{"id":120093,"date":"2026-10-31T02:17:47","date_gmt":"2026-10-30T18:17:47","guid":{"rendered":"https:\/\/www.wsisp.com\/helps\/120093.html"},"modified":"2026-10-31T02:17:47","modified_gmt":"2026-10-30T18:17:47","slug":"%ef%bc%88%e8%ae%ba%e6%96%87%e9%80%9f%e8%af%bb%ef%bc%89p2p-bridge%ef%bc%9a%e7%94%a8%e6%89%a9%e6%95%a3%e8%96%9b%e5%ae%9a%e8%b0%94%e6%a1%a5%e5%ae%9e%e7%8e%b0%e7%9c%9f%e5%ae%9e%e5%99%aa%e5%a3%b0%e7%82%b9","status":"publish","type":"post","link":"https:\/\/www.wsisp.com\/helps\/120093.html","title":{"rendered":"\uff08\u8bba\u6587\u901f\u8bfb\uff09P2P-Bridge\uff1a\u7528\u6269\u6563\u859b\u5b9a\u8c14\u6865\u5b9e\u73b0\u771f\u5b9e\u566a\u58f0\u70b9\u4e91\u53bb\u566a"},"content":{"rendered":"<p style=\"text-align:justify\">\u8bba\u6587\u9898\u76ee&#xff1a; P2P-Bridge: Diffusion Bridges for 3D Point Cloud Denoising&#xff08;P2P-Bridge&#xff1a;\u7528\u4e8e\u4e09\u7ef4\u70b9\u4e91\u53bb\u566a\u7684\u6269\u6563\u6865&#xff09;<\/p>\n<p style=\"text-align:justify\">\u4f1a\u8bae&#xff1a; ECCV 2024<\/p>\n<p style=\"text-align:justify\">\u6e90\u7801\u4e0e\u9884\u8bad\u7ec3\u6a21\u578b GitHub &#8211; matvogel\/P2P-Bridge: Official implementation of the ECCV 2024 paper Diffusion Bridges for 3D Point Cloud Denoising. \u00b7 GitHub<\/p>\n<p style=\"text-align:justify\">\u6458\u8981&#xff1a; \u672c\u6587\u7814\u7a76\u70b9\u4e91\u53bb\u566a\u4efb\u52a1&#xff0c;\u63d0\u51fa\u4e00\u79cd\u65b0\u6846\u67b6&#xff0c;\u5c06\u6269\u6563\u859b\u5b9a\u8c14\u6865&#xff08;Diffusion Schr\u00f6dinger Bridge&#xff09;\u9002\u914d\u5230\u70b9\u96c6\u8fd9\u6837\u7684\u975e\u7ed3\u6784\u5316\u6570\u636e\u4e0a\u3002\u4e0d\u540c\u4e8e\u4ee5\u5f80\u4ece\u70b9\u7279\u5f81\u9884\u6d4b\u9010\u70b9\u4f4d\u79fb\u6216\u5b66\u4e60\u566a\u58f0\u5206\u5e03\u7684\u65b9\u6cd5&#xff0c;\u672c\u6587\u5b66\u4e60\u6210\u5bf9\u70b9\u4e91\u4e4b\u95f4\u7684\u6700\u4f18\u4f20\u8f93\u65b9\u6848\u3002\u5728 PU-Net \u7b49\u7269\u4f53\u6570\u636e\u96c6\u4ee5\u53ca ScanNet&#043;&#043;\u3001ARKitScenes \u7b49\u771f\u5b9e\u4e16\u754c\u6570\u636e\u96c6\u4e0a\u7684\u5b9e\u9a8c\u8868\u660e&#xff0c;P2P-Bridge \u76f8\u6bd4\u5df2\u6709\u65b9\u6cd5\u53d6\u5f97\u4e86\u663e\u8457\u6539\u8fdb\u3002\u5c3d\u7ba1\u4ec5\u4f7f\u7528\u70b9\u5750\u6807\u65f6\u5c31\u80fd\u83b7\u5f97\u8f83\u597d\u7684\u7ed3\u679c&#xff0c;\u4f5c\u8005\u8fdb\u4e00\u6b65\u8bc1\u660e&#xff0c;\u5f15\u5165 RGB \u4fe1\u606f\u548c\u9010\u70b9 DINOv2 \u7279\u5f81\u8fd8\u53ef\u4ee5\u6539\u5584\u6027\u80fd\u3002<\/p>\n<hr \/>\n<h3 style=\"text-align:justify\">\u4e00\u3001\u7814\u7a76\u80cc\u666f\u4e0e\u6838\u5fc3\u95ee\u9898<\/h3>\n<p style=\"text-align:justify\">\u4e09\u7ef4\u70b9\u4e91\u53bb\u566a\u7684\u76ee\u6807&#xff0c;\u662f\u628a\u626b\u63cf\u8bbe\u5907\u5f97\u5230\u7684\u5e26\u566a\u58f0\u70b9\u96c6\u53d8\u6210\u66f4\u63a5\u8fd1\u771f\u5b9e\u51e0\u4f55\u8868\u9762\u7684\u5e72\u51c0\u70b9\u96c6\u3002\u624b\u673a LiDAR\u3001RGB-D \u626b\u63cf\u4e2d\u4e0d\u4ec5\u5b58\u5728\u968f\u673a\u4f4d\u7f6e\u504f\u79fb&#xff0c;\u8fd8\u4f1a\u51fa\u73b0\u6210\u7c07\u79bb\u7fa4\u70b9\u3001\u865a\u5f71\u70b9\u3001\u8fb9\u7f18\u6269\u6563\u548c\u8868\u9762\u589e\u539a\u3002\u4f20\u7edf\u6ee4\u6ce2\u9700\u8981\u8c03\u53c2\u6570&#xff1b;\u6df1\u5ea6\u5b66\u4e60\u65b9\u6cd5\u867d\u7136\u80fd\u9884\u6d4b\u9010\u70b9\u4f4d\u79fb&#xff0c;\u6216\u901a\u8fc7 Score \/ Flow \u5b66\u4e60\u566a\u58f0&#xff0c;\u4f46\u4e0d\u5c11\u6a21\u578b\u4f9d\u8d56\u4eba\u4e3a\u6dfb\u52a0\u7684\u5404\u5411\u540c\u6027\u9ad8\u65af\u566a\u58f0\u8bad\u7ec3&#xff0c;\u56e0\u800c\u4e0d\u4e00\u5b9a\u9002\u5e94\u771f\u5b9e\u4f20\u611f\u5668\u7684\u590d\u6742\u8bef\u5dee\u3002<\/p>\n<p style=\"text-align:justify\">\u8fd9\u7bc7\u8bba\u6587\u60f3\u89e3\u51b3\u4e24\u4e2a\u95ee\u9898&#xff1a;\u7b2c\u4e00&#xff0c;\u80fd\u5426\u4e0d\u518d\u9884\u8bbe\u771f\u5b9e\u566a\u58f0\u9075\u5faa\u7b80\u5355\u9ad8\u65af\u5206\u5e03&#xff0c;\u800c\u662f\u76f4\u63a5\u4ece\u201c\u771f\u5b9e\u5e26\u566a\u626b\u63cf\u2014\u5e72\u51c0\u626b\u63cf\u201d\u914d\u5bf9\u6570\u636e\u5b66\u4e60\u53bb\u566a&#xff1f;\u7b2c\u4e8c&#xff0c;\u6269\u6563\u6865\u5efa\u7acb\u5728\u6709\u5e8f\u53d8\u91cf\u4e4b\u95f4&#xff0c;\u5982\u4f55\u628a\u5b83\u5e94\u7528\u5230\u6ca1\u6709\u56fa\u5b9a\u70b9\u5e8f\u7684\u70b9\u4e91&#xff1f; \u4f5c\u8005\u7684\u7b54\u6848\u5206\u522b\u662f\u6570\u636e\u5230\u6570\u636e\u7684 