{"id":114112,"date":"2026-10-08T11:50:01","date_gmt":"2026-10-08T03:50:01","guid":{"rendered":"https:\/\/www.wsisp.com\/helps\/114112.html"},"modified":"2026-10-08T11:50:01","modified_gmt":"2026-10-08T03:50:01","slug":"slam-former","status":"publish","type":"post","link":"https:\/\/www.wsisp.com\/helps\/114112.html","title":{"rendered":"SLAM-Former"},"content":{"rendered":"

\u9996\u4e2a\u5c06SLAM\u80fd\u529b\u878d\u5165\u5355\u4e00Transformer\u7684\u6846\u67b6\u3002\u8be5\u6846\u67b6\u7531\u524d\u7aef\u548c\u540e\u7aef\u90e8\u5206\u7ec4\u6210，\u524d\u7aef\u5bf9\u5f39\u5e55\u56fe\u50cf\u8fdb\u884c\u5b9e\u65f6\u5904\u7406\u4ee5\u5b9e\u73b0\u589e\u91cf\u5f0f\u5efa\u56fe\u4e0e\u8ddf\u8e2a，\u540e\u7aef\u6267\u884c\u5168\u5c40\u4f18\u5316，\u4ee5\u786e\u4fdd\u51e0\u4f55\u4e00\u81f4\u6027\u7684\u7ed3\u679c\u3002\u8fd9\u79cd\u4ea4\u66ff\u6267\u884c\u4f7f\u524d\u7aef\u548c\u540e\u7aef\u80fd\u591f\u76f8\u4e92\u4fc3\u8fdb，\u4ece\u800c\u63d0\u9ad8\u6574\u4f53\u7cfb\u7edf\u6027\u80fd\u3002<\/p>\n

Transformer\u67b6\u6784<\/h3>\n

SLAM-Former\u5efa\u7acb\u5728\u5355\u4e00Transformer\u4e0a，\u5176\u4e2dTransformer backbone ff<\/span><\/span>f<\/span><\/span><\/span><\/span><\/span>\u805a\u96c6\u5e27\u95f4\u548c\u5e27\u5185\u4fe1\u606f，\u7279\u5b9a\u4efb\u52a1\u5934gg<\/span><\/span>g<\/span><\/span><\/span><\/span><\/span>\u89e3\u7801\u573a\u666f\u51e0\u4f55\u548c\u76f8\u673a\u59ff\u6001\u3002Backbone\u5305\u542b\u5e27\u95f4\u548c\u8de8\u5e27L\u5c42\u6ce8\u610f\u529b\u6a21\u5757\u4ee5\u8054\u5408\u6355\u6349\u5c40\u90e8\u56fe\u50cf\u4e0a\u4e0b\u6587\u548c\u65f6\u5e8f\u5bf9\u5e94\u5173\u7cfb\u3002<\/p>\n

\u524d\u7aef\u6a21\u5757<\/h3>\n

\u5f53\u65b0\u5e27\u5230\u8fbe\u65f6，\u524d\u7aef\u6a21\u5757\u9996\u5148\u51b3\u5b9a\u8be5\u5e27\u662f\u5426\u5e94\u8be5\u662f\u5173\u952e\u5e27\u3002\u5982\u679c\u662f\u5173\u952e\u5e27，\u7cfb\u7edf\u4f1a\u7ee7\u7eed\u6267\u884c\u8ddf\u8e2a\u548c\u5efa\u56fe\u3002<\/p>\n

