{"id":75772,"date":"2026-02-13T06:41:31","date_gmt":"2026-02-12T22:41:31","guid":{"rendered":"https:\/\/www.wsisp.com\/helps\/75772.html"},"modified":"2026-02-13T06:41:31","modified_gmt":"2026-02-12T22:41:31","slug":"mv-tap%ef%bc%9a%e5%a4%9a%e8%a7%86%e8%a7%92%e8%a7%86%e9%a2%91%e4%b8%ad%e7%9a%84%e4%bb%bb%e6%84%8f%e7%82%b9%e8%b7%9f%e8%b8%aa","status":"publish","type":"post","link":"https:\/\/www.wsisp.com\/helps\/75772.html","title":{"rendered":"MV-TAP\uff1a\u591a\u89c6\u89d2\u89c6\u9891\u4e2d\u7684\u4efb\u610f\u70b9\u8ddf\u8e2a"},"content":{"rendered":"

\u5927\u5bb6\u8bfb\u5b8c\u89c9\u5f97 \u6709\u5e2e\u52a9\u8bb0\u5f97\u5173\u6ce8\u548c\u70b9\u8d5e！！！<\/p>\n

\u6458\u8981<\/p>\n

\u591a\u89c6\u89d2\u76f8\u673a\u7cfb\u7edf\u80fd\u591f\u5bf9\u590d\u6742\u7684\u73b0\u5b9e\u4e16\u754c\u573a\u666f\u8fdb\u884c\u4e30\u5bcc\u7684\u89c2\u6d4b，\u7406\u89e3\u591a\u89c6\u89d2\u8bbe\u7f6e\u4e0b\u7684\u52a8\u6001\u7269\u4f53\u5df2\u6210\u4e3a\u5404\u79cd\u5e94\u7528\u7684\u6838\u5fc3\u3002\u5728\u8fd9\u9879\u5de5\u4f5c\u4e2d，\u6211\u4eec\u63d0\u51fa\u4e86 MV-TAP，\u4e00\u79cd\u65b0\u9896\u7684\u70b9\u8ddf\u8e2a\u5668，\u5b83\u901a\u8fc7\u5229\u7528\u8de8\u89c6\u89d2\u4fe1\u606f\u6765\u8ddf\u8e2a\u52a8\u6001\u573a\u666f\u591a\u89c6\u89d2\u89c6\u9891\u4e2d\u7684\u70b9\u3002MV-TAP \u5229\u7528\u76f8\u673a\u51e0\u4f55\u548c\u8de8\u89c6\u89d2\u6ce8\u610f\u529b\u673a\u5236\u6765\u805a\u5408\u8de8\u89c6\u89d2\u7684\u65f6\u7a7a\u4fe1\u606f，\u4ece\u800c\u5728\u591a\u89c6\u89d2\u89c6\u9891\u4e2d\u5b9e\u73b0\u66f4\u5b8c\u6574\u548c\u53ef\u9760\u7684\u8f68\u8ff9\u4f30\u8ba1\u3002\u4e3a\u652f\u6301\u6b64\u4efb\u52a1，\u6211\u4eec\u6784\u5efa\u4e86\u4e00\u4e2a\u5927\u89c4\u6a21\u5408\u6210\u8bad\u7ec3\u6570\u636e\u96c6\u548c\u4e13\u4e3a\u591a\u89c6\u89d2\u8ddf\u8e2a\u5b9a\u5236\u7684\u771f\u5b9e\u4e16\u754c\u8bc4\u4f30\u96c6\u3002\u5927\u91cf\u5b9e\u9a8c\u8868\u660e，MV-TAP \u5728\u5177\u6709\u6311\u6218\u6027\u7684\u57fa\u51c6\u6d4b\u8bd5\u4e2d\u4f18\u4e8e\u73b0\u6709\u7684\u70b9\u8ddf\u8e2a\u65b9\u6cd5，\u4e3a\u63a8\u8fdb\u591a\u89c6\u89d2\u70b9\u8ddf\u8e2a\u7814\u7a76\u5efa\u7acb\u4e86\u4e00\u4e2a\u6709\u6548\u7684\u57fa\u7ebf\u3002<\/p>\n

<\/p>\n

\u56fe 1：\u200b \u6211\u4eec\u63d0\u51fa\u4e86 MV-TAP（\u591a\u89c6\u89d2\u89c6\u9891\u4e2d\u7684\u4efb\u610f\u70b9\u8ddf\u8e2a），\u8fd9\u662f\u4e00\u4e2a\u65e8\u5728\u6709\u6548\u6574\u5408\u591a\u4e2a\u89c6\u89d2\u4fe1\u606f\u4ee5\u5b9e\u73b0\u9c81\u68d2\u3001\u9ad8\u8d28\u91cf\u70b9\u8ddf\u8e2a\u7684\u6a21\u578b\u3002(a) \u6211\u4eec\u5728 Harmony4D [khirodkar2024harmony4d] \u4e0a\u53ef\u89c6\u5316 MV-TAP \u7684\u7ed3\u679c\u3002(b) MV-TAP \u76f8\u8f83\u4e8e\u5176\u4ed6\u57fa\u7ebf\u65b9\u6cd5 [doersch2023tapir, karaev2024cotracker, karaev2024cotracker3, cho2024local, zholus2025tapnext, xiao2024spatialtracker, zhang2025tapip3d] \u53d6\u5f97\u4e86\u663e\u8457\u63d0\u5347，\u5c55\u793a\u4e86\u5176\u5229\u7528\u591a\u89c6\u89d2\u4fe1\u606f\u7684\u80fd\u529b\u3002<\/p>\n

1 \u5f15\u8a00<\/p>\n

\u8fd1\u5e74\u6765，\u591a\u89c6\u89d2\u76f8\u673a\u7cfb\u7edf\u53d6\u5f97\u4e86\u663e\u8457\u8fdb\u5c55，\u4f7f\u5f97\u7406\u89e3\u590d\u6742\u7684\u73b0\u5b9e\u4e16\u754c\u573a\u666f\u6210\u4e3a\u53ef\u80fd\u3002\u57fa\u4e8e\u8fd9\u4e9b\u8fdb\u5c55，\u7406\u89e3\u591a\u89c6\u89d2\u7cfb\u7edf\u4e2d\u7684\u52a8\u6001\u7269\u4f53\u5bf9\u4e8e\u52a8\u4f5c\u6355\u6349 [joo2015panoptic, chatzitofis2020human4d, ghorbani2020movi, khirodkar2024harmony4d]\u3001\u673a\u5668\u4eba\u64cd\u4f5c [zhao2023learning, james2020rlbench, seo2023multi] \u548c\u81ea\u52a8\u9a7e\u9a76 [li2025nugrounding, caesar2020nuscenes] \u7b49\u5e7f\u6cdb\u5e94\u7528\u53d8\u5f97\u81f3\u5173\u91cd\u8981\u3002<\/p>\n