Schr\u00f6dinger Bridge&#xff0c;\u4ee5\u53ca\u5148\u5bf9\u9f50\u70b9\u96c6\u518d\u8fdb\u884c\u6269\u6563\u63d2\u503c\u3002<\/p>\n<h3 style=\"text-align:justify\">\u4e8c\u3001\u6574\u4f53\u6846\u67b6&#xff1a;\u4ece\u5e26\u566a\u70b9\u4e91\u76f4\u63a5\u8d70\u5411\u5e72\u51c0\u70b9\u4e91<\/h3>\n<p><img loading=\"lazy\" decoding=\"async\" alt=\"\" height=\"852\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/10\/20261030181744-6ae4df4857c8d.png\" width=\"1410\" \/><\/p>\n<p style=\"text-align:justify\">\u8bba\u6587 Figure 1&#xff1a;\u771f\u5b9e LiDAR \u626b\u63cf\u7ecf\u8fed\u4ee3\u53bb\u566a\u524d\u540e\u7684\u573a\u666f\u4e0e\u8bef\u5dee\u56fe<\/p>\n<p style=\"text-align:justify\">Figure 1 \u5c55\u793a\u4e86\u6700\u7ec8\u5e94\u7528\u6548\u679c&#xff1a;\u8f93\u5165\u662f\u5e26\u6709\u626b\u63cf\u8bef\u5dee\u7684\u5ba4\u5185\u91cd\u5efa&#xff0c;\u8f93\u51fa\u4ecd\u662f\u70b9\u4e91&#xff0c;\u4f46\u5c40\u90e8\u8868\u9762\u66f4\u52a0\u63a5\u8fd1\u53c2\u8003\u626b\u63cf\u3002P2P-Bridge \u505a\u7684\u662f\u70b9\u4e91\u5750\u6807\u53bb\u566a&#xff0c;\u800c\u4e0d\u662f\u4ece\u70b9\u4e91\u751f\u6210 Mesh&#xff0c;\u4e5f\u4e0d\u662f\u8865\u5168\u6240\u6709\u7f3a\u5931\u7269\u4f53\u3002<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" alt=\"\" height=\"423\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/10\/20261030181745-6ae4df493f1c5.png\" width=\"1407\" \/><\/p>\n<p style=\"text-align:justify\">\u8bba\u6587 Figure 2&#xff1a;P2P-Bridge \u7684\u6570\u636e\u5230\u6570\u636e\u6269\u6563\u6865<\/p>\n<p style=\"text-align:justify\">\u666e\u901a\u751f\u6210\u5f0f\u6269\u6563\u6a21\u578b\u5f80\u5f80\u4ece\u5e72\u51c0\u6570\u636e\u9010\u6b65\u52a0\u9ad8\u65af\u566a\u58f0&#xff0c;\u6700\u7ec8\u8fde\u63a5\u5230\u4e00\u4e2a\u7b80\u5355\u7684\u9ad8\u65af\u5148\u9a8c&#xff1b;\u9006\u8fc7\u7a0b\u518d\u4ece\u968f\u673a\u566a\u58f0\u751f\u6210\u6570\u636e\u3002P2P-Bridge \u5219\u628a\u6865\u7684\u4e24\u7aef\u76f4\u63a5\u8bbe\u7f6e\u4e3a\u5e72\u51c0\u70b9\u4e91\u5206\u5e03<img decoding=\"async\" alt=\"$p_{\\\\mathrm{data}}$\" class=\"mathcode\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/10\/20261030181745-6ae4df497a366.png\" \/> \u548c\u771f\u5b9e\u5e26\u566a\u70b9\u4e91\u5206\u5e03 <img decoding=\"async\" alt=\"$p_{\\\\mathrm{prior}}$\" class=\"mathcode\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/10\/20261030181745-6ae4df49881dd.png\" \/>\u3002\u56fe\u4e2d\u7684<img decoding=\"async\" alt=\"$x_0$\" class=\"mathcode\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/10\/20261030181745-6ae4df4996273.png\" \/>\u8868\u793a\u5e72\u51c0\u70b9\u4e91&#xff0c;<img decoding=\"async\" alt=\"$x_T$\" class=\"mathcode\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/10\/20261030181745-6ae4df49a48fa.png\" \/> \u8868\u793a\u5e26\u566a\u70b9\u4e91&#xff0c;<img decoding=\"async\" alt=\"$x_t$\" class=\"mathcode\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/10\/20261030181745-6ae4df49b5ead.png\" \/> \u662f\u4e24\u8005\u4e4b\u95f4\u7684\u4e2d\u95f4\u72b6\u6001\u3002<\/p>\n<p style=\"text-align:justify\">\u6574\u4e2a\u6d41\u7a0b\u53ef\u4ee5\u6982\u62ec\u4e3a&#xff1a;\u914d\u5bf9\u5e72\u51c0\/\u5e26\u566a\u70b9\u4e91 \u2192 \u5efa\u7acb\u70b9\u5bf9\u5e94\u5173\u7cfb \u2192 \u91c7\u6837\u6865\u4e0a\u7684\u4e2d\u95f4\u70b9\u4e91 \u2192 \u8bad\u7ec3\u53bb\u566a\u7f51\u7edc \u2192 \u4ece\u5b9e\u9645\u5e26\u566a\u70b9\u4e91\u8fed\u4ee3\u91c7\u6837\u5f97\u5230\u5e72\u51c0\u7ed3\u679c\u3002\u8bad\u7ec3\u9700\u8981\u914d\u5bf9\u6570\u636e&#xff0c;\u63a8\u7406\u65f6\u4e0d\u9700\u8981\u77e5\u9053\u5f53\u524d\u8f93\u5165\u7684\u5e72\u51c0\u771f\u503c\u3002<\/p>\n<p