{"id":48005,"date":"2025-07-30T10:18:02","date_gmt":"2025-07-30T02:18:02","guid":{"rendered":"https:\/\/www.wsisp.com\/helps\/48005.html"},"modified":"2025-07-30T10:18:02","modified_gmt":"2025-07-30T02:18:02","slug":"%e7%89%b9%e5%be%81%e5%8c%b9%e9%85%8d%e3%80%907%e3%80%91%ef%bc%9a%e3%80%90mambaglue%e3%80%91fast-and-robust-local-feature-matching-with-mamba","status":"publish","type":"post","link":"https:\/\/www.wsisp.com\/helps\/48005.html","title":{"rendered":"\u7279\u5f81\u5339\u914d\u30107\u3011\uff1a\u3010MambaGlue\u3011Fast and Robust Local Feature Matching With Mamba"},"content":{"rendered":"<h4>Motivation<\/h4>\n<\/p>\n<ul>\n<li>\n<p>\u6548\u7387\u4e0e\u9c81\u68d2\u6027\u7684\u6743\u8861&#xff1a;\u73b0\u6709\u57fa\u4e8eTransformer\u7684\u5c40\u90e8\u7279\u5f81\u5339\u914d\u65b9\u6cd5\u8ba1\u7b97\u590d\u6742\u5ea6\u9ad8&#xff08;\u968f\u5173\u952e\u70b9\u6570\u91cf\u5e73\u65b9\u589e\u957f&#xff09;&#xff0c;\u96be\u4ee5\u6ee1\u8db3\u5b9e\u65f6\u6027\u9700\u6c42\u3002\u3010\u8bba\u6587\u4e2d\u7684\u5b9e\u73b0\u662f\u5728\u81ea\u6ce8\u610f\u529b\u6a21\u5757\u989d\u5916\u6dfb\u52a0\u4e86Mamba\u7684\u901a\u8def&#xff0c;\u5b9e\u9645\u6548\u679c\u5e76\u6ca1\u6709\u6548\u7387\u7684\u63d0\u5347&#xff0c;\u6d88\u878d\u5b9e\u9a8c\u4e2d\u4e5f\u672a\u63d0\u5230\u53ea\u7528Mamba\u66ff\u6362self attention\u7684\u6548\u679c\u3011<\/p>\n<\/li>\n<\/ul>\n<h4>MambaGlue Architecture<\/h4>\n<p><img loading=\"lazy\" decoding=\"async\" alt=\"\" class=\"left\" height=\"189\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2025\/07\/20250730021757-688980d51809f.png\" width=\"494\" \/><img loading=\"lazy\" decoding=\"async\" alt=\"\" height=\"193\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2025\/07\/20250730021757-688980d5726f5.png\" width=\"158\" \/><\/p>\n<p>MambaAttention Mixer\u6a21\u5757<\/p>\n<p>\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0Mamba&#xff08;\u9009\u62e9\u6027\u72b6\u6001\u7a7a\u95f4\u6a21\u578b&#xff09;\u4e0eRNN\u8fd9\u79cd\u72b6\u6001\u7a7a\u95f4\u6a21\u578b\u8981\u6bd4Transformer\u7ed3\u6784\u66f4\u5bb9\u6613\u611f\u77e5\u987a\u5e8f\u5173\u7cfb&#xff08;\u4f4d\u7f6e\u4fe1\u606f&#xff09;&#xff0c;Transformer\u5219\u662f\u901a\u8fc7\u4f4d\u7f6e\u7f16\u7801\u6765\u611f\u77e5\u987a\u5e8f\u5173\u7cfb&#xff0c;Mamba\u4e0eTransformer\u7684\u6df7\u5408\u7ed3\u6784\u53ef\u4ee5\u540c\u65f6\u6355\u6349\u5168\u5c40\u548c\u5c40\u90e8\u4e0a\u4e0b\u6587&#xff0c;\u63d0\u5347\u7279\u5f81\u8868\u8fbe\u80fd\u529b\u3002<\/p>\n<ul>\n<li>\u786c\u4ef6\u611f\u77e5\u7b97\u6cd5(hardware-aware