\u70b9\u8ddf\u8e2a\u901a\u8fc7\u63d0\u4f9b\u8de8\u89c6\u9891\u5e27\u7684\u7ec6\u7c92\u5ea6\u65f6\u7a7a\u5bf9\u5e94\u5173\u7cfb\u5e76\u6307\u793a\u9010\u70b9\u906e\u6321 [harley2022particle, doersch2022tap, karaev2024cotracker3, cho2024local]，\u5df2\u88ab\u5e7f\u6cdb\u7528\u4e8e\u7406\u89e3\u52a8\u6001\u573a\u666f\u3002\u56e0\u6b64，\u5b83\u652f\u6301\u5e7f\u6cdb\u7684\u4e0b\u6e38\u4efb\u52a1，\u5305\u62ec\u5177\u8eab\u667a\u80fd [vecerik2024robotap, bharadhwaj2024track2act]\u3001\u81ea\u52a8\u9a7e\u9a76 [balasingam2024drivetrack]\u30014D \u91cd\u5efa [wang2024shape, st4rtrack2025] \u548c\u89c6\u9891\u7f16\u8f91 [geng2025motion, jeong2025track4gen]\u3002\u5c3d\u7ba1\u529f\u80fd\u5f3a\u5927，\u73b0\u6709\u7684\u70b9\u8ddf\u8e2a\u65b9\u6cd5\u4ec5\u5728\u5355\u89c6\u89d2\u89c6\u9891\u4e2d\u8fdb\u884c\u4e86\u63a2\u7d22\u3002\u7531\u4e8e 3D \u573a\u666f\u7684 2D \u6295\u5f71\u672c\u8eab\u4f1a\u5e26\u6765\u51e0\u4f55\u6a21\u7cca\u6027，\u4f8b\u5982\u9891\u7e41\u906e\u6321\u3001\u4e0d\u89c4\u5219\u8fd0\u52a8\u548c\u6df1\u5ea6\u4e0d\u786e\u5b9a\u6027，\u5355\u89c6\u89d2\u65b9\u6cd5 [harley2022particle, doersch2022tap] \u96be\u4ee5\u5e94\u5bf9\u8fd9\u4e9b\u6311\u6218\u3002\u56e0\u6b64，\u5c06\u8fd9\u4e9b\u8ddf\u8e2a\u5668\u76f4\u63a5\u72ec\u7acb\u5e94\u7528\u4e8e\u6bcf\u4e2a\u89c6\u89d2\u65e0\u6cd5\u5229\u7528\u6784\u5efa\u53ef\u9760\u591a\u89c6\u89d2\u70b9\u8f68\u8ff9\u6240\u9700\u7684\u591a\u89c6\u89d2\u7ebf\u7d22\u3002<\/p>\n

<\/p>\n

\u56fe 2：\u200b \u52a8\u673a\u3002\u6211\u4eec\u5728\u6982\u5ff5\u4e0a\u5bf9\u6bd4\u4e86\u6211\u4eec\u7684 (c) \u591a\u89c6\u89d2\u70b9\u8ddf\u8e2a\u4e0e (a) \u5355\u89c6\u89d2\u70b9\u8ddf\u8e2a \u4ee5\u53ca (b) \u591a\u89c6\u89d2\u5339\u914d\u3002\u6211\u4eec\u7684\u65b9\u6cd5\u540c\u65f6\u5efa\u6a21\u89c6\u89d2\u5185\u548c\u5e27\u95f4\u4ea4\u4e92，\u4ee5\u786e\u4fdd\u8de8\u89c6\u89d2\u548c\u65f6\u95f4\u4e00\u81f4\u6027\u3002<\/p>\n

\u53d7\u8fd9\u4e9b\u89c2\u5bdf\u7684\u542f\u53d1，\u6211\u4eec\u63d0\u51fa\u4e86\u591a\u89c6\u89d2\u70b9\u8ddf\u8e2a\u8fd9\u4e00\u65b0\u4efb\u52a1，\u5176\u76ee\u6807\u662f\u5728\u52a8\u6001\u573a\u666f\u7684\u591a\u4e2a\u89c6\u9891\u4e2d\u8ddf\u8e2a\u4e00\u7ec4\u67e5\u8be2\u70b9\u3002\u6211\u4eec\u7684\u5173\u952e\u76f4\u89c9\u662f，\u8054\u5408\u5904\u7406\u52a8\u6001\u573a\u666f\u7684\u591a\u4e2a\u89c6\u9891\u6d41\u53ef\u4ee5\u63d0\u4f9b\u6709\u7528\u7684\u65f6\u7a7a\u7ea6\u675f，\u6709\u52a9\u4e8e\u89e3\u51b3\u5355\u89c6\u89d2\u8bbe\u7f6e\u5e26\u6765\u7684\u6a21\u7cca\u6027\u3002\u4f8b\u5982，\u5728\u4e00\u4e2a\u89c6\u89d2\u4e2d\u88ab\u906e\u6321\u6216\u8fd0\u52a8\u6a21\u7cca\u7684\u70b9，\u5728\u5176\u4ed6\u89c6\u89d2\u4e2d\u53ef\u80fd\u6e05\u6670\u53ef\u89c1\u3002\u901a\u8fc7\u540c\u65f6\u8de8\u8fd9\u4e9b\u89c6\u89d2\u8fdb\u884c\u63a8\u7406，\u53ef\u4ee5\u89e3\u51b3\u6b64\u7c7b\u6a21\u7cca\u6027，\u4ece\u800c\u5b9e\u73b0\u66f4\u9c81\u68d2\u548c\u51c6\u786e\u7684\u70b9\u8ddf\u8e2a\u3002<\/p>\n

\u867d\u7136\u591a\u89c6\u89d2\u5bf9\u5e94\u5173\u7cfb\u5df2\u88ab\u7814\u7a76\u4e3a\u4e00\u79cd\u6709\u524d\u666f\u7684\u65b9\u6cd5 [lowe2004distinctive, rublee2011orb, detone2018superpoint, sarlin2020superglue, sun2021loftr] \u6765\u6355\u6349\u51e0\u4f55\u5173\u7cfb，\u4f46\u8fd9\u4e9b\u65b9\u6cd5\u901a\u5e38\u4e0d\u9002\u5408\u52a8\u6001\u70b9\u8ddf\u8e2a\u3002\u5b83\u4eec\u901a\u5e38\u4fa7\u91cd\u4e8e\u9759\u6001\u573a\u666f [schonberger2016structure]\u3001\u5047\u8bbe\u521a\u4f53\u51e0\u4f55\u6216\u9700\u8981\u51e0\u4f55\u5148\u9a8c [zhang2025tapip3d]，\u800c\u8fd9\u4e9b\u5728\u968f\u610f\u7684\u3001\u91ce\u5916\u89c6\u9891\u4e2d\u662f\u4e0d\u53ef\u7528\u7684\u3002<\/p>\n

\u5c3d\u7ba1\u5148\u524d\u7684\u4e00\u79cd\u65b9\u6cd5 [rajivc2025multi] \u65e8\u5728 3D \u4e16\u754c\u5750\u6807\u7cfb\u4e2d\u8fdb\u884c\u591a\u89c6\u89d2 3D \u70b9\u8ddf\u8e2a，\u4f46\u5b83\u4f9d\u8d56\u4e8e\u5916\u90e8\u6df1\u5ea6\u8f93\u5165，\u8fd9\u53ef\u80fd\u5728\u5c06 3D \u70b9\u91cd\u6295\u5f71\u5230 2D \u50cf\u7d20\u7a7a\u95f4\u65f6\u5f15\u5165\u91cd\u6295\u5f71\u8bef\u5dee\u3002\u8fd9\u5728\u65b9\u6cd5\u8bba\u4e0a\u7559\u4e0b\u4e86\u4e00\u4e2a\u5173\u952e\u7a7a\u767d：\u76ee\u524d\u5c1a\u65e0\u6210\u719f\u7684\u8303\u5f0f\u6765\u4ec5\u5229\u7528\u591a\u89c6\u89d2\u89c6\u9891\u5728\u50cf\u7d20\u7a7a\u95f4\u4e2d\u8ddf\u8e2a\u52a8\u6001\u573a\u666f\u4e2d\u7684\u70b9\u3002<\/p>\n