style=\"text-align:justify\">\u8fd9\u91cc\u8981\u7279\u522b\u533a\u5206&#xff1a;\u4e0d\u5047\u8bbe\u771f\u5b9e\u626b\u63cf\u566a\u58f0\u670d\u4ece\u5404\u5411\u540c\u6027\u9ad8\u65af\u5206\u5e03&#xff0c;\u4e0d\u7b49\u4e8e\u6269\u6563\u6865\u5185\u90e8\u5b8c\u5168\u6ca1\u6709\u9ad8\u65af\u968f\u673a\u53d8\u91cf\u3002 \u540e\u8005\u4ecd\u7136\u7528\u53ef\u89e3\u6790\u7684\u9ad8\u65af\u6865\u540e\u9a8c\u6784\u5efa\u8bad\u7ec3\u8fc7\u7a0b&#xff0c;\u4e24\u8005\u5e76\u4e0d\u77db\u76fe\u3002<\/p>\n<h3 style=\"text-align:justify\">\u4e09\u3001\u6269\u6563\u859b\u5b9a\u8c14\u6865&#xff1a;\u4e3a\u4ec0\u4e48\u80fd\u76f4\u63a5\u8fde\u63a5\u4e24\u79cd\u70b9\u4e91<\/h3>\n<h4 style=\"text-align:justify\">3.1 \u4ece Schr\u00f6dinger Bridge \u5230\u53ef\u8bad\u7ec3\u7684\u6269\u6563\u8fc7\u7a0b<\/h4>\n<p style=\"text-align:justify\">Schr\u00f6dinger Bridge&#xff08;SB&#xff09;\u7684\u57fa\u672c\u601d\u60f3\u662f&#xff1a;\u5df2\u77e5\u8d77\u70b9\u4e0e\u7ec8\u70b9\u7684\u6570\u636e\u5206\u5e03&#xff0c;\u5728\u6ee1\u8db3\u4e24\u7aef\u5206\u5e03\u7ea6\u675f\u7684\u6761\u4ef6\u4e0b&#xff0c;\u5bfb\u627e\u4e0e\u67d0\u4e2a\u53c2\u8003\u968f\u673a\u8fc7\u7a0b\u5c3d\u53ef\u80fd\u63a5\u8fd1\u7684\u4f20\u8f93\u8def\u5f84\u3002\u8bba\u6587\u7528<img decoding=\"async\" alt=\"$x_0\\\\sim p_{\\\\mathrm{data}}$\" class=\"mathcode\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/10\/20261030181745-6ae4df49c6487.png\" \/>\u8868\u793a\u5e72\u51c0\u7aef&#xff0c;\u7528 <img decoding=\"async\" alt=\"$x_T\\\\sim p_{\\\\mathrm{prior}}$\" class=\"mathcode\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/10\/20261030181745-6ae4df49d459e.png\" \/>\u8868\u793a\u5e26\u566a\u7aef\u3002\u4e00\u822c SB \u6d89\u53ca\u8026\u5408\u7684\u968f\u673a\u5fae\u5206\u65b9\u7a0b\u4e0e\u504f\u5fae\u5206\u65b9\u7a0b&#xff0c;\u76f4\u63a5\u6c42\u89e3\u5f00\u9500\u5f88\u5927\u3002<\/p>\n<p style=\"text-align:justify\">\u5173\u952e\u7b80\u5316\u6765\u81ea\u5df2\u914d\u5bf9\u7684\u8fb9\u754c\u6570\u636e&#xff1a;\u8bad\u7ec3\u96c6\u4e2d\u6709\u5bf9\u5e94\u7684<img decoding=\"async\" alt=\"$(x_0,x_T)$\" class=\"mathcode\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/10\/20261030181745-6ae4df49e211a.png\" \/>\u3002\u5728\u8bba\u6587\u91c7\u7528\u7684\u6761\u4ef6\u4e0b&#xff0c;\u4e2d\u95f4\u72b6\u6001\u53ef\u4ee5\u4ece\u89e3\u6790\u7684\u9ad8\u65af\u6865\u540e\u9a8c\u91c7\u6837&#xff1a;<\/p>\n<p class=\"img-center\"><img loading=\"lazy\" decoding=\"async\" alt=\"\" height=\"120\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/10\/20261030181745-6ae4df49f32b3.png\" width=\"468\" \/><\/p>\n<p style=\"text-align:justify\">\u5176\u4e2d <img decoding=\"async\" alt=\"$\\\\sigma_t^2=\\\\int_0^t g^2(\\\\tau)d\\\\tau$\" class=\"mathcode\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/10\/20261030181746-6ae4df4a1d85f.png\" \/>&#xff0c;<img decoding=\"async\" alt=\"$\\\\bar\\\\sigma_t^2=\\\\int_t^1 g^2(\\\\tau)d\\\\tau$\" class=\"mathcode\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/10\/20261030181746-6ae4df4a2bf91.png\" \/>&#xff0c;g(t)\u63a7\u5236\u6269\u6563\u5f3a\u5ea6\u3002<img decoding=\"async\" alt=\"$\\\\mu_t$\" class=\"mathcode\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/10\/20261030181746-6ae4df4a39b48.png\" \/>\u672c\u8d28\u4e0a\u662f\u5e72\u51c0\u70b9\u4e91\u4e0e\u5e26\u566a\u70b9\u4e91\u7684\u52a0\u6743\u63d2\u503c&#xff1a;\u63a5\u8fd1 t&#061;0\u00a0\u65f6\u66f4\u9760\u8fd1\u5e72\u51c0\u7aef&#xff0c;\u63a5\u8fd1 t&#061;T\u00a0\u65f6\u66f4\u9760\u8fd1\u5e26\u566a\u7aef\u3002\u7531\u4e8e\u6709\u89e3\u6790\u5f0f&#xff0c;\u8bad\u7ec3\u65f6\u4e0d\u7528\u9010\u6b65\u6c42\u89e3\u6602\u8d35\u7684 SB \u65b9\u7a0b\u3002<\/p>\n<h4 style=\"text-align:justify\">3.2 \u9884\u6d4b\u6865\u566a\u58f0&#xff0c;\u800c\u4e0d\u662f\u76f4\u63a5\u5206\u7c7b\u566a\u58f0\u70b9<\/h4>\n<p style=\"text-align:justify\">\u4f5c\u8005\u8bad\u7ec3\u7f51\u7edc<img