\u7ed9\u5b9a\u56fe\u50cf\u5e8f\u5217{It\u2208R3\u00d7H\u00d7w}\\\\{I_{t}\\\\in \\\\mathbb{R}^{3\\\\times H\\\\times w}\\\\}<\/span><\/span>{<\/span>I<\/span><\/span>t<\/span><\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>\u2208<\/span><\/span><\/span><\/span>R<\/span><\/span>3<\/span>\u00d7<\/span>H<\/span>\u00d7<\/span>w<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>}<\/span><\/span><\/span><\/span><\/span>，\u524d\u7aef\u6a21\u5757\u6620\u5c04\u6bcf\u4e00\u5e27\u4e3a\u56fe\u4ee4\u724c（map token）：
\nFt=ffn(It){Ck}k\u2208S
\nF_{t}=f_{fn}(I_{t})_{\\\\{C_{k}\\\\}_{k\\\\in S}}
\n<\/span><\/span>F<\/span><\/span>t<\/span><\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>=<\/span><\/span><\/span><\/span>f<\/span><\/span>f<\/span>n<\/span><\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>(<\/span>I<\/span><\/span>t<\/span><\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>)<\/span><\/span>{<\/span>C<\/span><\/span>k<\/span><\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>}<\/span><\/span>k<\/span>\u2208<\/span>S<\/span><\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>
\n\u5176\u4e2d{Ck}k\u2208S\\\\{C_{k}\\\\}_{k\\\\in S}<\/span><\/span>{<\/span>C<\/span><\/span>k<\/span><\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>}<\/span><\/span>k<\/span>\u2208<\/span>S<\/span><\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>\u662f\u5148\u524d\u5173\u952e\u5e27\u7684KV\u7f13\u5b58，\u5b58\u50a8\u4ece\u5e27\u95f4\u6ce8\u610f\u529b\u6a21\u5757\u83b7\u5f97\u7684K,V\u3002SS<\/span><\/span>S<\/span><\/span><\/span><\/span><\/span>\u662f\u5173\u952e\u5e27\u7d22\u5f15\u96c6\u5408\u3002\u8be5\u8fc7\u7a0b\u4e2d\u65b0\u751f\u6210\u7684KV\u7f13\u5b58Ct=Cache(f(Ft))C_{t}=Cache(f(F_{t}))<\/span><\/span>C<\/span><\/span>t<\/span><\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>=<\/span><\/span><\/span><\/span>C<\/span>a<\/span>c<\/span>h<\/span>e<\/span>(<\/span>f<\/span>(<\/span>F<\/span><\/span>t<\/span><\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>))<\/span><\/span><\/span><\/span><\/span>\u6dfb\u52a0\u5728{Ck}k\u2208S\\\\{C_{k}\\\\}_{k\\\\in S}<\/span><\/span>{<\/span>C<\/span><\/span>k<\/span><\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>}<\/span><\/span>k<\/span>\u2208<\/span>S<\/span><\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>\u4e2d\u7528\u4e8e\u540e\u7eed\u7684\u8fc7\u7a0b\u3002\u7279\u5b9a\u4efb\u52a1\u5934\u62bd\u53d6\u70b9\u4e91，\u7f6e\u4fe1\u5ea6\u548c\u76f8\u673a\u59ff\u6001\u3002<\/p>\n

\u5173\u952e\u5e27\u68c0\u6d4b\u7b56\u7565<\/h4>\n

\u5728\u751f\u6210\u56fe\u4ee4\u724c\u540e，\u524d\u7aef\u6a21\u5757\u4f7f\u7528\u59ff\u6001\u5934\u4f30\u8ba1\u76f8\u673a\u59ff\u6001hposeh_{pose}<\/span><\/span>h<\/span><\/span>p<\/span>ose<\/span><\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>\u3002\u5982\u679c\u4e0e\u6700\u8fd1\u5173\u952e\u5e27\u7684\u76f8\u5bf9\u59ffkprevk_{prev}<\/span><\/span>k<\/span><\/span>p<\/span>r<\/span>e<\/span>v<\/span><\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>\u8d85\u8fc7\u9608\u503c\u03c4\\\\tau<\/span><\/span>\u03c4<\/span><\/span><\/span><\/span><\/span>，\u5219\u65b0\u5e27\u88ab\u8ba4\u4e3a\u662f\u5173\u952e\u5e27\u3002<\/p>\n