\u4e3a\u5e94\u5bf9\u8fd9\u4e9b\u6311\u6218，\u6211\u4eec\u63d0\u51fa\u4e86 MV-TAP（\u591a\u89c6\u89d2\u89c6\u9891\u4e2d\u7684\u4efb\u610f\u70b9\u8ddf\u8e2a），\u5b83\u6784\u5efa\u4e86\u5bf9\u591a\u89c6\u89d2\u89c6\u9891\u4e2d\u52a8\u6001\u573a\u666f\u7684\u6574\u4f53\u7406\u89e3\u3002\u6211\u4eec\u7684\u6846\u67b6\u5229\u7528\u76f8\u673a\u7f16\u7801\u548c\u8de8\u89c6\u89d2\u6ce8\u610f\u529b\u673a\u5236\u6765\u6709\u6548\u805a\u5408\u6240\u6709\u89c6\u89d2\u548c\u65f6\u95f4\u6b65\u7684\u4fe1\u606f\u3002\u6b64\u5916，\u4e3a\u4fc3\u8fdb\u8be5\u65b9\u5411\u7684\u7814\u7a76，\u6211\u4eec\u6784\u5efa\u4e86\u4e00\u4e2a\u4e13\u4e3a\u8bad\u7ec3\u591a\u89c6\u89d2\u70b9\u8ddf\u8e2a\u6a21\u578b\u800c\u8bbe\u8ba1\u7684\u5927\u89c4\u6a21\u5408\u6210\u6570\u636e\u96c6，\u5e76\u63d0\u51fa\u4e86\u4e00\u4e2a\u8bc4\u4f30\u57fa\u51c6\u6765\u8bc4\u4f30\u8de8\u4e0d\u540c\u591a\u573a\u666f\u8bbe\u7f6e\u7684\u6cdb\u5316\u6027\u548c\u9c81\u68d2\u6027\u3002\u5728\u591a\u89c6\u89d2\u57fa\u51c6\u6d4b\u8bd5\u4e0a\u7684\u5b9e\u9a8c\u8868\u660e，\u6211\u4eec\u7684\u65b9\u6cd5\u76f8\u8f83\u4e8e\u73b0\u6709\u8ddf\u8e2a\u65b9\u6cd5\u6709\u663e\u8457\u6539\u8fdb，\u4ea7\u751f\u4e86\u66f4\u5b8c\u6574\u548c\u51c6\u786e\u7684\u9884\u6d4b\u3002\u6211\u4eec\u7684\u4ee3\u7801\u548c\u6570\u636e\u96c6\u5c06\u516c\u5f00\u63d0\u4f9b\u3002<\/p>\n

\u6211\u4eec\u7684\u8d21\u732e\u603b\u7ed3\u5982\u4e0b：<\/p>\n

\u2022 \u6211\u4eec\u9996\u6b21\u5b9a\u4e49\u4e86\u50cf\u7d20\u7a7a\u95f4\u4e2d\u7684\u591a\u89c6\u89d2\u70b9\u8ddf\u8e2a\u4efb\u52a1，\u65e8\u5728\u4e3a\u591a\u89c6\u89d2\u52a8\u6001\u89c6\u9891\u5efa\u7acb\u9c81\u68d2\u7684\u65f6\u7a7a\u5bf9\u5e94\u5173\u7cfb\u3002<\/p>\n

\u2022 \u6211\u4eec\u63d0\u51fa\u4e86 MV-TAP，\u4e00\u4e2a\u5229\u7528\u76f8\u673a\u51e0\u4f55\u548c\u8de8\u89c6\u89d2\u4fe1\u606f\u6765\u89e3\u51b3\u5355\u89c6\u89d2\u70b9\u8ddf\u8e2a\u56fa\u6709\u5c40\u9650\u6027（\u5982\u906e\u6321\u548c\u8fd0\u52a8\u6a21\u7cca\u6027）\u7684\u6846\u67b6\u3002<\/p>\n

\u2022 \u6211\u4eec\u901a\u8fc7\u5927\u91cf\u5b9e\u9a8c\u8bc1\u660e，\u6211\u4eec\u7684\u65b9\u6cd5\u5b9e\u73b0\u4e86\u6709\u7ade\u4e89\u529b\u7684\u6027\u80fd，\u4e3a\u8fd9\u4e00\u65b0\u4efb\u52a1\u63d0\u4f9b\u4e86\u6709\u6548\u7684\u57fa\u7ebf\u3002<\/p>\n

<\/p>\n

\u56fe 3：\u200b MV-TAP \u7684\u6574\u4f53\u67b6\u6784\u3002\u7ed9\u5b9a\u540c\u6b65\u7684\u591a\u89c6\u89d2\u89c6\u9891，\u4ece CNN \u7f16\u7801\u5668\u7279\u5f81\u4e2d\u4e3a\u6bcf\u4e2a\u67e5\u8be2\u70b9\u63d0\u53d6\u6bcf\u89c6\u89d2\u76f8\u5173\u4f53\u79ef\u3002\u7136\u540e，\u5c06\u8fd9\u4e9b\u76f8\u5173\u6027\u8fdb\u884c\u6807\u8bb0\u5316，\u5e76\u4e0e\u76f8\u673a\u5d4c\u5165（\u7528\u4e8e\u8de8\u89c6\u89d2\u7684\u76f8\u5bf9\u51e0\u4f55\u4e0a\u4e0b\u6587）\u548c\u65f6\u95f4\u5d4c\u5165\u76f8\u52a0\u3002\u8f68\u8ff9\u548c\u906e\u6321\u72b6\u6001\u901a\u8fc7\u4e00\u4e2a Transformer \u67b6\u6784\u8fdb\u884c\u8fed\u4ee3\u66f4\u65b0，\u8be5\u67b6\u6784\u5305\u542b\u65f6\u95f4\u3001\u7a7a\u95f4\u548c\u89c6\u89d2\u6ce8\u610f\u529b\u6a21\u5757\u3002<\/p>\n