decoding=\"async\" alt=\"$\\\\epsilon_\\\\theta(x_t,t)$\" class=\"mathcode\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/10\/20261030181746-6ae4df4a4735c.png\" \/>&#xff0c;\u9884\u6d4b\u4e2d\u95f4\u70b9\u4e91\u76f8\u5bf9\u5e72\u51c0\u7aef\u7684\u5f52\u4e00\u5316\u504f\u79fb&#xff0c;\u91c7\u7528\u8bba\u6587\u516c\u5f0f&#xff08;5&#xff09;\u7684\u5e73\u65b9\u8bef\u5dee&#xff1a;<\/p>\n<p class=\"img-center\"><img loading=\"lazy\" decoding=\"async\" alt=\"\" height=\"65\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/10\/20261030181746-6ae4df4a554f5.png\" width=\"288\" \/><\/p>\n<p style=\"text-align:justify\">\u5176\u4e2d <img decoding=\"async\" alt=\"$x_t$\" class=\"mathcode\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/10\/20261030181745-6ae4df49b5ead.png\" \/>\u662f\u4ece\u6865\u540e\u9a8c\u91c7\u6837\u7684\u4e2d\u95f4\u72b6\u6001&#xff0c;<img decoding=\"async\" alt=\"$x_0$\" class=\"mathcode\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/10\/20261030181745-6ae4df4996273.png\" \/>\u662f\u5e72\u51c0\u8bad\u7ec3\u76ee\u6807&#xff0c;t\u662f\u65f6\u95f4\u6b65\u3002\u9884\u6d4b\u51fa<img decoding=\"async\" alt=\"$\\\\epsilon_\\\\theta$\" class=\"mathcode\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/10\/20261030181746-6ae4df4a6854a.png\" \/> \u540e&#xff0c;\u53ef\u4ee5\u4f30\u8ba1 <img decoding=\"async\" alt=\"$\\\\hat x_0=x_t-\\\\sigma_t\\\\epsilon_\\\\theta(x_t,t)$\" class=\"mathcode\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/10\/20261030181746-6ae4df4a75fa5.png\" \/>&#xff0c;\u518d\u901a\u8fc7 DDPM \u5f0f\u8fed\u4ee3\u91c7\u6837\u9010\u6b65\u5411\u5e72\u51c0\u7aef\u79fb\u52a8\u3002<\/p>\n<p style=\"text-align:justify\">\u76f4\u89c2\u6765\u770b&#xff0c;\u7f51\u7edc\u6ca1\u6709\u9010\u70b9\u56de\u7b54\u201c\u8fd9\u4e2a\u70b9\u662f\u4e0d\u662f\u79bb\u7fa4\u70b9\u201d&#xff0c;\u800c\u662f\u5728\u914d\u5bf9\u76d1\u7763\u4e0b\u5b66\u4e60\u5f53\u524d\u70b9\u4e91\u5e94\u8be5\u600e\u6837\u6574\u4f53\u79fb\u52a8&#xff0c;\u624d\u80fd\u6cbf\u7740\u5df2\u5b66\u5230\u7684\u6865\u63a5\u8fd1\u5e72\u51c0\u70b9\u96c6\u3002\u800c\u4e14\u5b83\u7684\u8f93\u51fa\u4ecd\u662f\u4e00\u7ec4\u70b9\u5750\u6807&#xff0c;\u4e0d\u9700\u8981\u989d\u5916\u4f30\u8ba1\u6cd5\u5411\u6216\u663e\u5f0f\u66f2\u9762\u3002<\/p>\n<h3 style=\"text-align:justify\">\u56db\u3001\u5173\u952e\u8bbe\u8ba1&#xff1a;\u65e0\u5e8f\u70b9\u4e91\u5982\u4f55\u5efa\u7acb\u6700\u4f18\u4f20\u8f93\u8def\u5f84<\/h3>\n<h4 style=\"text-align:justify\">4.1 \u4e0d\u5148\u5339\u914d\u70b9&#xff0c;\u6269\u6563\u63d2\u503c\u5c31\u6ca1\u6709\u660e\u786e\u542b\u4e49<\/h4>\n<p style=\"text-align:justify\">\u8fd9\u662f\u8bba\u6587\u771f\u6b63\u503c\u5f97\u6ce8\u610f\u7684\u5730\u65b9\u3002\u56fe\u50cf\u7684\u50cf\u7d20\u6709\u56fa\u5b9a\u4f4d\u7f6e&#xff0c;\u7b2c i\u00a0\u4e2a\u50cf\u7d20\u901a\u5e38\u53ef\u4ee5\u548c\u53e6\u4e00\u5f20\u56fe\u50cf\u7684\u7b2c i\u00a0\u4e2a\u50cf\u7d20\u63d2\u503c&#xff1b;\u70b9\u4e91\u5374\u662f\u65e0\u5e8f\u96c6\u5408\u3002\u540c\u4e00\u4e2a\u7269\u4f53\u7684\u4e24\u5f20\u626b\u63cf&#xff0c;\u5373\u4f7f\u5404\u542b 1000 \u4e2a\u70b9&#xff0c;\u7b2c 1 \u4e2a\u70b9\u4e5f\u5b8c\u5168\u4e0d\u5fc5\u8868\u793a\u540c\u4e00\u4f4d\u7f6e\u3002\u5982\u679c\u76f4\u63a5\u6309\u6570\u7ec4\u4e0b\u6807\u8ba1\u7b97<img decoding=\"async\" alt=\"$\\\\mu_t$\" class=\"mathcode\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/10\/20261030181746-6ae4df4a39b48.png\" \/>&#xff0c;\u6240\u8c13\u7684\u201c\u4e2d\u95f4\u70b9\u4e91\u201d\u53ef\u80fd\u628a\u4e0d\u540c\u8868\u9762\u4f4d\u7f6e\u80e1\u4e71\u8fde\u8d77\u6765\u3002<\/p>\n<p style=\"text-align:justify\">\u4f5c\u8005\u501f\u9274 PointMixup \u7684\u6700\u77ed\u8def\u5f84\u63d2\u503c&#xff0c;\u5728\u5047\u8bbe\u4e24\u7ec4\u70b9\u6570\u76f8\u540c\u7684\u60c5\u51b5\u4e0b&#xff0c;\u6c42\u89e3\u4e00\u4e2a\u4e00\u5bf9\u4e00\u7684\u53cc\u5c04\u5339\u914d&#xff1a;<\/p>\n<p style=\"text-align:center\"><img loading=\"lazy\" decoding=\"async\" alt=\"\" height=\"80\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/10\/20261030181746-6ae4df4a84b1b.png\" width=\"373\" \/><\/p>\n<p