\u524d\u7aef\u6a21\u5757\u8ddf\u8e2a\u548c\u5efa\u56fe<\/h4>\n

\u4e00\u65e6\u5173\u952e\u5e27\u88ab\u8ba4\u8bc1，\u9700\u8981\u4f7f\u7528\u5b8c\u6574\u7684KV\u7f13\u5b58\u91cd\u65b0\u8ba1\u7b97FtF_{t}<\/span><\/span>F<\/span><\/span>t<\/span><\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>\u5e76\u66f4\u65b0\u4ee4\u724c\u96c6\u5408MM<\/span><\/span>M<\/span><\/span><\/span><\/span><\/span>\u548c\u5173\u952e\u5e27\u7d22\u5f15SS<\/span><\/span>S<\/span><\/span><\/span><\/span><\/span>\u3002<\/p>\n

\u524d\u7aef\u6a21\u5757\u4ec5\u4f9d\u8d56\u4e8e\u8fc7\u53bb\u7684\u5e27，\u8fd9\u7b26\u5408\u56e0\u679c\u6027\u4e14\u5bf9\u4e8e\u5728\u7ebf\u8ddf\u8e2a\u662f\u5408\u9002\u7684\u3002\u7136\u800c\u56e0\u679c\u8bbe\u8ba1\u4e0d\u53ef\u907f\u514d\u5730\u4f1a\u9020\u6210\u8bef\u5dee\u7d2f\u79ef\u548c\u5c40\u90e8\u4e0d\u4e00\u81f4\u7684\u95ee\u9898\u3002\u4e3a\u4e86\u7f13\u89e3\u8fd9\u4e2a\u95ee\u9898，\u5f15\u5165\u4e86\u540e\u7aef\u6a21\u5757\u5b9e\u73b0\u5168\u5c40\u4f18\u5316\u3002<\/p>\n

\u540e\u7aef\u6a21\u5757<\/h3>\n

\u540e\u7aef\u6a21\u5757\u8d1f\u8d23\u4f18\u5316\u56fe\u4ee4\u724c\u4ee5\u5f3a\u8feb\u5168\u5c40\u4e00\u81f4\u6027\u3002\u4f20\u7edf\u7684SLAM\u6846\u67b6\u4f9d\u8d56\u4e8e\u56de\u73af\u68c0\u6d4b\u548c\u56fe\u4f18\u5316\u5b9e\u73b0\u8fd9\u4e2a\u76ee\u6807\u3002\u672c\u6587\u65b9\u6cd5\u4f7f\u7528\u57fa\u4e8eTransformerfbnf_{bn}<\/span><\/span>f<\/span><\/span>bn<\/span><\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>\u7684\u540e\u7aef\u6a21\u5757\u901a\u8fc7\u5355\u4e00\u7684\u524d\u5411\u8fc7\u7a0b\u4f18\u5316\u56fe\u4ee4\u724c：M^=fbn(M)\\\\hat{M}=f_{bn}(M)<\/span><\/span><\/span>M<\/span><\/span><\/span>^<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>=<\/span><\/span><\/span><\/span>f<\/span><\/span>bn<\/span><\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>(<\/span>M<\/span>)<\/span><\/span><\/span><\/span><\/span>\u3002<\/p>\n

\u8be5\u8bbe\u8ba1\u7684\u6709\u6548\u6027\u6e90\u4e8e\u5efa\u7acb\u6240\u6709\u56fe\u4ee4\u724c\u4e4b\u95f4\u5bc6\u96c6\u4ea4\u4e92\u7684\u5168\u6ce8\u610f\u529b\u673a\u5236\u3002\u6ce8\u610f\u529b\u6a21\u5757\u4e2d\u7684\u5168\u5c40\u611f\u53d7\u91ce\u4f7f\u5f97\u540e\u7aef\u6a21\u5757\u7ea0\u6b63\u7d2f\u79ef\u98d8\u9038\u5e76\u901a\u8fc7\u91cd\u5efa\u540e\u573a\u666f\u5f3a\u8feb\u7ed3\u6784\u8fde\u8d2f\u6027\u3002<\/p>\n