2 \u76f8\u5173\u5de5\u4f5c<\/p>\n

\u70b9\u8ddf\u8e2a\u3002\u200b \u70b9\u8ddf\u8e2a\u7684\u76ee\u6807\u662f\u9884\u6d4b\u7ed9\u5b9a\u67e5\u8be2\u70b9\u5728\u89c6\u9891\u5185\u7684\u8f68\u8ff9\u548c\u53ef\u89c1\u6027\u3002\u6700\u8fd1\u7684\u65b9\u6cd5 \u4fa7\u91cd\u4e8e\u901a\u8fc7\u8de8\u5e27\u67e5\u627e\u5bf9\u5e94\u5173\u7cfb\u5e76\u6355\u6349\u65f6\u95f4\u4e0a\u4e0b\u6587\u6765\u4f30\u8ba1\u8f68\u8ff9\u3002\u5177\u4f53\u6765\u8bf4，PIPs [harley2022particle] \u63d0\u51fa\u4f7f\u7528\u5c40\u90e8\u76f8\u5173\u4f53\u79ef\u5bf9\u521d\u59cb\u67e5\u8be2\u70b9\u8fdb\u884c\u8fed\u4ee3\u4f18\u5316\u3002 \u5c06\u6b64\u601d\u60f3\u4e0e TAP-Net [koppula2024tapvid] \u5f15\u5165\u7684\u5168\u5c40\u76f8\u5173\u65b9\u6cd5\u76f8\u7ed3\u5408\u3002LocoTrack [cho2024local] \u8fdb\u4e00\u6b65\u5f15\u5165\u4e86\u53cc\u5411\u5c40\u90e8 4D \u76f8\u5173\u4f53\u79ef\u4ee5\u589e\u5f3a\u5c40\u90e8\u5bf9\u5e94\u6027\u3002\u503c\u5f97\u6ce8\u610f\u7684\u662f， \u901a\u8fc7\u4ea4\u9519\u5e27\u95f4\u548c\u8f68\u8ff9\u95f4\u6ce8\u610f\u529b\u6a21\u5757\u6765\u5b66\u4e60\u8ddf\u8e2a\u70b9\u4e4b\u95f4\u7684\u76f8\u5173\u6027\u3002\u8fd9\u79cd\u65b9\u6cd5\u901a\u8fc7\u663e\u5f0f\u5b66\u4e60\u8ddf\u8e2a\u70b9\u4e4b\u95f4\u7684\u76f8\u5173\u6027\u4ee5\u53ca\u65f6\u95f4\u4e00\u81f4\u6027，\u5b9e\u73b0\u4e86\u5353\u8d8a\u7684\u6027\u80fd\u3002\u4e0e\u5148\u524d\u65b9\u6cd5\u4e0d\u540c，SpatialTracker [xiao2024spatialtracker] \u901a\u8fc7\u7ed3\u5408 2D \u8ddf\u8e2a\u5668\u548c\u6df1\u5ea6\u4f30\u8ba1\u6765\u6267\u884c 3D \u70b9\u8ddf\u8e2a\u3002TAPNext [zholus2025tapnext] \u5c06\u70b9\u8ddf\u8e2a\u95ee\u9898\u91cd\u65b0\u5b9a\u4e49\u4e3a\u81ea\u56de\u5f52\u7684\u4e0b\u4e00\u4e2a\u6807\u8bb0\u9884\u6d4b，\u5b9e\u73b0\u4e86\u65e0\u9700\u7279\u6b8a\u5f52\u7eb3\u504f\u7f6e\u7684\u56e0\u679c\u5728\u7ebf\u8ddf\u8e2a\u3002\u5c3d\u7ba1\u6709\u8fd9\u4e9b\u8fdb\u5c55，\u73b0\u6709\u65b9\u6cd5\u4e3b\u8981\u8bbe\u8ba1\u7528\u4e8e\u5355\u76ee\u89c6\u9891，\u5176\u5728\u591a\u89c6\u89d2\u573a\u666f\u4e2d\u7684\u5e94\u7528\u4ecd\u672a\u5f97\u5230\u5145\u5206\u63a2\u7d22\u3002<\/p>\n

\u4e0e\u6211\u4eec\u5de5\u4f5c\u6700\u76f8\u5173\u7684\u662f MVTracker [rajivc2025multi]，\u5b83\u5728 3D \u7a7a\u95f4\u4e2d\u8de8\u591a\u89c6\u89d2\u540c\u6b65\u89c6\u9891\u8ddf\u8e2a\u67e5\u8be2\u70b9\u3002\u7136\u800c，\u8be5\u65b9\u6cd5\u9ad8\u5ea6\u4f9d\u8d56\u4e8e\u9884\u8ba1\u7b97\u6df1\u5ea6\u7684\u8d28\u91cf\u4ee5\u63d0\u5347\u5230 3D \u7a7a\u95f4\u3002\u4e0e MVTracker \u4e0d\u540c，MV-TAP \u76f4\u63a5\u5728 2D \u50cf\u7d20\u7a7a\u95f4\u4e2d\u8fd0\u884c，\u5e76\u5e26\u6709\u89c6\u89d2\u6ce8\u610f\u529b\u6a21\u5757，\u663e\u793a\u51fa\u6539\u8fdb\u7684\u9c81\u68d2\u6027\u3002<\/p>\n

\u591a\u89c6\u89d2\u70b9\u5339\u914d\u3002\u200b \u591a\u89c6\u89d2\u70b9\u5339\u914d\u65e8\u5728\u8bc6\u522b\u4ece\u591a\u4e2a\u89c6\u89d2\u6355\u83b7\u7684\u56fe\u50cf\u4e2d\u4e00\u7ec4\u67e5\u8be2\u70b9\u7684\u5bf9\u5e94\u5173\u7cfb\u3002\u4f20\u7edf\u65b9\u6cd5\u4f7f\u7528\u624b\u5de5\u8bbe\u8ba1\u7684\u5c40\u90e8\u7279\u5f81（\u5982 SIFT [lowe2004distinctive] \u548c ORB [rublee2011orb]）\u6267\u884c\u6210\u5bf9\u5339\u914d\u3002\u6700\u8fd1\u7684\u5de5\u4f5c\u91c7\u7528\u57fa\u4e8e\u5b66\u4e60\u7684\u65b9\u6cd5，\u4f8b\u5982\u81ea\u76d1\u7763\u68c0\u6d4b\u5668-\u63cf\u8ff0\u5b50 [detone2018superpoint]\u3001\u57fa\u4e8e\u56fe\u7684\u5339\u914d\u5668 [sarlin2020superglue] \u548c\u65e0\u68c0\u6d4b\u5668\u7684\u53d8\u6362\u5668\u5339\u914d\u5668 [sun2021loftr]\u3002\u8fd9\u4e9b\u65b9\u6cd5\u53ef\u4ee5\u4e0e\u5355\u89c6\u89d2\u8ddf\u8e2a\u5668\u7ed3\u5408，\u901a\u8fc7\u5339\u914d\u6765\u81ea\u53c2\u8003\u89c6\u89d2\u7684\u8de8\u89c6\u89d2\u8f68\u8ff9\u6765\u6269\u5c55\u5230\u591a\u89c6\u89d2\u8bbe\u7f6e\u3002\u7136\u800c，\u8fd9\u79cd\u7b80\u5355\u7684\u7ec4\u5408\u5ffd\u7565\u4e86\u6bcf\u4e2a\u89c6\u89d2\u5185\u7684\u65f6\u95f4\u4e00\u81f4\u6027，\u5e76\u4e14\u7531\u4e8e\u5197\u4f59\u7684\u9010\u5e27\u5339\u914d\u800c\u6548\u7387\u4f4e\u4e0b\u3002<\/p>\n

3 \u65b9\u6cd5<\/p>\n

3.1 \u52a8\u673a\u4e0e\u6982\u8ff0<\/p>\n

\u73b0\u6709\u7684\u70b9\u8ddf\u8e2a\u65b9\u6cd5 \u4e3b\u8981\u4fa7\u91cd\u4e8e\u5728\u5355\u89c6\u89d2\u89c6\u9891\u4e2d\u5b9e\u73b0\u65f6\u7a7a\u4e00\u81f4\u6027\u3002\u867d\u7136\u8fd9\u4e9b\u65b9\u6cd5\u64c5\u957f\u9884\u6d4b\u65f6\u95f4\u4e00\u81f4\u7684\u8f68\u8ff9，\u4f46\u5b83\u4eec\u5e76\u975e\u8bbe\u8ba1\u7528\u4e8e\u5229\u7528\u591a\u89c6\u89d2\u7cfb\u7edf\u4e2d\u53ef\u7528\u7684\u51e0\u4f55\u7ea6\u675f\u548c\u4e92\u8865\u4fe1\u606f\u3002<\/p>\n