style=\"text-align:justify\"><img decoding=\"async\" alt=\"$\\\\phi$\" class=\"mathcode\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/10\/20261030181746-6ae4df4a97a86.png\" \/>\u8868\u793a\u5e26\u566a\u70b9\u4e0e\u5e72\u51c0\u70b9\u7684\u914d\u5bf9\u65b9\u5f0f&#xff0c;<img decoding=\"async\" alt=\"$\\\\Phi$\" class=\"mathcode\" src=\"2026-10-31vvzq0qpe02z.png\" \/>\u662f\u6240\u6709\u53ef\u80fd\u7684\u53cc\u5c04\u96c6\u5408&#xff1b;\u4f18\u5316\u76ee\u6807\u662f\u8ba9\u603b\u4f53\u8fd0\u8f93\u8ddd\u79bb\u5c3d\u53ef\u80fd\u5c0f\u3002\u8fd9\u4e0d\u662f\u7b80\u5355\u5730\u8ba9\u6bcf\u4e2a\u70b9\u72ec\u7acb\u5bfb\u627e\u6700\u8fd1\u90bb&#xff0c;\u56e0\u4e3a\u72ec\u7acb\u6700\u8fd1\u90bb\u53ef\u80fd\u5bfc\u81f4\u591a\u4e2a\u70b9\u5bf9\u5e94\u540c\u4e00\u4e2a\u70b9&#xff0c;\u800c\u8fd9\u91cc\u8981\u6c42\u4e00\u5bf9\u4e00\u7684\u6574\u4f53\u5206\u914d\u3002\u5f97\u5230<img decoding=\"async\" alt=\"$\\\\phi^*$\" class=\"mathcode\" src=\"2026-10-31cl3d32delyn.png\" \/>\u540e&#xff0c;\u91cd\u65b0\u6392\u5217\u5e72\u51c0\u70b9\u96c6&#xff0c;\u518d\u8fdb\u884c\u9010\u70b9\u63d2\u503c\u624d\u6709\u51e0\u4f55\u610f\u4e49\u3002<\/p>\n<p style=\"text-align:justify\">\u8fd9\u4e00\u8fc7\u7a0b\u4e0e\u6700\u4f18\u4f20\u8f93&#xff08;Optimal Transport&#xff09;\u6709\u5173&#xff1a;\u5b83\u4e3a\u4e24\u4e2a\u65e0\u5e8f\u70b9\u96c6\u5efa\u7acb\u4f4e\u4ee3\u4ef7\u7684\u5bf9\u5e94\u5173\u7cfb&#xff0c;\u4f7f\u6865\u4e0a\u7684\u8def\u5f84\u4e0d\u81f3\u4e8e\u88ab\u4efb\u610f\u70b9\u5e8f\u7834\u574f\u3002\u5728\u5b9e\u9645\u8bad\u7ec3\u4e2d&#xff0c;\u6bcf\u7ec4\u8bad\u7ec3\u914d\u5bf9\u6570\u636e\u53ea\u9700\u6c42\u89e3\u4e00\u6b21\u6700\u4f18\u5339\u914d&#xff0c;\u4e4b\u540e\u91cd\u590d\u4f7f\u7528\u5bf9\u9f50\u7ed3\u679c&#xff0c;\u65e0\u9700\u6bcf\u4e2a\u8bad\u7ec3\u8fed\u4ee3\u91cd\u65b0\u89e3\u5339\u914d\u95ee\u9898\u3002\u8bba\u6587\u8fd8\u8ba8\u8bba\u4e86\u5728\u968f\u673a\u6027\u8d8b\u5c0f\u65f6&#xff0c;\u6865\u4e0e OT-ODE&#xff08;\u6700\u4f18\u4f20\u8f93\u5e38\u5fae\u5206\u65b9\u7a0b&#xff09;\u4e4b\u95f4\u7684\u8054\u7cfb\u3002<\/p>\n<h4 style=\"text-align:justify\">4.2 \u7f51\u7edc\u7ed3\u6784\u4e0e\u8bed\u4e49\u7279\u5f81\u600e\u6837\u5e2e\u52a9\u53bb\u566a<\/h4>\n<p><img loading=\"lazy\" decoding=\"async\" alt=\"\" height=\"399\" src=\"2026-10-3150h3pn5eyul.png\" width=\"1388\" \/><\/p>\n<p style=\"text-align:justify\">\u8bba\u6587 Figure 3&#xff1a;\u57fa\u4e8e PVCNN \u7684\u6269\u6563\u53bb\u566a\u7f51\u7edc<\/p>\n<p style=\"text-align:justify\">\u7f51\u7edc\u501f\u9274 LION \u4e0e PVCNN&#xff0c;\u7ed3\u5408\u70b9\/\u4f53\u7d20\u5377\u79ef\u3001SA\/FP \u5c42\u6b21\u7279\u5f81\u3001\u5168\u5c40\u7279\u5f81\u548c\u4f4e\u5206\u8fa8\u7387\u5c42\u7684\u591a\u5934\u6ce8\u610f\u529b&#xff1b;\u65f6\u95f4\u6b65\u901a\u8fc7\u6b63\u5f26\u4f4d\u7f6e\u7f16\u7801\u6ce8\u5165&#xff0c;\u53e6\u5916\u7528 Feature Embedding \u6620\u5c04\u8f93\u5165\u7279\u5f81\u3002\u6a21\u578b\u4ee5\u5c40\u90e8\u7a7a\u95f4 Patch \u4e3a\u5355\u4f4d\u5904\u7406\u70b9\u4e91&#xff0c;\u517c\u987e\u5927\u578b\u626b\u63cf\u7684\u663e\u5b58\u8981\u6c42\u4e0e\u7a7a\u95f4\u5bf9\u5e94\u5173\u7cfb\u3002<\/p>\n<p style=\"text-align:justify\">\u9664\u4e86 XYZ&#xff0c;\u4f5c\u8005\u8fd8\u5c1d\u8bd5\u52a0\u5165 RGB \u548c DINOv2 \u7279\u5f81\u3002RGB \u6765\u81ea\u626b\u63cf\u56fe\u50cf&#xff1b;DINOv2 \u5148\u5728\u56fe\u50cf\u4e2d\u63d0\u53d6\u50cf\u7d20\u7279\u5f81&#xff0c;\u518d\u501f\u52a9\u76f8\u673a\u5185\u53c2\u3001\u4f4d\u59ff\u6295\u5f71\u4e3a\u9010\u70b9\u7279\u5f81\u3002\u5176\u4f5c\u7528\u4e0d\u662f\u63d0\u4f9b\u989d\u5916\u7684\u771f\u5b9e\u51e0\u4f55\u6807\u7b7e&#xff0c;\u800c\u662f\u8ba9\u7f51\u7edc\u9664\u4e86\u7a7a\u95f4\u5750\u6807\u4e4b\u5916&#xff0c;\u8fd8\u80fd\u5229\u7528\u989c\u8272\u53ca\u8f83\u9ad8\u5c42\u7684\u56fe\u50cf\u8bed\u4e49\u7ebf\u7d22\u3002DINOv2 \u662f\u6027\u80fd\u589e\u5f3a\u9009\u9879&#xff0c;\u4e0d\u662f\u8fd0\u884c XYZ-only \u7248\u672c\u7684\u5fc5\u8981\u6761\u4ef6\u3002<\/p>\n<h3 