa7\u8c03\u8c10\u9002\u914d\u5668\uff08<strong>STA, Side-Tuning Adapter\uff09<\/strong>\uff0c\u5c06<strong>\u51bb\u7ed3\u7684 DepthAnythingV2 ViT \u7279\u5f81<\/strong>\u4e0e\u8f7b\u91cf\u7ea7 CNN\uff08EdgeNeXt-S\uff09\u63d0\u53d6\u7684\u7279\u5f81\u878d\u5408\u3002<\/p>\n<\/li>\n<li>\n<p>\u5b9e\u9a8c\u5bf9\u6bd4\u4e09\u79cd\u878d\u5408\u7b56\u7565\uff08\u56fe 3 \u5de6\uff09\uff1a<\/p>\n<\/li>\n<\/ul>\n<p>(a) <strong>\u76f4\u63a5\u4f7f\u7528 ViT \u7279\u5f81\u91d1\u5b57\u5854<\/strong> \u2192 \u6548\u679c\u8f83\u5dee\uff08\u7f3a\u4e4f\u5c40\u90e8\u7ec6\u8282\uff09\u3002<\/p>\n<p>(b) <strong>ViT \u4e0e CNN \u53cc\u5411\u7279\u5f81\u4ea4\u6362<\/strong> \u2192 \u8ba1\u7b97\u590d\u6742\uff0c\u6536\u76ca\u6709\u9650\u3002<\/p>\n<p>(c)<strong> ViT \u6700\u7ec8\u5c42\u7279\u5f81\u964d\u7ef4\u540e\u4e0e CNN \u7279\u5f81\u62fc\u63a5 \u2192 \u6700\u4f18\u9009\u62e9<\/strong>\uff08\u5e73\u8861\u6548\u7387\u4e0e\u6027\u80fd\uff09\u3002<\/p>\n<ul>\n<li>\n<p>\u5173\u952e\u4f18\u52bf\uff1aSTA \u6a21\u5757\u4fdd\u7559 ViT \u7684\u9ad8\u5c42\u8bed\u4e49\u5148\u9a8c\uff0c\u540c\u65f6\u7ed3\u5408 CNN \u7684\u7ec6\u7c92\u5ea6\u5339\u914d\u80fd\u529b\uff0c\u663e\u8457\u63d0\u5347\u5bf9\u6a21\u7cca\u533a\u57df\uff08\u5982\u5f31\u7eb9\u7406\u3001\u53cd\u5c04\u8868\u9762\uff09\u7684\u9c81\u68d2\u6027\u3002<\/p>\n<\/li>\n<\/ul>\n<section><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2025\/04\/frc-42ac420106d497290650ecc58da10991.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2025\/04\/frc-42ac420106d497290650ecc58da10991.png\"><\/a><\/section>\n<p><strong>\u6ce8\u610f\u529b\u6df7\u5408\u6210\u672c\u8fc7\u6ee4\uff08Attentive Hybrid Cost Filtering\uff09<\/strong><\/p>\n<p>1.\u6df7\u5408\u6210\u672c\u4f53\u79ef\u6784\u9020\uff08Hybrid Cost Volume Construction\uff09<\/p>\n<ul>\n<li>\n<p>\u8f93\u5165\uff1aSTA \u63d0\u53d6\u7684\u5de6\u53f3\u56fe\u50cf 1\/4 \u5206\u8fa8\u7387\u7279\u5f81\uff08fl4,fr4fl4,fr4\uff09\u3002<\/p>\n<\/li>\n<li>\n<p>\u6784\u9020\u65b9\u5f0f\uff1a<\/p>\n<p>\u00a0 \u00a0 1.\u5206\u7ec4\u76f8\u5173(Group-wise Correlation)\uff1a\u5c06\u7279\u5f81\u5206\u4e3a 8 \u7ec4\uff0c\u8ba1\u7b97\u9010\u7ec4\u76f8\u5173\u6027(VgwcVgwc)\uff0c\u589e\u5f3a\u5339\u914d\u591a\u6837\u6027\u3002<\/p>\n<\/li>\n<\/ul>\n<p>\u00a0 \u00a0 \u00a0 \u00a0 2.\u7279\u5f81\u62fc\u63a5\uff08Concatenation\uff09\uff1a\u76f4\u63a5\u62fc\u63a5\u5de6\u53f3\u56fe\u50cf\u7279\u5f81\uff08VcatVcat\uff09\uff0c\u4fdd\u7559\u5355\u76ee\u5148\u9a8c\u4fe1\u606f\u3002<\/p>\n<p>\u00a0 \u00a0 \u00a0 \u00a0 3.