\u5728\u672c\u6587\u4e2d，\u6211\u4eec\u5728 2D \u76f8\u673a\u7a7a\u95f4\u4e2d\u5b9a\u4e49\u591a\u89c6\u89d2\u70b9\u8ddf\u8e2a\u3002\u6211\u4eec\u7684\u76ee\u6807\u662f\u5229\u7528\u591a\u89c6\u89d2\u4fe1\u606f\u6765\u589e\u5f3a\u8ddf\u8e2a\u6027\u80fd，\u540c\u65f6\u4fdd\u6301 2D \u8ddf\u8e2a\u5668\u5efa\u7acb\u7684\u5f3a\u65f6\u7a7a\u4e00\u81f4\u6027\u3002\u4e3a\u5b9e\u73b0\u6b64\u76ee\u6807，\u6211\u4eec\u63d0\u51fa\u4e86 MV-TAP（\u591a\u89c6\u89d2\u89c6\u9891\u4e2d\u7684\u4efb\u610f\u70b9\u8ddf\u8e2a），\u8fd9\u662f\u4e00\u4e2a\u65e8\u5728\u6709\u6548\u6574\u5408\u591a\u4e2a\u89c6\u89d2\u4fe1\u606f\u7684\u6a21\u578b\u3002\u6211\u4eec\u7684\u65b9\u6cd5\u5c06\u5f3a\u5927\u7684 2D \u8ddf\u8e2a\u4e3b\u5e72 [karaev2024cotracker3] \u4e0e\u8bbe\u8ba1\u7528\u4e8e\u5229\u7528\u591a\u89c6\u89d2\u4fe1\u606f\u7684\u9644\u52a0\u6a21\u5757\u76f8\u7ed3\u5408\u3002\u5177\u4f53\u6765\u8bf4，\u6211\u4eec\u5f15\u5165\u4e86\u4e00\u4e2a\u76f8\u673a\u7f16\u7801\u6a21\u5757\u6765\u6ce8\u5165\u51e0\u4f55\u4fe1\u606f，\u4ee5\u53ca\u4e00\u4e2a\u8de8\u89c6\u89d2\u6ce8\u610f\u529b\u6a21\u5757\u6765\u805a\u5408\u8de8\u89c6\u89d2\u7684\u4e92\u8865\u7ebf\u7d22\u3002\u8fd9\u79cd\u7ec4\u5408\u4f7f\u6211\u4eec\u7684\u6a21\u578b\u80fd\u591f\u5728\u591a\u4e2a\u89c6\u89d2\u4e0a\u5b9e\u73b0\u9c81\u68d2\u7684\u65f6\u7a7a\u4e00\u81f4\u6027\u3002<\/p>\n

\u9996\u5148，\u6211\u4eec\u5f62\u5f0f\u5316\u50cf\u7d20\u7a7a\u95f4\u4e2d\u7684\u591a\u89c6\u89d2\u70b9\u8ddf\u8e2a（\u7b2c 3.2 \u8282）\u3002\u7136\u540e，\u6211\u4eec\u63cf\u8ff0\u6211\u4eec\u6784\u5efa\u7684\u76f8\u673a\u611f\u77e5\u8868\u793a（\u7b2c 3.4 \u8282），\u63a5\u7740\u662f\u591a\u89c6\u89d2\u65f6\u7a7a\u53d8\u6362\u5668（\u7b2c 3.5 \u8282），\u5b83\u901a\u8fc7\u89c6\u89d2\u6ce8\u610f\u529b\u6709\u6548\u5229\u7528\u591a\u89c6\u89d2\u7ebf\u7d22\u3002\u6700\u540e，\u6211\u4eec\u89e3\u91ca\u6211\u4eec\u7684\u8bad\u7ec3\u7b56\u7565（\u7b2c 3.7 \u8282）\u3002\u6211\u4eec\u67b6\u6784\u7684\u6982\u8ff0\u5982\u56fe 3 \u6240\u793a\u3002<\/p>\n

3.2 \u95ee\u9898\u5b9a\u4e49<\/p>\n

\u591a\u89c6\u89d2\u70b9\u8ddf\u8e2a\u7684\u8f93\u5165\u662f\u591a\u89c6\u89d2\u5e27 \u2110 = {I_v,t \u2208 \u211d^(H\u00d7W\u00d73)}\u3001\u67e5\u8be2\u70b9 𝒬 = {q_v,n \u2208 \u211d\u00b3} \u548c\u76f8\u673a\u53c2\u6570 𝒢 = {G_v,t = K [R_v,t | t_v,t]}，\u5176\u4e2d K \u2208 \u211d^(3\u00d73) \u8868\u793a\u8de8\u89c6\u89d2\u5171\u4eab\u7684\u5185\u53c2\u77e9\u9635，R_v,t \u2208 SO(3) \u548c t_v,t \u2208 \u211d\u00b3 \u8868\u793a\u65cb\u8f6c\u548c\u5e73\u79fb\u53c2\u6570\u3002\u6b64\u5904，v = 1, \u2026, V \u8868\u793a\u76f8\u673a\u89c6\u89d2\u7684\u7d22\u5f15，t = 1, \u2026, T \u6307\u5e27\u7d22\u5f15，n = 1, \u2026, N \u8868\u793a\u67e5\u8be2\u70b9\u7684\u7d22\u5f15\u3002\u6211\u4eec\u5047\u8bbe\u6765\u81ea\u4e0d\u540c\u89c6\u89d2\u7684\u89c6\u9891\u5728\u65f6\u95f4\u4e0a\u662f\u540c\u6b65\u7684\u3002\u4e00\u7ec4 N \u4e2a\u67e5\u8be2\u70b9\u662f\u4e3a\u6bcf\u4e2a\u89c6\u89d2\u72ec\u7acb\u5b9a\u4e49\u7684，\u56e0\u4e3a\u53ef\u89c1\u7684\u65f6\u95f4\u6b65\u957f\u56e0\u89c6\u89d2\u800c\u5f02\u3002\u5c3d\u7ba1\u662f\u72ec\u7acb\u5b9a\u4e49\u7684，\u8de8\u89c6\u89d2\u7684\u67e5\u8be2\u70b9\u4ee3\u8868\u76f8\u540c\u7684\u573a\u666f\u70b9，\u5176\u4e2d\u89c6\u89d2 v \u4e0a\u7684\u6bcf\u4e2a\u67e5\u8be2\u70b9\u7531\u4e00\u4e2a 3 \u7ef4\u5411\u91cf q_v = (t_q, x_q, y_q) \u8868\u793a\u3002\u5177\u4f53\u6765\u8bf4，t_q \u8868\u793a\u67e5\u8be2\u7684\u5e27\u7d22\u5f15，(x_q, y_q) \u8868\u793a\u8be5\u5e27\u4e2d\u7684\u7a7a\u95f4\u5750\u6807\u3002\u6b64\u4efb\u52a1\u7684\u76ee\u6807\u662f\u9884\u6d4b\u4e00\u7ec4\u8f68\u8ff9 𝒯 \u2208 \u211d^(V\u00d7T\u00d7N\u00d72) \u548c\u906e\u6321\u72b6\u6001 𝒪 \u2208 \u211d^(V\u00d7T\u00d7N\u00d71)，\u5176\u4e2d 𝒯 \u8868\u793a N \u4e2a\u70b9\u5728 T \u4e2a\u65f6\u95f4\u6b65\u957f\u548c V \u4e2a\u89c6\u89d2\u4e0a\u7684 2D \u50cf\u7d20\u4f4d\u7f6e，𝒪 \u6307\u793a\u6bcf\u4e2a\u70b9\u5728\u8de8\u89c6\u89d2\u548c\u65f6\u95f4\u4e0a\u662f\u5426\u53ef\u89c1\u6216\u88ab\u906e\u6321\u3002<\/p>\n

<\/p>\n

\u56fe 4：\u200b \u5b9a\u6027\u6bd4\u8f83\u3002\u6211\u4eec\u5728 DexYCB [chao2021dexycb] \u548c Panoptic Studio [joo2015panoptic] \u6570\u636e\u96c6\u4e0a\u53ef\u89c6\u5316 MV-TAP \u548c\u5355\u89c6\u89d2\u57fa\u7ebf [karaev2024cotracker3] \u7684\u7ed3\u679c\u3002\u867d\u7136\u5355\u89c6\u89d2\u57fa\u7ebf\u5728\u906e\u6321\u548c\u5927\u8fd0\u52a8\u4e0b\u5931\u8d25，\u5bfc\u81f4\u9ad8\u5ea6\u788e\u7247\u5316\u7684\u8f68\u8ff9，\u4f46 MV-TAP \u663e\u793a\u51fa\u5353\u8d8a\u7684\u9c81\u68d2\u6027，\u5728\u5177\u6709\u6311\u6218\u6027\u7684\u573a\u666f\u4e2d\u4fdd\u6301\u4e00\u81f4\u7684\u8f68\u8ff9\u3002<\/p>\n