\u7f13\u5b58\u5171\u4eab\u673a\u5236<\/h4>\n

\u672c\u6587\u6846\u67b6\u4e2d\u524d\u7aef\u6a21\u5757\u91cd\u7528\u540e\u7aef\u5171\u4eab\u7684KV\u7f13\u5b58\u3002\u57fa\u4e8e\u8be5\u673a\u5236，\u540e\u7eed\u7684\u5e27\u4f1a\u76f8\u5bf9\u4e8e\u7cbe\u70bc\u540e\u7684\u5168\u5c40\u7ed3\u6784\u8fdb\u884c\u8ddf\u8e2a\u548c\u6620\u5c04，\u4ece\u800c\u964d\u4f4e\u957f\u5e8f\u5217\u4e2d\u8bef\u5dee\u79ef\u7d2f\u7684\u98ce\u9669\u3002<\/p>\n

\u8bad\u7ec3\u7b56\u7565<\/h3>\n

\u672c\u8282\u4ecb\u7ecd\u7684\u8bad\u7ec3\u7b56\u7565\u7528\u4e8e\u4f7f\u5f97\u5355\u4e00Transformer\u6a21\u5757\u652f\u6301\u524d\u7aef\u548c\u540e\u7aef\u6a21\u5757\u5177\u5907SLAM\u7684\u80fd\u529b\u3002\u8bad\u7ec3\u8fc7\u7a0b\u4e2d\u5305\u542b\u4e09\u4e2a\u6a21\u5f0f：1. \u524d\u7aef\u6a21\u5757\u8bad\u7ec3，2. \u540e\u7aef\u6a21\u5757+\u524d\u7aef\u6a21\u5757\u8bad\u7ec3，3. \u540e\u7aef\u6a21\u5757\u8bad\u7ec3\u3002<\/p>\n

\u524d\u7aef\u6a21\u5757\u8bad\u7ec3<\/h4>\n

\u524d\u7aef\u6a21\u5757\u57fa\u4e8e\u56e0\u679c\u6ce8\u610f\u529b\u63a9\u7801\u8bad\u7ec3（\u6a21\u5f0f1）\u3002\u5728\u63a8\u65ad\u65f6，\u524d\u7aef\u6a21\u5757\u4ece\u5148\u524d\u6a21\u5757\u4ee5\u6570\u5b66\u7b49\u4ef7\u5f62\u5f0f\u91cd\u7528KV\u7f13\u5b58F=f(I)KVF=f(I)_{KV}<\/span><\/span>F<\/span><\/span>=<\/span><\/span><\/span><\/span>f<\/span>(<\/span>I<\/span>)<\/span><\/span>K<\/span>V<\/span><\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>\u3002<\/p>\n

\u57fa\u4e8e\u540e\u7aef\u6a21\u5757\u5408\u4f5c\u7684\u524d\u7aef\u6a21\u5757\u8bad\u7ec3<\/h4>\n

\u4e3a\u4e86\u8fde\u63a5\u524d\u7aef\u548c\u540e\u7aef\u64cd\u4f5c，\u5728\u8bad\u7ec3\u8fc7\u7a0b\u65f6\u4f7f\u7528\u6df7\u5408\u6ce8\u610f\u529b\u5904\u7406\u540e\u7aef\u548c\u7f13\u5b58\u5171\u4eab\u529f\u80fd（\u6a21\u5f0f2）\u3002\u540e\u7aef\u6a21\u5757\u57fa\u4e8e\u5168\u6ce8\u610f\u529b\u6a21\u5757\u4f18\u5316\u56fe\u4ee4\u724c，\u800c\u524d\u7aef\u6a21\u5757\u5728\u76f8\u540c\u7684\u524d\u5411\u8fc7\u7a0b\u4e2d\u5904\u7406\u65b0\u8f93\u5165\u56fe\u50cf\u3002<\/p>\n