\u6700\u7ec8\u6210\u672c\u4f53\u79ef\uff1a\u517c\u987e\u5c40\u90e8\u5339\u914d\u4e0e\u5168\u5c40\u4e0a\u4e0b\u6587\u3002<\/p>\n<p><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2025\/04\/frc-4a04b9fb6c71fb81e54f67e192b22487.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2025\/04\/frc-4a04b9fb6c71fb81e54f67e192b22487.png\"><\/a><\/p>\n<p>2.\u8f74\u5411\u5e73\u9762\u5377\u79ef\uff08APC, Axial-Planar Convolution\uff09<\/p>\n<ul>\n<li>\n<p>\u95ee\u9898\uff1a\u4f20\u7edf 3D \u5377\u79ef\uff08\u5982 3\u00d73\u00d73\uff09\u5bf9\u5927\u89c6\u5dee\u8303\u56f4\u8ba1\u7b97\u4ee3\u4ef7\u9ad8\uff0c\u4e14\u611f\u53d7\u91ce\u6709\u9650\u3002<\/p>\n<\/li>\n<li>\n<p>\u6539\u8fdb\uff1a\u5c06 3D \u5377\u79ef<strong>\u89e3\u8026<\/strong>\u4e3a\u4e24\u90e8\u5206\uff1a<\/p>\n<p>\u00a0 \u00a0 \u00a0 \u00a0 1. <strong>\u7a7a\u95f4\u5377\u79ef<\/strong>(Ks\u00d7Ks\u00d71Ks\u00d7Ks\u00d71)\uff1a\u5904\u7406\u56fe\u50cf\u5e73\u9762\u5185\u7684\u7279\u5f81\u3002<\/p>\n<p>\u00a0 \u00a0 \u00a0 \u00a0 2. <strong>\u89c6\u5dee\u5377\u79ef<\/strong>\uff081\u00d71\u00d7Kd1\u00d71\u00d7Kd\uff09\uff1a\u6cbf\u89c6\u5dee\u7ef4\u5ea6\u805a\u5408\u4fe1\u606f\u3002<\/p>\n<\/li>\n<\/ul>\n<p><span data-pm-slice='1 1 [\"list\",{\"type\":\"ul\",\"style\":\"list-style-type: disc;margin-left: 8px;margin-right: 8px;\",\"class\":\"list-paddingleft-1\"},\"listitem\",{\"style\":\"\"},\"para\",{\"tagName\":\"p\",\"attributes\":{\"style\":\"line-height: 1.75em;\"},\"namespaceURI\":\"http:\/\/www.w3.org\/1999\/xhtml\"},\"node\",{\"tagName\":\"span\",\"attributes\":{\"style\":\"background-color: transparent;font-size: 15px;letter-spacing: 0.034em;\"},\"namespaceURI\":\"http:\/\/www.w3.org\/1999\/xhtml\"}]'>\u00a0 \u00a0 \u00a0 \u00a0 \u6548\u679c\uff1a\u5728\u89c6\u5dee\u7ef4\u5ea6\u4f7f\u7528\u5927\u6838\uff08\u5982 Kd=17\uff09\uff0c\u663e\u8457\u63d0\u5347\u957f\u8ddd\u79bb\u5339\u914d\u80fd\u529b\uff0c\u540c\u65f6\u964d\u4f4e\u5185\u5b58\u5360\u7528\u3002<\/span><\/p>\n<p>3.\u89c6\u5dee Transformer\uff08DT, Disparity Transformer\uff09<\/p>\n<ul>\n<li>\n<p>\u52a8\u673a\uff1a\u4f20\u7edf\u6210\u672c\u6ee4\u6ce2\u7f3a\u4e4f<strong>\u5168\u5c40\u89c6\u5dee\u5173\u7cfb\u5efa\u6a21<\/strong>\u3002<\/p>\n<\/li>\n<li>\n<p>\u8bbe\u8ba1\uff1a<\/p>\n<p>\u00a0 \u00a0 1.\u5c06\u6210\u672c\u4f53\u79ef\u964d\u91c7\u6837\u81f3 1\/16 \u5206\u8fa8\u7387\uff0c\u8f6c\u6362\u4e3a<strong>\u89c6\u5dee\u5e8f\u5217 token<\/strong>\u3002<\/p>\n<p>\u00a0 \u00a0 2.