3.3 \u6cbf\u65f6\u95f4\u8f74\u7684\u5c40\u90e8 4D \u76f8\u5173\u6027<\/p>\n

\u4ece\u521d\u59cb\u6216\u4e2d\u95f4\u8f68\u8ff9\u51fa\u53d1，\u6211\u4eec\u8ba1\u7b97\u4e00\u4e2a\u6210\u672c\u4f53\u79ef\u4f5c\u4e3a\u5339\u914d\u8868\u793a\u3002\u4e2d\u95f4\u8f68\u8ff9\u5728\u6b64\u8fc7\u7a0b\u4e2d\u88ab\u4f18\u5316\u3002\u9075\u5faa\u6700\u8fd1\u7684\u5355\u89c6\u89d2\u70b9\u8ddf\u8e2a\u65b9\u6cd5 [cho2024local, karaev2024cotracker3]，\u6211\u4eec\u91c7\u7528\u5c40\u90e8 4D \u76f8\u5173\u6027\u6765\u5229\u7528\u4e30\u5bcc\u7684\u5916\u89c2\u7ebf\u7d22\u3002\u5f62\u5f0f\u4e0a，\u7ed9\u5b9a\u4e00\u4e2a\u521d\u59cb\u6216\u4e2d\u95f4\u8f68\u8ff9\u5047\u8bbe 𝒯\u2070，\u6211\u4eec\u5b9a\u4e49\u67e5\u8be2\u70b9 q = (t_q, x_q, y_q) \u53ca\u5176\u5047\u8bbe\u5339\u914d\u70b9 p = (t_p, x_p, y_p) \u5468\u56f4\u7684\u5c40\u90e8\u76f8\u5173\u6027\u3002\u6211\u4eec\u5206\u522b\u5728\u7a7a\u95f4\u534a\u5f84 r_p \u548c r_q \u5185\u6784\u5efa p \u548c q \u5468\u56f4\u7684\u5c40\u90e8\u90bb\u57df\u3002\u5f97\u5230\u7684\u5c40\u90e8 4D \u76f8\u5173\u5f20\u91cf\u5b9a\u4e49\u4e3a：<\/p>\n

\u2112_t(i, j; p, q) = (F_t(i) \u00b7 F_t_q(j)) \/ (\u2016F_t(i)\u2016\u2082 \u2016F_t_q(j)\u2016\u2082), (1)<\/p>\n

\u5176\u4e2d F_t \u548c F_t_q \u5206\u522b\u6765\u81ea\u5e27 t \u548c\u67e5\u8be2\u5e27 t_q \u7684\u7279\u5f81\u56fe，\u4e14 i \u2208 𝒩(p, r_p) \u548c j \u2208 𝒩(q, r_q)\u3002\u5c40\u90e8 4D \u76f8\u5173\u5f20\u91cf\u6355\u6349\u4e86 p \u548c q \u5468\u56f4\u4e24\u4e2a\u90bb\u57df\u4e4b\u95f4\u7684\u6210\u5bf9\u76f8\u4f3c\u6027\u3002<\/p>\n

\u8bf7\u6ce8\u610f，\u76f8\u5173\u4f53\u79ef\u4e5f\u53ef\u4ee5\u5728\u89c6\u89d2\u7ef4\u5ea6\u4e0a\u6784\u5efa\u3002\u7136\u800c，\u5f53\u89c6\u89d2\u4e4b\u95f4\u7684\u57fa\u7ebf\u8f83\u5927\u65f6，\u76f8\u5e94\u5c40\u90e8\u5757\u4e4b\u95f4\u7684\u5916\u89c2\u76f8\u4f3c\u6027\u4f1a\u663e\u8457\u964d\u4f4e\u3002\u56e0\u6b64，\u76f8\u5173\u6027\u53d8\u5f97\u4e0d\u53ef\u9760，\u5e76\u53ef\u80fd\u5411\u6a21\u578b\u5f15\u5165\u566a\u58f0\u3002\u6240\u4ee5，\u6211\u4eec\u4ec5\u6cbf\u65f6\u95f4\u7ef4\u5ea6\u8ba1\u7b97\u76f8\u5173\u6027\u3002<\/p>\n

\u5728\u6bcf\u4e2a\u65f6\u95f4\u6b65，\u76f8\u5173\u6027 \u2112_t \u548c\u5f53\u524d\u5047\u8bbe\u4f4d\u7f6e\u88ab\u7f16\u7801\u4e3a\u4e00\u4e2a\u6807\u8bb0\u3002\u8de8\u5e27\u548c\u67e5\u8be2\u70b9\u5806\u53e0\u6807\u8bb0\u5f62\u6210\u8f93\u5165\u6807\u8bb0 X \u2208 \u211d^(V\u00d7T\u00d7N\u00d7d)\u3002<\/p>\n

\u8868 1：\u200b \u5b9a\u91cf\u6bd4\u8f83\u3002\u6211\u4eec\u5728 DexYCB [chao2021dexycb]\u3001Panoptic Studio [joo2015panoptic]\u3001Kubric [greff2022kubric] \u548c Harmony4D [khirodkar2024harmony4d] \u6570\u636e\u96c6\u4e0a\u63d0\u4f9b\u4e86\u5355\u89c6\u89d2\u548c\u591a\u89c6\u89d2\u70b9\u8ddf\u8e2a\u5668\u7684\u5b9a\u91cf\u6bd4\u8f83\u3002"Target"\u8868\u793a\u9884\u6d4b\u8f68\u8ff9\u7684\u7ef4\u5ea6\u3002"Space"\u6307\u5b9a\u5750\u6807\u57df："Camera"\u548c"World"\u5206\u522b\u8868\u793a\u50cf\u7d20\u7a7a\u95f4\u548c\u4e16\u754c\u7a7a\u95f4\u3002"Depth"\u6307\u793a\u662f\u5426\u9700\u8981\u6df1\u5ea6\u8f93\u5165\u3002\u4e0e\u57fa\u7ebf\u76f8\u6bd4，MV-TAP \u5b9e\u73b0\u4e86\u66f4\u4f18\u7684\u6027\u80fd，\u5c55\u793a\u4e86\u5176\u5229\u7528\u591a\u89c6\u89d2\u4fe1\u606f\u7684\u80fd\u529b\u3002<\/p>\n\n\n