style=\"text-align:justify\">\u4e94\u3001\u5b9e\u9a8c\u7ed3\u679c\u4e0e\u6d88\u878d\u5206\u6790<\/h3>\n<h4 style=\"text-align:justify\">5.1 \u6570\u636e\u96c6\u4e0e\u8bc4\u4ef7\u65b9\u5f0f<\/h4>\n<p style=\"text-align:justify\">\u5b9e\u9a8c\u8986\u76d6\u7269\u4f53\u7ea7\u4e0e\u573a\u666f\u7ea7\u4e24\u79cd\u96be\u5ea6\u3002\u7269\u4f53\u7ea7\u4f7f\u7528 PU-Net&#xff08;40 \u4e2a\u8bad\u7ec3\u7269\u4f53\u300120 \u4e2a\u6d4b\u8bd5\u7269\u4f53&#xff09;\u548c\u4ec5\u7528\u4e8e\u8bc4\u4f30\u7684 PC-Net&#xff08;10 \u4e2a\u7269\u4f53&#xff09;&#xff0c;\u901a\u8fc7 1%\u20133% \u7684\u5404\u5411\u540c\u6027\u9ad8\u65af\u6270\u52a8\u6784\u9020\u8f93\u5165&#xff1b;\u573a\u666f\u7ea7\u4f7f\u7528 ScanNet&#043;&#043; \u4e0e ARKitScenes&#xff0c;\u5229\u7528\u79fb\u52a8\u8bbe\u5907\u626b\u63cf\u4f5c\u4e3a\u5e26\u566a\u6570\u636e\u3001Faro \u6fc0\u5149\u626b\u63cf\u4f5c\u4e3a\u5e72\u51c0\u53c2\u8003\u3002\u8fd9\u6837\u65e2\u68c0\u9a8c\u5408\u6210\u566a\u58f0\u4e0b\u7684\u6027\u80fd&#xff0c;\u4e5f\u68c0\u9a8c\u66f4\u590d\u6742\u7684\u771f\u5b9e\u626b\u63cf\u8bef\u5dee\u3002<\/p>\n<p style=\"text-align:justify\">\u4e3b\u8981\u6307\u6807\u662f Chamfer Distance&#xff08;CD&#xff09;\u548c Point-to-Mesh Distance&#xff08;P2M&#xff09;&#xff0c;\u8d8a\u4f4e\u8d8a\u597d&#xff1b;\u573a\u666f\u8868\u8fd8\u62c6\u5206\u4e24\u4e2a\u65b9\u5411\u7684 CD&#xff0c;\u4ee5\u53ca P2F\u3001F2P&#xff0c;\u907f\u514d\u53ea\u7528\u5355\u5411\u8bef\u5dee\u63a9\u76d6\u8986\u76d6\u5ea6\u95ee\u9898\u3002<\/p>\n<h4 style=\"text-align:justify\">5.2 \u7269\u4f53\u7ea7\u53bb\u566a&#xff1a;\u9ad8\u566a\u58f0\u548c\u672a\u89c1\u7269\u4f53\u8868\u73b0\u5982\u4f55<\/h4>\n<p><img loading=\"lazy\" decoding=\"async\" alt=\"\" height=\"879\" src=\"2026-10-31nyf0qi0vbz3.png\" width=\"1404\" \/><\/p>\n<p style=\"text-align:justify\">\u8bba\u6587 Table 1&#xff1a;PU-Net\u3001PC-Net \u5728\u4e0d\u540c\u70b9\u5bc6\u5ea6\u548c\u566a\u58f0\u5f3a\u5ea6\u4e0b\u7684 CD \/ P2M<\/p>\n<p style=\"text-align:justify\">\u5728 PU-Net \u7684 10k \u7a00\u758f\u70b9\u4e91\u30013% \u566a\u58f0\u6761\u4ef6\u4e0b&#xff0c;\u672c\u6587 CD &#061; 3.99\u3001P2M &#061; 1.42&#xff0c;\u800c ScoreDenoise \u4e3a 4.71 \/ 1.94&#xff0c;PD-Flow \u4e3a 5.19 \/ 2.52&#xff1b;\u5728 50k \u5bc6\u96c6\u70b9\u4e91\u30013% \u566a\u58f0\u4e0b&#xff0c;\u672c\u6587\u8fbe\u5230 1.56 \/ 0.84\u3002PC-Net \u4f5c\u4e3a\u672a\u53c2\u4e0e\u8bad\u7ec3\u7684\u8bc4\u4f30\u96c6&#xff0c;\u4e5f\u663e\u793a\u51fa\u76f8\u5bf9\u8f83\u597d\u7684\u8de8\u7269\u4f53\u9002\u5e94\u80fd\u529b\u3002\u4e0d\u8fc7\u5728 PU-Net \u7684 1% \u4f4e\u566a\u58f0\u8bbe\u7f6e\u4e0b&#xff0c;PD-Flow \u7684 CD &#061; 2.13 \u4f18\u4e8e\u672c\u6587 2.28&#xff0c;\u56e0\u6b64\u7ed3\u8bba\u662f\u591a\u6570\u8bbe\u7f6e&#xff0c;\u5c24\u5176\u8f83\u9ad8\u566a\u58f0\u4e0b\u66f4\u6709\u4f18\u52bf&#xff0c;\u800c\u975e\u6bcf\u4e00\u5217\u5747\u7b2c\u4e00\u3002\u7269\u4f53\u5b9e\u9a8c\u7684\u8fd9\u4e9b\u7ed3\u679c\u4ec5\u7528 3 \u6b65\u53bb\u566a\u83b7\u5f97\u3002<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" alt=\"\" height=\"942\" src=\"2026-10-312kyk4uk4yd1.png\" width=\"1152\" \/><\/p>\n<p style=\"text-align:justify\">\u8bba\u6587 Figure 4&#xff1a;PU-Net 3% \u9ad8\u65af\u566a\u58f0\u4e0b\u7684\u7269\u4f53\u53bb\u566a\u53ef\u89c6\u5316<\/p>\n<p style=\"text-align:justify\">Figure 4 \u53ef\u4ee5\u91cd\u70b9\u770b\u52a8\u7269\u8868\u9762\u7684\u539a\u5ea6\u4e0e\u8f6e\u5ed3&#xff1a;P2P-Bridge \u7684\u70b9\u5206\u5e03\u66f4\u8d34\u8fd1\u5e72\u51c0\u5f62\u72b6&#xff0c;\u566a\u58f0\u6b8b\u7559\u66f4\u5c11\u3002\u5b9a\u6027\u56fe\u50cf\u652f\u6301 Table 1 \u7684\u6570\u503c\u8d8b\u52bf&#xff0c;\u4f46\u4e0d\u80fd\u4ec5\u51ed\u4e00\u5f20\u56fe\u6982\u62ec\u6240\u6709\u7269\u4f53\u3002<\/p>\n<h4 style=\"text-align:justify\">5.3 \u771f\u5b9e\u5ba4\u5185\u573a\u666f&#xff1a;\u6570\u636e\u5230\u6570\u636e\u6865\u7684\u4ef7\u503c<\/h4>\n<p><img loading=\"lazy\" decoding=\"async\" alt=\"\" height=\"435\" src=\"2026-10-315gteid5tduq.png\" width=\"1746\" \/><\/p>\n<p