algorithm)&#xff1a;<\/li>\n<\/ul>\n<p>\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u8fd9\u79cd\u7b97\u6cd5\u901a\u8fc7\u9009\u62e9\u6027\u626b\u63cf\u7b97\u6cd5\u5b9e\u73b0\u5e76\u884c\u8fd0\u7b97\u3001\u5185\u6838\u878d\u5408\u548c\u6709\u6548\u5b58\u50a8&#xff08;\u4e2d\u95f4&#xff09;\u7ed3\u679c\u7684\u91cd\u65b0\u8ba1\u7b97&#xff0c;\u63d0\u9ad8\u4e86\u8ba1\u7b97\u6548\u7387\u3002<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" alt=\"\" height=\"254\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2025\/07\/20250730021757-688980d5e111e.png\" width=\"799\" \/><\/p>\n<ul>\n<li>\u00a0\u9009\u62e9\u6027\u626b\u63cf\u7b97\u6cd5(selective scan algorithm)&#xff1a;<\/li>\n<\/ul>\n<p>\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0RNN\u7ed3\u6784\u56e0\u4e3a\u975e\u7ebf\u6027\u6fc0\u6d3b\u7684\u5f62\u5f0f&#xff0c;\u65e0\u6cd5\u5e76\u884c\u5316\u8ba1\u7b97&#xff0c;\u6240\u4ee5\u6709\u4e86\u7ebf\u6027RNN&#xff08;SSM&#xff09;\u7684\u51fa\u73b0&#xff0c;\u5b9e\u73b0\u7c7b\u4f3c\u5377\u79ef\u8ba1\u7b97\u7684\u5e76\u884c\u5316\u64cd\u4f5c<\/p>\n<p style=\"text-align:center\"><img loading=\"lazy\" decoding=\"async\" alt=\"\" height=\"118\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2025\/07\/20250730021758-688980d69517c.png\" width=\"209\" \/><img loading=\"lazy\" decoding=\"async\" alt=\"\" height=\"115\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2025\/07\/20250730021759-688980d70f276.png\" width=\"314\" \/><\/p>\n<p>\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0Mamba\u7684\u9009\u62e9\u6027\u626b\u63cf\u7b97\u6cd5&#xff1a;SSM\u4e2d\u7684A\u3001B\u3001C\u4e0d\u56e0\u8f93\u5165\u4e0d\u540c\u800c\u4e0d\u540c&#xff0c;\u4e27\u5931\u4e86\u5bf9\u8f93\u5165\u7684\u9488\u5bf9\u6027\u63a8\u7406&#xff08;\u6ce8\u610f\u529b\u673a\u5236&#xff09;<\/p>\n<p style=\"text-align:center\"><img loading=\"lazy\" decoding=\"async\" alt=\"\" height=\"121\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2025\/07\/20250730021759-688980d7890f5.png\" width=\"269\" \/><img loading=\"lazy\" decoding=\"async\" alt=\"\" height=\"143\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2025\/07\/20250730021759-688980d7af87b.png\" width=\"262\" \/><\/p>\n<p>\u6df1\u5ea6\u7f6e\u4fe1\u5206\u6570\u56de\u5f52\u5668&#xff1a;\u4e0eLightGlue\u57fa\u672c\u4e00\u81f4&#xff0c;\u652f\u6301\u63d0\u524d\u9000\u51fa\u548c\u7279\u5f81\u70b9\u526a\u679d\u3002<\/p>\n<h4>\u00a0Experiments<\/h4>\n<p>\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u5728\u5355\u5e94\u6027\u53d8\u6362\u4f30\u8ba1\u4e2d&#xff0c;\u5927\u4e8e3pixel\u7684\u5bb9\u9519\u9608\u503c\u4e0b&#xff0c;\u57fa\u4e8e\u7279\u5f81\u70b9\u7684\u7279\u5f81\u5339\u914d\u7684\u65b9\u6cd5\u51c6\u786e\u5ea6\u66f4\u9ad8<\/p>\n<p