\u540e\u7aef\u6a21\u5757\u4f18\u5316<\/h4>\n

\u540e\u7aef\u6a21\u5757\u4f18\u5316\u6765\u81ea\u4e0d\u540c\u8fd0\u884c\u6216KV\u7f13\u5b58\u72b6\u6001\u7684\u56fe\u4ee4\u724c（\u6a21\u5f0f3）\u3002\u6574\u4e2a\u8fc7\u7a0b\u4e2d\u5e94\u7528\u5168\u6ce8\u610f\u529b，\u8fd9\u4f7f\u5f97\u6a21\u578b\u7ea0\u6b63\u6f02\u79fb\u5e76\u5f3a\u8feb\u5168\u5c40\u4e00\u81f4\u6027\u3002<\/p>\n

\u8054\u5408\u8bad\u7ec3\u7b56\u7565<\/h4>\n

\u5728\u6240\u6709\u8bad\u7ec3\u6a21\u5f0f\u4e2d，\u751f\u6210\u7684\u4ee4\u724c\u4f5c\u4e3a\u51e0\u4f55\u548c\u76f8\u673a\u59ff\u6001\u7684\u9690\u5f0f\u8868\u793a\u3002\u4efb\u52a1\u7279\u5b9a\u5934\u9884\u6d4b\u70b9\u4e91P\u2217P^{*}<\/span><\/span>P<\/span><\/span>\u2217<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>，\u7f6e\u4fe1\u5ea6\u03a3\u2217\\\\Sigma^{*}<\/span><\/span>\u03a3<\/span><\/span>\u2217<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>\u548c\u76f8\u673a\u59ff\u6001g\u2217g^{*}<\/span><\/span>g<\/span><\/span>\u2217<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>\u3002\u4e0e\u9884\u6d4b\u5168\u5c40\u51e0\u4f55\u7684VGGT\u4e0d\u540c，\u672c\u6587SLAM-Former\u5bf9\u4e8e\u6bcf\u4e2a\u5e27\u9884\u6d4b\u5c40\u90e8\u70b9\u4e91\u4ee5\u907f\u514d\u5b9a\u4e49\u7279\u5b9a\u4e16\u754c\u5750\u6807\u7684\u9700\u8981\u3002<\/p>\n