\u65b9\u6cd5<\/p>\n

Target<\/p>\n

Space<\/p>\n

Depth<\/p>\n

DexYCB<\/p>\n

Panoptic Studio<\/p>\n

Kubric<\/p>\n

Harmony4D<\/p>\n<\/tr>\n

\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n
\n

\u00a0<\/p>\n<\/td>\n

\n

\u00a0<\/p>\n<\/td>\n

\n

\u00a0<\/p>\n<\/td>\n

\n

\u00a0<\/p>\n<\/td>\n

\n

AJ<\/p>\n<\/td>\n

\n

<\u03b4_avg><\/p>\n<\/td>\n

\n

OA<\/p>\n<\/td>\n

\n

AJ<\/p>\n<\/td>\n<\/tr>\n

\n

\u5355\u89c6\u89d2\u8f93\u5165\u200b<\/p>\n<\/td>\n

\n

\u00a0<\/p>\n<\/td>\n

\n

\u00a0<\/p>\n<\/td>\n

\n

\u00a0<\/p>\n<\/td>\n

\n

\u00a0<\/p>\n<\/td>\n

\n

\u00a0<\/p>\n<\/td>\n

\n

\u00a0<\/p>\n<\/td>\n

\n

\u00a0<\/p>\n<\/td>\n<\/tr>\n

\n

TAPIR [doersch2023tapir]<\/p>\n<\/td>\n

\n

2D<\/p>\n<\/td>\n

\n

Camera<\/p>\n<\/td>\n

\n

\u2717<\/p>\n<\/td>\n

\n

29.6<\/p>\n<\/td>\n

\n

43.9<\/p>\n<\/td>\n

\n

66.4<\/p>\n<\/td>\n

\n

22.1<\/p>\n<\/td>\n<\/tr>\n

\n

CoTracker2 [karaev2024cotracker]<\/p>\n<\/td>\n

\n

2D<\/p>\n<\/td>\n

\n

Camera<\/p>\n<\/td>\n

\n

\u2717<\/p>\n<\/td>\n

\n

37.5<\/p>\n<\/td>\n

\n

62.5<\/p>\n<\/td>\n

\n

69.4<\/p>\n<\/td>\n

\n

33.3<\/p>\n<\/td>\n<\/tr>\n

\n

LocoTrack [cho2024local]<\/p>\n<\/td>\n

\n

2D<\/p>\n<\/td>\n

\n

Camera<\/p>\n<\/td>\n

\n

\u2717<\/p>\n<\/td>\n

\n

38.7<\/p>\n<\/td>\n

\n

55.8<\/p>\n<\/td>\n

\n

74.1<\/p>\n<\/td>\n

\n

34.9<\/p>\n<\/td>\n<\/tr>\n

\n

CoTracker3 [karaev2024cotracker3]<\/p>\n<\/td>\n

\n

2D<\/p>\n<\/td>\n

\n

Camera<\/p>\n<\/td>\n

\n

\u2717<\/p>\n<\/td>\n

\n

41.5<\/p>\n<\/td>\n

\n

59.6<\/p>\n<\/td>\n

\n

76.4<\/p>\n<\/td>\n

\n

39.6<\/p>\n<\/td>\n<\/tr>\n

\n

TAPNext [zholus2025tapnext]<\/p>\n<\/td>\n

\n

2D<\/p>\n<\/td>\n

\n

Camera<\/p>\n<\/td>\n

\n

\u2717<\/p>\n<\/td>\n

\n

39.6<\/p>\n<\/td>\n

\n

57.7<\/p>\n<\/td>\n

\n

71.9<\/p>\n<\/td>\n

\n

36.2<\/p>\n<\/td>\n<\/tr>\n

\n

SpatialTracker [xiao2024spatialtracker]<\/p>\n<\/td>\n

\n

3D<\/p>\n<\/td>\n

\n

Camera<\/p>\n<\/td>\n

\n

\u2713<\/p>\n<\/td>\n

\n

23.2<\/p>\n<\/td>\n

\n

43.3<\/p>\n<\/td>\n

\n

61.8<\/p>\n<\/td>\n

\n

19.7<\/p>\n<\/td>\n<\/tr>\n

\n

TAPIP3D [zhang2025tapip3d]<\/p>\n<\/td>\n

\n

3D<\/p>\n<\/td>\n

\n

World<\/p>\n<\/td>\n

\n

\u2713<\/p>\n<\/td>\n

\n

29.1<\/p>\n<\/td>\n

\n

43.4<\/p>\n<\/td>\n

\n

66.1<\/p>\n<\/td>\n

\n

41.9<\/p>\n<\/td>\n<\/tr>\n

\n

\u591a\u89c6\u89d2\u8f93\u5165\u200b<\/p>\n<\/td>\n

\n

\u00a0<\/p>\n<\/td>\n

\n

\u00a0<\/p>\n<\/td>\n

\n

\u00a0<\/p>\n<\/td>\n

\n

\u00a0<\/p>\n<\/td>\n

\n

\u00a0<\/p>\n<\/td>\n

\n

\u00a0<\/p>\n<\/td>\n

\n

\u00a0<\/p>\n<\/td>\n<\/tr>\n

\n

CoTracker3 w\/ Flat.<\/p>\n<\/td>\n

\n

2D<\/p>\n<\/td>\n

\n

Camera<\/p>\n<\/td>\n

\n

\u2717<\/p>\n<\/td>\n

\n

2.7<\/p>\n<\/td>\n

\n

7.1<\/p>\n<\/td>\n

\n

35.7<\/p>\n<\/td>\n

\n

1.0<\/p>\n<\/td>\n<\/tr>\n

\n

CoTracker3 w\/ Tri.<\/p>\n<\/td>\n

\n

2D<\/p>\n<\/td>\n

\n

Camera<\/p>\n<\/td>\n

\n

\u2717<\/p>\n<\/td>\n

\n

39.2<\/p>\n<\/td>\n

\n

57.1<\/p>\n<\/td>\n

\n

76.4<\/p>\n<\/td>\n

\n

37.9<\/p>\n<\/td>\n<\/tr>\n

\n

MVTracker [rajivc2025multi]<\/p>\n<\/td>\n

\n

3D<\/p>\n<\/td>\n

\n

World<\/p>\n<\/td>\n

\n

\u2713<\/p>\n<\/td>\n

\n

–<\/p>\n<\/td>\n

\n

32.6<\/p>\n<\/td>\n

\n

–<\/p>\n<\/td>\n

\n

–<\/p>\n<\/td>\n<\/tr>\n

\n

MV-TAP\u200b<\/p>\n<\/td>\n

\n

2D\u200b<\/p>\n<\/td>\n

\n

Camera\u200b<\/p>\n<\/td>\n

\n

\u2717\u200b<\/p>\n<\/td>\n

\n

44.2\u200b<\/p>\n<\/td>\n

\n

61.9\u200b<\/p>\n<\/td>\n

\n

78.3\u200b<\/p>\n<\/td>\n

\n

40.3\u200b<\/p>\n<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n

3.4 \u89c6\u89d2\u611f\u77e5\u7684\u76f8\u673a\u7f16\u7801<\/p>\n

\u5728\u672c\u8282\u4e2d，\u6211\u4eec\u63cf\u8ff0\u6211\u4eec\u7684\u89c6\u89d2\u611f\u77e5\u76f8\u673a\u53c2\u6570\u5d4c\u5165\u3002\u7531\u4e8e\u76f8\u673a\u53c2\u6570\u7f16\u7801\u4e86 3D \u7a7a\u95f4\u4fe1\u606f，\u6211\u4eec\u5229\u7528\u5b83\u4eec\u4e3a\u6a21\u578b\u63d0\u4f9b\u8de8\u89c6\u89d2\u8ddf\u8e2a\u70b9\u7684\u76f8\u5bf9\u51e0\u4f55\u4e0a\u4e0b\u6587\u3002\u5177\u4f53\u6765\u8bf4，\u6211\u4eec\u5229\u7528\u666e\u5415\u514b\u5750\u6807 [plucker1828analytisch] \u6765\u7f16\u7801\u4e0e\u6bcf\u4e2a\u8ddf\u8e2a\u70b9\u5bf9\u5e94\u7684\u5c04\u7ebf\u3002\u6bcf\u6761\u5c04\u7ebf r_v,t,n \u2208 \u211d\u2076 \u7531\u666e\u5415\u514b\u5750\u6807\u5b9a\u4e49：<\/p>\n