class=\"img-center\"><img loading=\"lazy\" decoding=\"async\" alt=\"\" height=\"350\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2025\/07\/20250730021800-688980d849af6.png\" width=\"538\" \/><\/p>\n<p>\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u5728\u76f8\u5bf9\u4f4d\u59ff\u4f30\u8ba1\u4e2d&#xff0c;\u57fa\u4e8e\u56fe\u50cf\u7684\u7279\u5f81\u5339\u914d\u65b9\u6cd5\u8868\u73b0\u66f4\u597d\u00a0\u00a0<\/p>\n<p class=\"img-center\"><img loading=\"lazy\" decoding=\"async\" alt=\"\" height=\"389\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2025\/07\/20250730021800-688980d8c1936.png\" width=\"536\" \/><\/p>\n<h4>References<\/h4>\n<p>\u4ee3\u7801:\u00a0 \u00a0https:\/\/github.com\/url-kaist\/MambaGlue<\/p>\n<p>\u8bba\u6587:\u00a0 \u00a0[2502.00462] MambaGlue: Fast and Robust Local Feature Matching With Mamba<\/p>\n<p>\u4f1a\u8bae&#xff1a;ICRA 2025<\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u6587\u7ae0\u6d4f\u89c8\u9605\u8bfb58\u6b21\u3002\u6548\u7387\u4e0e\u9c81\u68d2\u6027\u7684\u6743\u8861\uff1a\u73b0\u6709\u57fa\u4e8eTransformer\u7684\u5c40\u90e8\u7279\u5f81\u5339\u914d\u65b9\u6cd5\u8ba1\u7b97\u590d\u6742\u5ea6\u9ad8\uff08\u968f\u5173\u952e\u70b9\u6570\u91cf\u5e73\u65b9\u589e\u957f\uff09\uff0c\u96be\u4ee5\u6ee1\u8db3\u5b9e\u65f6\u6027\u9700\u6c42\u3002Mamba\uff08\u9009\u62e9\u6027\u72b6\u6001\u7a7a\u95f4\u6a21\u578b\uff09\u4e0eRNN\u8fd9\u79cd\u72b6\u6001\u7a7a\u95f4\u6a21\u578b\u8981\u6bd4Transformer\u7ed3\u6784\u66f4\u5bb9\u6613\u611f\u77e5\u987a\u5e8f\u5173\u7cfb\uff08\u4f4d\u7f6e\u4fe1\u606f\uff09\uff0cTransformer\u5219\u662f\u901a\u8fc7\u4f4d\u7f6e\u7f16\u7801\u6765\u611f\u77e5\u987a\u5e8f\u5173\u7cfb\uff0cMamba\u4e0eTransformer\u7684\u6df7\u5408\u7ed3\u6784\u53ef\u4ee5\u540c\u65f6\u6355\u6349\u5168\u5c40\u548c\u5c40\u90e8\u4e0a\u4e0b\u6587\uff0c\u63d0\u5347\u7279\u5f81\u8868\u8fbe\u80fd\u529b\u3002\u8fd9\u79cd\u7b97\u6cd5\u901a\u8fc7\u5e76\u884c\u8fd0\u7b97\u3001\u5185\u6838\u878d\u5408\u548c\u6709\u6548\u5b58\u50a8\uff08\u4e2d\u95f4\uff09\u7ed3\u679c\u7684\u91cd\u65b0\u8ba1\u7b97\uff0c\u63d0\u9ad8\u4e86\u8ba1\u7b97\u6548\u7387\u3002<\/p>\n","protected":false},"author":2,"featured_media":47996,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[1],"tags":[50,3829,207,86],"topic":[],"class_list":["post-48005","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-server","tag-50","tag-3829","tag-207","tag-86"],"yoast_head":"<!-- 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