\u6574\u4f53\u635f\u5931\u51fd\u6570\u662f\u6df1\u5ea6\u3001\u70b9\u4e91\u548c\u76f8\u673a\u76d1\u7763\u7684\u52a0\u6743\u548c\u3002\u9884\u6d4b\u6df1\u5ea6\u56feD\u2217D^{*}<\/span><\/span>D<\/span><\/span>\u2217<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>\u548cGT\u6df1\u5ea6\u56feDD<\/span><\/span>D<\/span><\/span><\/span><\/span><\/span>\u5bf9\u5e94\u7684\u635f\u5931\u4e3a：
\nLdepth=\u2211t(\u2223\u2223\u03a3t\u2217\u2299(s\u2217Dt\u2217\u2212Dt)\u2223\u2223+\u2223\u2223\u03a3t\u2217\u2299(\u2207s\u2217Dt\u2217\u2212\u2207Dt)\u2223\u2223)\u2212\u03b1log\u2061\u03a3t\u2217
\nL_{depth}=\\\\sum_{t}(||\\\\Sigma_{t}^{*}\\\\odot(s^{*}D_{t}^{*}-D_{t})||+||\\\\Sigma_{t}^{*}\\\\odot(\\\\nabla s^{*}D_{t}^{*}-\\\\nabla D_{t})||)-\\\\alpha\\\\log \\\\Sigma_{t}^{*}
\n<\/span><\/span>L<\/span><\/span>d<\/span>e<\/span>pt<\/span>h<\/span><\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>=<\/span><\/span><\/span><\/span><\/span>t<\/span><\/span><\/span><\/span><\/span>\u2211<\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span>(<\/span>\u2223\u2223<\/span>\u03a3<\/span><\/span>t<\/span><\/span><\/span><\/span><\/span>\u2217<\/span><\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>\u2299<\/span><\/span><\/span><\/span>(<\/span>s<\/span><\/span>\u2217<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>D<\/span><\/span>t<\/span><\/span><\/span><\/span><\/span>\u2217<\/span><\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>\u2212<\/span><\/span><\/span><\/span>D<\/span><\/span>t<\/span><\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>)<\/span>\u2223\u2223<\/span><\/span>+<\/span><\/span><\/span><\/span>\u2223\u2223<\/span>\u03a3<\/span><\/span>t<\/span><\/span><\/span><\/span><\/span>\u2217<\/span><\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>\u2299<\/span><\/span><\/span><\/span>(<\/span>\u2207<\/span>s<\/span><\/span>\u2217<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>D<\/span><\/span>t<\/span><\/span><\/span><\/span><\/span>\u2217<\/span><\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>\u2212<\/span><\/span><\/span><\/span>\u2207<\/span>D<\/span><\/span>t<\/span><\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>)<\/span>\u2223\u2223<\/span>)<\/span><\/span>\u2212<\/span><\/span><\/span><\/span>\u03b1<\/span><\/span>log<\/span><\/span><\/span>\u03a3<\/span><\/span>t<\/span><\/span><\/span><\/span><\/span>\u2217<\/span><\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>
\ns\u2217s^{*}<\/span><\/span>s<\/span><\/span>\u2217<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>\u662f\u9075\u5faapi3\u7b97\u6cd5\u4f30\u8ba1\u7684\u6bd4\u4f8b\u56e0\u5b50：s\u2217=arg\u2061min\u2061s\u2211t\u2223\u2223(sPt\u2217\u2212Pt)\/Dt\u2223\u22231s^{*}=\\\\arg\\\\min_{s}\\\\sum_{t}||(sP_{t}^{*}-P_{t})\/D_{t}||_{1}<\/span><\/span>s<\/span><\/span>\u2217<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>=<\/span><\/span><\/span><\/span>arg<\/span><\/span><\/span>min<\/span><\/span>s<\/span><\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>\u2211<\/span><\/span>t<\/span><\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>\u2223\u2223<\/span>(<\/span>s<\/span>P<\/span><\/span>t<\/span><\/span><\/span><\/span><\/span>\u2217<\/span><\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>\u2212<\/span><\/span><\/span><\/span>P<\/span><\/span>t<\/span><\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>)<\/span>\/<\/span>D<\/span><\/span>t<\/span><\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>\u2223<\/span>\u2223<\/span><\/span>1<\/span><\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>\u3002<\/p>\n