style=\"text-align:justify\">\u8bba\u6587 Table 2&#xff1a;ScanNet&#043;&#043; \u4e0e ARKitScenes \u5ba4\u5185\u573a\u666f\u53bb\u566a&#xff0c;\u542b XYZ \/ RGB \/ DINO \u7279\u5f81\u6bd4\u8f83<\/p>\n<p style=\"text-align:justify\">\u5728 ScanNet&#043;&#043; \u539f\u59cb Apple LiDAR \u8f93\u5165\u4e0a&#xff0c;XYZ-only P2P-Bridge \u7684 CD &#061; 64.46&#xff0c;\u4f4e\u4e8e ScoreDenoise \u7684 68.21&#xff1b;\u52a0\u5165 RGB&#043;DINO \u540e\u4e3a 64.44\u3002\u5728\u66f4\u5177\u533a\u5206\u5ea6\u7684 LiDAR &#043; 3DMatch \u91cd\u5efa\u8bbe\u7f6e\u4e2d&#xff0c;\u672c\u6587 XYZ-only \u7684 CD &#061; 35.56&#xff0c;\u52a0\u5165 RGB&#043;DINO \u540e\u8fdb\u4e00\u6b65\u964d\u81f3 34.88&#xff0c;\u800c I-PFN \u4e3a 52.31\u3002ARKitScenes \u7684\u6574\u4f53 CD \u5219\u4ece XYZ-only \u7684 20.14 \u6539\u5584\u5230 RGB&#043;DINO \u7684 19.92\u3002\u8fd9\u4e9b\u6570\u5b57\u663e\u793a&#xff1a;\u4e0d\u4f9d\u8d56\u989d\u5916\u56fe\u50cf\u7279\u5f81\u5df2\u7ecf\u6709\u6548&#xff0c;\u89c6\u89c9\u7279\u5f81\u8fd8\u80fd\u5e26\u6765\u589e\u76ca&#xff0c;\u4f46\u4e0d\u540c\u6307\u6807\u7684\u63d0\u5347\u5e45\u5ea6\u5e76\u4e0d\u4e00\u81f4\u3002<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" alt=\"\" height=\"1026\" src=\"2026-10-31idneqzkc5da.png\" width=\"1134\" \/><\/p>\n<p style=\"text-align:justify\">\u8bba\u6587 Figure 5&#xff1a;ScanNet&#043;&#043;&#xff08;\u524d\u4e09\u884c&#xff09;\u4e0e ARKitScenes&#xff08;\u540e\u4e24\u884c&#xff09;\u771f\u5b9e\u626b\u63cf\u7684\u53ef\u89c6\u5316\u6bd4\u8f83<\/p>\n<p style=\"text-align:justify\">Figure 5 \u7528\u7eff\u5230\u7ea2\u7684\u989c\u8272\u5c55\u793a\u4e0e Faro \u53c2\u8003\u626b\u63cf\u7684\u8ddd\u79bb\u3002\u6587\u7ae0\u6307\u51fa&#xff0c;\u4f7f\u7528\u7b80\u5355\u9ad8\u65af\u566a\u58f0\u8bad\u7ec3\u7684\u82e5\u5e72\u57fa\u7ebf\u5bb9\u6613\u5728 Patch \u8fb9\u754c\u751f\u6210\u4f2a\u5f71\u6216\u70b9\u805a\u96c6&#xff1b;P2P-Bridge \u5219\u901a\u8fc7\u5bf9\u771f\u5b9e\u566a\u58f0\u5efa\u6a21&#xff0c;\u5e76\u5bf9\u540c\u4e00\u70b9\u7684\u91cd\u53e0 Patch \u9884\u6d4b\u5750\u6807\u6c42\u5e73\u5747&#xff0c;\u51cf\u8f7b\u8fd9\u79cd\u95ee\u9898\u3002\u9700\u8981\u4fdd\u7559\u7684\u8fb9\u754c\u662f&#xff1a;\u539f\u626b\u63cf\u91cc\u7f3a\u5931\u7684\u7269\u4f53\u7ed3\u6784&#xff0c;\u5404\u79cd\u53bb\u566a\u65b9\u6cd5\u90fd\u672a\u5fc5\u80fd\u8865\u56de\u6765&#xff0c;\u56e0\u4e3a\u53bb\u566a\u4e0d\u7b49\u540c\u4e8e\u70b9\u4e91\u8865\u5168\u3002<\/p>\n<h4 style=\"text-align:justify\">5.4 \u6865\u7684\u6838\u5fc3\u6d88\u878d&#xff1a;\u5bf9\u9f50\u4e0e\u968f\u673a\u6027\u54ea\u4e2a\u66f4\u91cd\u8981<\/h4>\n<p class=\"img-center\"><img loading=\"lazy\" decoding=\"async\" alt=\"\" height=\"161\" src=\"2026-10-31aumdm5ofdbm.png\" width=\"376\" \/><\/p>\n<p style=\"text-align:justify\">\u8bba\u6587 Table 3&#xff1a;\u6700\u77ed\u8def\u5f84\u5bf9\u9f50\u4e0e OT-ODE \u8bbe\u7f6e\u7684\u6d88\u878d<\/p>\n<p style=\"text-align:justify\">\u8fd9\u662f\u5168\u6587\u6700\u80fd\u89e3\u91ca\u65b9\u6cd5\u5fc5\u8981\u6027\u7684\u8868\u3002\u4e0d\u505a\u70b9\u96c6\u5bf9\u9f50\u65f6&#xff0c;CD \/ P2M \u98d9\u5347\u5230 49.33 \/ 44.22&#xff1b;\u505a\u597d\u5bf9\u9f50\u4f46\u4e0d\u91c7\u7528 OT-ODE \u8bbe\u7f6e\u65f6\u4e3a 2.45 \/ 0.73&#xff1b;\u4e24\u8005\u540c\u65f6\u91c7\u7528\u65f6\u4e3a 2.11 \/ 0.65\u3002\u8fd9\u7ec4\u5bf9\u6bd4\u8868\u660e&#xff1a;\u5148\u628a\u65e0\u5e8f\u70b9\u96c6\u5efa\u7acb\u5408\u7406\u5bf9\u5e94&#xff0c;\u662f\u6269\u6563\u6865\u53ef\u7528\u7684\u524d\u63d0&#xff1b;\u5728\u8fd9\u4e00\u4efb\u52a1\u4e2d&#xff0c;\u51cf\u5c11\u6865\u8def\u5f84\u7684\u968f\u673a\u6027\u8fd8\u80fd\u8fdb\u4e00\u6b65\u63d0\u5347\u6548\u679c\u3002 \u4f5c\u8005\u5e76\u672a\u58f0\u79f0\u786e\u5b9a\u6027\u8def\u5f84\u6c38\u8fdc\u66f4\u4f18&#xff0c;\u800c\u662f\u6307\u51fa\u8865\u5168\u7b49\u591a\u89e3\u4efb\u52a1\u53ef\u80fd\u53cd\u800c\u9700\u8981\u968f\u673a\u6027\u3002<\/p>\n<h4 style=\"text-align:justify\">5.5 \u9aa8\u5e72\u7f51\u7edc\u3001\u7279\u5f81\u6a21\u5757\u4e0e\u91c7\u6837\u6b65\u6570<\/h4>\n<p