\u901a\u8fc7<strong>\u00a04 \u5c42 Transformer \u7f16\u7801\u5668<\/strong>(\u542b FlashAttention)\u6267\u884c\u8de8\u89c6\u5dee\u81ea\u6ce8\u610f\u529b\u3002<\/p>\n<p>\u00a0 \u00a0 3.<strong>\u4f4d\u7f6e\u7f16\u7801<\/strong>\uff1a\u5b9e\u9a8c\u8868\u660e\u4f59\u5f26\u7f16\u7801\u4f18\u4e8e RoPE\uff08\u56e0\u89c6\u5dee\u7ef4\u5ea6\u56fa\u5b9a\uff09\u3002<\/p>\n<\/li>\n<li>\n<p>\u4f5c\u7528\uff1a\u589e\u5f3a\u5bf9<strong>\u8584\u7ed3\u6784\u3001\u91cd\u590d\u7eb9\u7406<\/strong>\u7b49\u590d\u6742\u573a\u666f\u7684\u5339\u914d\u9c81\u68d2\u6027\u3002<\/p>\n<\/li>\n<\/ul>\n<p><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2025\/04\/frc-506b45e1c6254495dadb0e80dc621b23.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2025\/04\/frc-506b45e1c6254495dadb0e80dc621b23.png\"><\/a><\/p>\n<p>4.\u521d\u59cb\u89c6\u5dee\u9884\u6d4b<\/p>\n<ul>\n<li>\n<p>\u5bf9\u6ee4\u6ce2\u540e\u7684\u6210\u672c\u4f53\u79ef VC\u2217VC\u2217\u6267\u884c<strong> Soft-Argmin<\/strong>\uff0c\u751f\u6210 1\/4 \u5206\u8fa8\u7387\u7684\u521d\u59cb\u89c6\u5dee\u56fe d0\u3002<\/p>\n<\/li>\n<\/ul>\n<p><strong>\u8fed\u4ee3\u4f18\u5316\uff08Iterative Refinement\uff09<\/strong><\/p>\n<ul>\n<li>\n<p><strong>\u76f8\u5173\u6027\u4f53\u79ef\u67e5\u627e<\/strong>\uff1a\u57fa\u4e8e\u5f53\u524d\u89c6\u5dee dk\uff0c\u4ece VC \u548c\u5de6\u53f3\u7279\u5f81\u76f8\u5173\u6027\u4f53\u79ef Vcorr\u4e2d\u63d0\u53d6\u7279\u5f81\u3002<\/p>\n<\/li>\n<li>\n<p><strong>GRU \u66f4\u65b0<\/strong>\uff1a<\/p>\n<\/li>\n<\/ul>\n<p>\u00a0 \u00a0 1. \u8f93\u5165\uff1a\u6210\u672c\u4f53\u79ef\u7279\u5f81 + \u5f53\u524d\u89c6\u5dee + \u4e0a\u4e0b\u6587\u7279\u5f81\uff08\u6765\u81ea STA\uff09\u3002<\/p>\n<p>\u00a0 \u00a0 2. \u91c7\u7528 <strong>3 \u7ea7 ConvGRU<\/strong>\uff08\u7c97\u5230\u7ec6\uff09\u9010\u6b65\u4f18\u5316\u89c6\u5dee\uff0c\u6bcf\u7ea7\u9690\u85cf\u72b6\u6001\u7531\u4e0a\u4e0b\u6587\u7279\u5f81 \u00a0 \u00a0 \u00a0 \u00a0\u521d\u59cb\u5316\u3002<\/p>\n<ul>\n<li>\n<p>\u89c6\u5dee\u4fee\u6b63\uff1a\u901a\u8fc7\u5377\u79ef\u9884\u6d4b\u6b8b\u5dee \u0394d\uff0c\u66f4\u65b0\u89c6\u5dee<\/p>\n<\/li>\n<\/ul>\n<section><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2025\/04\/frc-d94f61e40031abc8728eb8c78ec78181.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2025\/04\/frc-d94f61e40031abc8728eb8c78ec78181.png\"><\/a><\/section>\n<p><strong>\u635f\u5931\u51fd\u6570\uff08Loss Function\uff09<\/strong><\/p>\n<ul>\n<li>\n<p>\u76d1\u7763\u76ee\u6807\uff1a<\/p>\n<p>\u00a0 \u00a0 \u00a01.\u521d\u59cb\u89c6\u5dee d0\uff1a\u5e73\u6ed1 L1 \u635f\u5931\u3002<\/p>\n<p>\u00a0 \u00a0 \u00a02.