\u70b9\u4e91\u635f\u5931\u4e0e\u6df1\u5ea6\u635f\u5931\u7c7b\u4f3c，\u4f46\u5efa\u7acb\u5728\u53d8\u6362\u540e\u4e0e\u7b2c\u4e00\u5e27\u5bf9\u9f50\u7684\u5c40\u90e8\u70b9\u4e91\u4e0a：Pt,1\u2217=g1\u2217\u22121gt\u2217Pt\u2217P_{t,1}^{*}=g_{1}^{* -1}g_{t}^{*}P_{t}^{*}<\/span><\/span>P<\/span><\/span>t<\/span>,<\/span>1<\/span><\/span><\/span><\/span><\/span>\u2217<\/span><\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>=<\/span><\/span><\/span><\/span>g<\/span><\/span>1<\/span><\/span><\/span><\/span><\/span>\u2217\u2212<\/span>1<\/span><\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>g<\/span><\/span>t<\/span><\/span><\/span><\/span><\/span>\u2217<\/span><\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>P<\/span><\/span>t<\/span><\/span><\/span><\/span><\/span>\u2217<\/span><\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>\u3002\u635f\u5931\u63cf\u8ff0\u4e3a：
\nLpmap=\u2211t(\u2223\u2223\u03a3t\u2217\u2299(s\u2217Pt,1\u2217\u2212Pt)\u2223\u2223+\u2223\u2223\u03a3t\u2217\u2299(\u2207s\u2217Pt,1\u2217\u2212\u2207Pt)\u2223\u2223)\u2212\u03b1log\u2061\u03a3t\u2217
\nL_{pmap}=\\\\sum_{t}(||\\\\Sigma_{t}^{*}\\\\odot(s^{*}P_{t,1}^{*}-P_{t})||+||\\\\Sigma_{t}^{*}\\\\odot(\\\\nabla s^{*}P_{t,1}^{*}-\\\\nabla P_{t})||)-\\\\alpha\\\\log \\\\Sigma_{t}^{*}
\n<\/span><\/span>L<\/span><\/span>p<\/span>ma<\/span>p<\/span><\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>=<\/span><\/span><\/span><\/span><\/span>t<\/span><\/span><\/span><\/span><\/span>\u2211<\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span>(<\/span>\u2223\u2223<\/span>\u03a3<\/span><\/span>t<\/span><\/span><\/span><\/span><\/span>\u2217<\/span><\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>\u2299<\/span><\/span><\/span><\/span>(<\/span>s<\/span><\/span>\u2217<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>P<\/span><\/span>t<\/span>,<\/span>1<\/span><\/span><\/span><\/span><\/span>\u2217<\/span><\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>\u2212<\/span><\/span><\/span><\/span>P<\/span><\/span>t<\/span><\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>)<\/span>\u2223\u2223<\/span><\/span>+<\/span><\/span><\/span><\/span>\u2223\u2223<\/span>\u03a3<\/span><\/span>t<\/span><\/span><\/span><\/span><\/span>\u2217<\/span><\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>\u2299<\/span><\/span><\/span><\/span>(<\/span>\u2207<\/span>s<\/span><\/span>\u2217<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>P<\/span><\/span>t<\/span>,<\/span>1<\/span><\/span><\/span><\/span><\/span>\u2217<\/span><\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>\u2212<\/span><\/span><\/span><\/span>\u2207<\/span>P<\/span><\/span>t<\/span><\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>)<\/span>\u2223\u2223<\/span>)<\/span><\/span>\u2212<\/span><\/span><\/span><\/span>\u03b1<\/span><\/span>log<\/span><\/span><\/span>\u03a3<\/span><\/span>t<\/span><\/span><\/span><\/span><\/span>\u2217<\/span><\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/p>\n

\u76f8\u673a\u635f\u5931\u4f7f\u7528\u5bf9\u4e8e\u76f8\u5bf9\u59ff\u6001\u76d1\u7763\u7684\u7f29\u653eHuber\u635f\u5931\u51fd\u6570：
\nLcam=\u2211i,j\u2223\u2223s\u2217\u2299(gi\u2217\u22121gj\u2217\u2212(gi\u22121gj)\u2223\u2223\u03f5
\nL_{cam}=\\\\sum_{i,j}||s^{*}\\\\odot (g_{i}^{* -1}g_{j}^{*}-(g_{i}^{-1}g_{j})||_{\\\\epsilon}
\n<\/span><\/span>L<\/span><\/span>c<\/span>am<\/span><\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>=<\/span><\/span><\/span><\/span><\/span>i<\/span>,<\/span>j<\/span><\/span><\/span><\/span><\/span>\u2211<\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>\u2223\u2223<\/span>s<\/span><\/span>\u2217<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>\u2299<\/span><\/span><\/span><\/span>(<\/span>g<\/span><\/span>i<\/span><\/span><\/span><\/span><\/span>\u2217\u2212<\/span>1<\/span><\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>g<\/span><\/span>j<\/span><\/span><\/span><\/span><\/span>\u2217<\/span><\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>\u2212<\/span><\/span><\/span><\/span>(<\/span>g<\/span><\/span>i<\/span><\/span><\/span><\/span><\/span>\u2212<\/span>1<\/span><\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>g<\/span><\/span>j<\/span><\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>)<\/span>\u2223<\/span>\u2223<\/span><\/span>\u03f5<\/span><\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/p>\n