class=\"img-center\"><img loading=\"lazy\" decoding=\"async\" alt=\"\" height=\"166\" src=\"2026-10-31kn0srfadkr5.png\" width=\"398\" \/><\/p>\n<p style=\"text-align:justify\">\u8bba\u6587 Table 4&#xff1a;Minkowski\u3001SetTransformer \u4e0e PVCNN \u9aa8\u5e72\u5bf9\u6bd4<\/p>\n<p style=\"text-align:justify\">\u5728\u5bf9\u5e94 ScanNet&#043;&#043; \u6d88\u878d\u8bbe\u7f6e\u4e2d&#xff0c;PVCNN \u7684 CD \/ P2M &#061; 9.76 \/ 14.33&#xff0c;\u4f18\u4e8e SetTransformer \u7684 10.50 \/ 15.46 \u548c Minkowski \u7684 12.79 \/ 32.39\u3002\u7ed3\u679c\u652f\u6301\u91c7\u7528\u517c\u987e\u5c40\u90e8\u70b9\u7279\u5f81\u4e0e\u4f53\u7d20\u4e0a\u4e0b\u6587\u7684 PVCNN&#xff0c;\u4f46\u4e0d\u4ee3\u8868 PVCNN \u5bf9\u6240\u6709\u4e09\u7ef4\u4efb\u52a1\u90fd\u6700\u597d\u3002<\/p>\n<p class=\"img-center\"><img loading=\"lazy\" decoding=\"async\" alt=\"\" height=\"288\" src=\"2026-10-31cmnyif4ja4o.png\" width=\"560\" \/><\/p>\n<p style=\"text-align:justify\">\u8bba\u6587 Table 5&#xff1a;PVC Block\u3001\u5168\u5c40\u7279\u5f81\u3001SE\u3001Feature Embedding \u4e0e\u901a\u9053\u6570\u7684\u7ed3\u6784\u6d88\u878d<\/p>\n<p style=\"text-align:justify\">\u5f53\u57fa\u7840\u901a\u9053\u6570\u4e3a 32\u3001PVC Block \u914d\u7f6e\u76f8\u540c\u65f6&#xff0c;\u53bb\u6389 Feature Embedding&#xff0c;CD \u4ece 9.26 \u53d8\u4e3a 9.76&#xff1b;\u589e\u52a0\u5230 64 \u901a\u9053\u5e76\u8c03\u6574 Block \u540e&#xff0c;\u6700\u4f18\u914d\u7f6e\u8fbe\u5230 8.27 \/ 9.70\u3002\u8bf4\u660e Feature Embedding \u6709\u660e\u786e\u8d21\u732e&#xff0c;\u4f46\u6269\u5927\u7f51\u7edc\u5bb9\u91cf\u5e26\u6765\u7684\u6574\u4f53\u6536\u76ca\u66f4\u663e\u8457&#xff1b;\u4e0d\u540c\u5c42\u6df1\u7684 Block \u4e5f\u5e76\u975e\u7b49\u4ef7\u3002<\/p>\n<p class=\"img-center\"><img loading=\"lazy\" decoding=\"async\" alt=\"\" height=\"293\" src=\"2026-10-31j4g3pjqagcv.png\" width=\"453\" \/><\/p>\n<p style=\"text-align:justify\">\u8bba\u6587 Figure 6&#xff1a;\u63a8\u7406\u91c7\u6837\u6b65\u6570\u4e0e CD \/ P2M \u7684\u5173\u7cfb<\/p>\n<p style=\"text-align:justify\">Figure 6 \u663e\u793a&#xff0c;\u63a8\u7406\u6b65\u6570\u589e\u52a0\u5230\u7ea6 5\u201310 \u6b65\u65f6&#xff0c;\u591a\u6570\u6307\u6807\u5df2\u63a5\u8fd1\u5e73\u53f0\u671f&#xff0c;\u7ee7\u7eed\u589e\u52a0\u6b65\u6570\u7684\u6536\u76ca\u6709\u9650\u3002\u8fd9\u4e0e\u7269\u4f53\u5b9e\u9a8c\u4f7f\u7528 3 \u6b65\u4fbf\u80fd\u53d6\u5f97\u7ade\u4e89\u6027\u7ed3\u679c\u5171\u540c\u8bf4\u660e&#xff1a;P2P-Bridge \u4e0d\u4f9d\u8d56\u7279\u522b\u957f\u7684\u6269\u6563\u91c7\u6837\u94fe&#xff0c;\u4f46\u4e0d\u540c\u6570\u636e\u96c6\u3001\u6307\u6807\u4e0b\u7684\u6700\u4f73\u6b65\u6570\u5e76\u4e0d\u5b8c\u5168\u76f8\u540c\u3002<\/p>\n<h3 style=\"text-align:justify\">\u516d\u3001\u603b\u7ed3\u4e0e\u601d\u8003<\/h3>\n<p style=\"text-align:justify\">\u5982\u679c\u628a\u672c\u6587\u538b\u7f29\u6210\u4e00\u53e5\u8bdd&#xff1a;P2P-Bridge \u628a\u70b9\u4e91\u53bb\u566a\u5efa\u6a21\u4e3a\u5e26\u566a\u70b9\u96c6\u4e0e\u5e72\u51c0\u70b9\u96c6\u4e4b\u95f4\u7684\u6570\u636e\u5230\u6570\u636e\u6269\u6563\u6865&#xff0c;\u5148\u901a\u8fc7\u6700\u4f18\u4e00\u5bf9\u4e00\u5339\u914d\u4e3a\u65e0\u5e8f\u70b9\u5efa\u7acb\u5408\u7406\u63d2\u503c\u8def\u5f84&#xff0c;\u518d\u8bad\u7ec3\u7f51\u7edc\u6cbf\u6865\u9010\u6b65\u6062\u590d\u5e72\u51c0\u70b9\u4e91\u3002<\/p>\n<p style=\"text-align:justify\">\u5b83\u6700\u6709\u4ef7\u503c\u7684\u8bbe\u8ba1\u4e0d\u662f\u7b80\u5355\u201c\u628a\u6269\u6563\u6a21\u578b\u7528\u4e8e\u70b9\u4e91\u201d&#xff0c;\u800c\u662f\u89e3\u51b3\u4e86\u4e24\u4e2a\u66f4\u57fa\u7840\u7684\u95ee\u9898&#xff1a;\u771f\u5b9e\u566a\u58f0\u7684\u7aef\u70b9\u5206\u5e03\u5982\u4f55\u5f15\u5165\u6269\u6563\u8fc7\u7a0b&#xff0c;\u4ee5\u53ca\u65e0\u5e8f\u70b9\u96c6\u4e4b\u95f4\u5982\u4f55\u5b9a\u4e49\u6709\u610f\u4e49\u7684\u6865\u63a5\u8def\u5f84\u3002Table 3 \u76f4\u63a5\u8bc1\u660e\u5339\u914d\u7684\u91cd\u8981\u6027&#xff0c;Table 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