\u8fed\u4ee3\u4f18\u5316\u89c6\u5dee {dk}{dk}\uff1a\u52a0\u6743 L1 \u635f\u5931\uff08\u6743\u91cd\u968f\u8fed\u4ee3\u6307\u6570\u8870\u51cf\uff0c\u03b3=0.9\uff09\u3002<\/p>\n<\/li>\n<\/ul>\n<p><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2025\/04\/frc-eaf0edd70b07956d72b916120939baf7.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2025\/04\/frc-eaf0edd70b07956d72b916120939baf7.png\"><\/a><\/p>\n<p><strong>\u5408\u6210\u8bad\u7ec3\u6570\u636e\u96c6\uff08Synthetic Training Dataset\uff09<\/strong><\/p>\n<ul>\n<li>\n<p>\u6570\u636e\u751f\u6210\uff1a<\/p>\n<p>\u00a0 \u00a0 1.\u5de5\u5177\uff1aNVIDIA Omniverse \u8def\u5f84\u8ffd\u8e2a\u6e32\u67d3\u3002<\/p>\n<\/li>\n<\/ul>\n<p>\u00a0 \u00a0 \u00a0 \u00a02.\u591a\u6837\u6027\u589e\u5f3a\uff1a\u968f\u673a\u5316\u76f8\u673a\u53c2\u6570\uff08\u57fa\u7ebf\u3001\u7126\u8ddd\uff09\u3001\u5149\u7167\u3001\u7269\u4f53\u5e03\u5c40\u3002<\/p>\n<p>\u00a0 \u00a0 \u00a0 \u00a03.\u573a\u666f\u7c7b\u578b\uff1a\u7ed3\u6784\u5316\u5ba4\u5185 \/ \u5ba4\u5916\u573a\u666f + \u968f\u673a\u98de\u884c\u7684\u590d\u6742\u7269\u4f53\uff08\u56fe 4\uff09\u3002<\/p>\n<ul>\n<li>\n<p>\u81ea\u7b5b\u9009\u6d41\u7a0b\uff1a<\/p>\n<\/li>\n<\/ul>\n<p>\u00a0 \u00a0 \u00a0 \u00a0 \u00a01. \u8bad\u7ec3\u521d\u59cb\u6a21\u578b\uff0c\u5728 FSD \u4e0a\u8bc4\u4f30\u3002<\/p>\n<p>\u00a0 \u00a0 \u00a0 \u00a0 2. \u5254\u9664 BP-2 &gt; 60% \u7684\u6a21\u7cca\u6837\u672c\uff08\u5982\u65e0\u7eb9\u7406\u533a\u57df\u3001\u8fc7\u5ea6\u53cd\u5c04\uff09\u3002<\/p>\n<p>\u00a0 \u00a0 \u00a0 \u00a0 3. \u91cd\u65b0\u751f\u6210\u6570\u636e\u5e76\u8fed\u4ee3\u8bad\u7ec3\uff08\u5171 2 \u8f6e\uff09\uff0c\u63d0\u5347\u6570\u636e\u8d28\u91cf\u3002<\/p>\n<p><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2025\/04\/frc-da1071de2dfc359c2890b6cc42623156.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2025\/04\/frc-da1071de2dfc359c2890b6cc42623156.png\"><\/a><\/p>\n<p><strong>\u5b9e\u9a8c\u548c\u7ed3\u679c<\/strong><\/p>\n<p>\u6211\u4eec\u5728 PyTorch \u4e2d\u5b9e\u73b0\u4e86 FoundationStereo \u6a21\u578b\uff0c\u4f7f\u7528\u6df7\u5408\u6570\u636e\u96c6\u8fdb\u884c\u8bad\u7ec3\uff0c\u5305\u62ec\u6211\u4eec\u63d0\u51fa\u7684 FSD \u6570\u636e\u96c6\u4ee5\u53ca Scene Flow\u3001Sintel\u3001CREStereo\u3001FallingThings\u3001InStereo2K \u548c Virtual KITTI 2 \u7b49\u516c\u5f00\u6570\u636e\u96c6\u3002\u91c7\u7528 AdamW \u4f18\u5316\u5668\u8bad\u7ec3 20 \u4e07\u6b65\uff0c\u603b batch size \u4e3a 128\uff0c\u5747\u5300\u5206\u5e03\u5728 32 \u5757 NVIDIA A100 