KV\u526a\u679d\u7b56\u7565<\/h3>\n

\u4e3a\u4e86\u7f13\u89e3\u957f\u5e8f\u5217\u5904\u7406\u4e2d\u53ef\u6269\u5c55\u6027\u95ee\u9898，\u672c\u6587\u7b97\u6cd5\u5f15\u5165KV\u526a\u679d\u7b56\u7565\u4ee5\u52a0\u901f\u540e\u7aef\u6a21\u5757，\u540e\u7eed\u91cd\u7528\u526a\u679d\u540eKV\u4f5c\u4e3a\u7f13\u5b58\u4ee5\u52a0\u901f\u524d\u7aef\u6a21\u5757\u3002<\/p>\n

\u4e0eDivPrune\u7b97\u6cd5\u76f8\u4f3c，\u672c\u8282\u7b97\u6cd5\u5c06\u4ee4\u724c\u4fdd\u7559\u89c6\u4e3a\u6700\u5927-\u6700\u5c0f\u591a\u6837\u6027\u95ee\u9898（MNDP）\u3002\u5bf9\u4e8e\u6bcf\u4e2a\u5173\u952e\u5e27，\u5b9a\u4e49\u03c4={t1,\u2026,tp}\\\\tau=\\\\{t_{1},\\\\ldots,t_{p}\\\\}<\/span><\/span>\u03c4<\/span><\/span>=<\/span><\/span><\/span><\/span>{<\/span>t<\/span><\/span>1<\/span><\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>,<\/span><\/span>\u2026<\/span><\/span>,<\/span><\/span>t<\/span><\/span>p<\/span><\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>}<\/span><\/span><\/span><\/span><\/span>\u4e3aP\u4e2a\u975e\u5bc4\u5b58\u8865\u4e01\u4ee4\u724c（\u53ca\u5bf9\u5e94\u7684KV\u5bf9）\u3002\u672c\u6587\u76ee\u6807\u662f\u9009\u62e9\u5c3a\u5bf8\u4e3ak=\u03b3\u22c5Pk=\\\\gamma\\\\cdot P<\/span><\/span>k<\/span><\/span>=<\/span><\/span><\/span><\/span>\u03b3<\/span><\/span>\u22c5<\/span><\/span><\/span><\/span>P<\/span><\/span><\/span><\/span><\/span>\u7684\u5b50\u96c6S\u4ee5\u6700\u5927\u6700\u5c0f\u6210\u5bf9\u76f8\u4f3c\u5ea6\u3002\u5b9e\u73b0\u65f6\u4f7f\u7528\u8d2a\u5fc3\u9009\u62e9\u7b97\u6cd5\u8fed\u4ee3\u9009\u62e9\u4ee4\u724c\u3002<\/p>\n","protected":false},"excerpt":{"rendered":"

\u9996\u4e2a\u5c06SLAM\u80fd\u529b\u878d\u5165\u5355\u4e00Transformer\u7684\u6846\u67b6\u3002\u8be5\u6846\u67b6\u7531\u524d\u7aef\u548c\u540e\u7aef\u90e8\u5206\u7ec4\u6210，\u524d\u7aef\u5bf9\u5f39\u5e55\u56fe\u50cf\u8fdb\u884c\u5b9e\u65f6\u5904\u7406\u4ee5\u5b9e\u73b0\u589e\u91cf\u5f0f\u5efa\u56fe\u4e0e\u8ddf\u8e2a，\u540e\u7aef\u6267\u884c\u5168\u5c40\u4f18\u5316，\u4ee5\u786e\u4fdd\u51e0\u4f55\u4e00\u81f4\u6027\u7684\u7ed3\u679c\u3002\u8fd9\u79cd\u4ea4\u66ff\u6267\u884c\u4f7f\u524d\u7aef\u548c\u540e\u7aef\u80fd\u591f\u76f8\u4e92\u4fc3\u8fdb，\u4ece\u800c\u63d0\u9ad8\u6574\u4f53\u7cfb\u7edf\u6027\u80fd\u3002
\nTransformer\u67b6\u6784
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