GPU \u4e0a\u3002\u521d\u59cb\u5b66\u4e60\u7387\u8bbe\u4e3a 1e-4\uff0c\u5728\u8bad\u7ec3\u8fc7\u7a0b\u8fdb\u884c\u5230 80% \u65f6\u8870\u51cf\u4e3a\u539f\u6765\u7684 0.1 \u500d\u3002\u8f93\u5165\u56fe\u50cf\u968f\u673a\u88c1\u526a\u4e3a 320\u00d7736 \u5927\u5c0f\uff0c\u5e76\u91c7\u7528\u4e0e IGEV \u7c7b\u4f3c\u7684\u6570\u636e\u589e\u5f3a\u65b9\u6cd5\u3002\u8bad\u7ec3\u65f6\u4f7f\u7528 22 \u6b21 GRU \u8fed\u4ee3\u66f4\u65b0\uff0c\u800c\u5728\u540e\u7eed\u5b9e\u9a8c\u4e2d\uff08\u9664\u975e\u7279\u522b\u8bf4\u660e\uff09\uff0c\u6211\u4eec\u4f7f\u7528\u76f8\u540c\u7684\u57fa\u7840\u6a21\u578b\u8fdb\u884c\u96f6\u6837\u672c\u63a8\u7406\uff0c\u91c7\u7528 32 \u6b21\u7cbe\u70bc\u8fed\u4ee3\u548c 416 \u7684\u6700\u5927\u89c6\u5dee\u8303\u56f4\u3002<strong>\u9664\u975e\u7279\u522b\u8bf4\u660e\uff0c\u6211\u4eec\u7528\u540c\u4e00\u6743\u91cd\u7684\u5927\u6a21\u578b\u8fdb\u884c\u96f6\u6837\u672c\u7684\u6cdb\u5316\u6d4b\u8bd5\u3002<\/strong><\/p>\n<p><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2025\/04\/frc-2fe30d73ca6a0da761afc2dc1813dc6c.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2025\/04\/frc-2fe30d73ca6a0da761afc2dc1813dc6c.png\"><\/a><\/p>\n<p><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2025\/04\/frc-95844de27343dc26624f435a45103b1f.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2025\/04\/frc-95844de27343dc26624f435a45103b1f.png\"><\/a><\/p>\n<p><a href=\"https:\/\/17aitech.com\/wp-content\/uploads\/2025\/04\/frc-8ca9940181cf66f0956ef2d991d7c2ae.png\" data-fancybox=\"images\" data-fancybox=\"gallery\"><img decoding=\"async\" src=\"https:\/\/17aitech.com\/wp-content\/uploads\/2025\/04\/frc-8ca9940181cf66f0956ef2d991d7c2ae.png\"><\/a><\/p>\n<p>\u5728\u6d88\u878d\u5b9e\u9a8c\u4e2d\uff0c\u6211\u4eec\u7cfb\u7edf\u9a8c\u8bc1\u4e86\u6a21\u578b\u5404\u5173\u952e\u7ec4\u4ef6\u7684\u6709\u6548\u6027\uff1a\u9996\u5148\u6bd4\u8f83\u4e86\u4e0d\u540c\u5355\u76ee\u57fa\u7840\u6a21\u578b\uff08DepthAnythingV2 \u548c DINOv2\uff09\u53ca\u5176\u878d\u5408\u7b56\u7565\uff0c\u53d1\u73b0 ViT \u7279\u5f81\u964d\u7ef4\u62fc\u63a5 CNN \u7684 STA \u8bbe\u8ba1\u6548\u679c\u6700\u4f73\uff1b\u5176\u6b21\u6d4b\u8bd5\u4e86 AHCF \u6a21\u5757\u4e2d\u4f4d\u7f6e\u7f16\u7801\uff08\u4f59\u5f26\u7f16\u7801\u4f18\u4e8e RoPE\uff09\u3001\u6ce8\u610f\u529b\u8303\u56f4\uff08\u4ec5\u89c6\u5dee\u7ef4\u5ea6\u4f18\u4e8e\u5168\u6210\u672c\u4f53\u79ef\uff09\u548c APC \u5377\u79ef\u6838\u914d\u7f6e\uff08\u89c6\u5dee\u6838\u5c3a\u5bf8 17 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