r = [d; m], \u5176\u4e2d m = o \u00d7 d, (2)<\/p>\n

\u5176\u4e2d d \u2208 \u211d\u00b3 \u662f\u5c04\u7ebf\u7684\u65b9\u5411，m \u2208 \u211d\u00b3 \u8868\u793a\u77e9\u5411\u91cf，\u8ba1\u7b97\u4e3a\u5c04\u7ebf\u65b9\u5411 d \u548c\u5c04\u7ebf\u539f\u70b9 o \u2208 \u211d\u00b3 \u7684\u53c9\u79ef\u3002\u7279\u5b9a\u50cf\u7d20\u7684\u5c04\u7ebf\u65b9\u5411 d \u548c\u5c04\u7ebf\u539f\u70b9 o \u8ba1\u7b97\u5982\u4e0b：<\/p>\n

d = R\u1d40 K\u207b\u00b9 x, o = -R\u1d40 t, (3)<\/p>\n

\u5176\u4e2d x = (u, v, 1)\u1d40 \u8868\u793a\u9f50\u6b21\u50cf\u7d20\u5750\u6807\u3002\u65b9\u5411 d \u88ab\u5f52\u4e00\u5316\u4e3a\u5355\u4f4d\u957f\u5ea6\u4ee5\u786e\u4fdd\u5c3a\u5ea6\u4e0d\u53d8\u8868\u793a\u3002\u57fa\u4e8e\u6b64\u5b9a\u4e49，\u6211\u4eec\u4e3a\u6240\u6709\u8f68\u8ff9\u6784\u5efa\u666e\u5415\u514b\u5750\u6807 \u211b \u2208 \u211d^(V\u00d7T\u00d7N\u00d76)，\u5e76\u901a\u8fc7\u4e00\u4e2a MLP \u5c42\u5c06\u5176\u6295\u5f71\u5230\u4e00\u4e2a\u7279\u5f81\u7ef4\u5ea6\u3002\u5f97\u5230\u7684\u5d4c\u5165\u968f\u540e\u4e0e\u6b63\u5f26\u4f4d\u7f6e\u7f16\u7801 [vaswani2017attention] \u4e00\u8d77\u6dfb\u52a0\u5230\u8f93\u5165\u6807\u8bb0\u4e2d\u3002\u8fd9\u79cd\u76f8\u673a\u7f16\u7801\u7b56\u7565\u4e3a\u6a21\u578b\u63d0\u4f9b\u4e86\u5bf9\u591a\u89c6\u89d2\u76f8\u673a\u51e0\u4f55\u7684\u663e\u5f0f\u611f\u77e5，\u4f7f\u5176\u80fd\u591f\u6355\u6349\u8de8\u4e0d\u540c\u89c6\u89d2\u7684\u7a7a\u95f4\u5bf9\u5e94\u5173\u7cfb\u3002<\/p>\n

3.5 \u591a\u89c6\u89d2\u65f6\u7a7a\u53d8\u6362\u5668<\/p>\n

\u7f16\u7801\u540e\u7684\u6807\u8bb0\u7531\u4e00\u4e2a\u53d8\u6362\u5668\u5904\u7406，\u8be5\u53d8\u6362\u5668\u4ea4\u9519\u5e94\u7528\u65f6\u95f4\u6ce8\u610f\u529b\u3001\u7a7a\u95f4\u6ce8\u610f\u529b\u548c\u89c6\u89d2\u6ce8\u610f\u529b\u3002\u5f53\u6cbf\u4e0d\u540c\u8f74\u5e94\u7528\u6ce8\u610f\u529b\u65f6，\u7279\u5f81\u7ef4\u5ea6 d \u59cb\u7ec8\u4fdd\u7559，\u800c\u5176\u4ed6\u8f74\u88ab\u5c55\u5e73\u5230\u6279\u6b21\u7ef4\u5ea6\u4e2d，\u4ee5\u4fbf\u6cbf\u6240\u9009\u8f74\u8fdb\u884c\u6ce8\u610f\u529b\u8ba1\u7b97\u3002<\/p>\n

\u65f6\u95f4\u6ce8\u610f\u529b\u3002\u200b \u65f6\u95f4\u6ce8\u610f\u529b\u6cbf\u65f6\u95f4\u8f74 T \u805a\u5408\u4fe1\u606f\u3002\u5f62\u5f0f\u4e0a，\u5bf9\u4e8e\u56fa\u5b9a\u70b9，\u7ed9\u5b9a\u67e5\u8be2\u3001\u952e\u548c\u503c\u6295\u5f71 Q_T, K_T, V_T \u2208 \u211d^(T\u00d7d)，<\/p>\n

𝙰𝚝𝚝𝚗_temp(X) = 𝚂𝚘𝚏𝚝𝚖𝚊𝚡( (Q_T K_T\u1d40) \/ \u221ad ) V_T, (4)<\/p>\n

\u5b83\u6574\u5408\u4e86\u5e27\u5e8f\u5217\u4e2d\u7684\u8bc1\u636e，\u786e\u4fdd\u65f6\u95f4\u4e0a\u5e73\u6ed1\u7684\u8f68\u8ff9\u66f4\u65b0\u3002<\/p>\n

\u7a7a\u95f4\u6ce8\u610f\u529b\u3002\u200b \u7a7a\u95f4\u6ce8\u610f\u529b\u5728\u5355\u4e2a\u5e27\u5185\u6cbf\u70b9\u8f74 N \u805a\u5408\u4fe1\u606f\u3002\u5f62\u5f0f\u4e0a，\u5bf9\u4e8e\u56fa\u5b9a\u65f6\u95f4\u6b65，\u7ed9\u5b9a\u6295\u5f71 Q_N, K_N, V_N \u2208 \u211d^(N\u00d7d)，<\/p>\n

𝙰𝚝𝚝𝚗_spatial(X) = 𝚂𝚘𝚏𝚝𝚖𝚊𝚡( (Q_N K_N\u1d40) \/ \u221ad ) V_N, (5)<\/p>\n

\u5b83\u901a\u8fc7\u94fe\u63a5\u5177\u6709\u4e00\u81f4\u8fd0\u52a8\u6a21\u5f0f\u7684\u70b9\u6765\u5e2e\u52a9\u6355\u6349\u521a\u6027\u5148\u9a8c\u3002<\/p>\n

\u8868 2：\u200b \u4e0d\u540c\u89c6\u89d2\u6570\u91cf\u7684\u6d88\u878d\u7814\u7a76\u3002\u6211\u4eec\u5c06 MV-TAP \u4e0e\u4f7f\u7528\u4e0d\u540c\u6570\u91cf\u8f93\u5165\u89c6\u89d2\u7684\u57fa\u7ebf\u8fdb\u884c\u6bd4\u8f83\u3002\u867d\u7136\u6027\u80fd\u901a\u5e38\u968f\u7740\u89c6\u89d2\u6570\u91cf\u7684\u589e\u52a0\u800c\u63d0\u9ad8，\u4f46\u57fa\u7ebf\u65b9\u6cd5\u4ec5\u663e\u793a\u51fa\u8fb9\u9645\u589e\u76ca\u3002\u76f8\u6bd4\u4e4b\u4e0b，MV-TAP \u59cb\u7ec8\u663e\u793a\u51fa\u663e\u8457\u66f4\u5927\u7684\u6539\u8fdb，\u7a81\u663e\u4e86\u5176\u5229\u7528\u591a\u89c6\u89d2\u4fe1\u606f\u7684\u5353\u8d8a\u80fd\u529b\u3002<\/p>\n\n\n

\u65b9\u6cd5<\/p>\n

2 \u89c6\u89d2<\/p>\n

4 \u89c6\u89d2<\/p>\n

6 \u89c6\u89d2<\/p>\n

8 \u89c6\u89d2<\/p>\n<\/tr>\n

\n\n\n\n\n\n\n
\n

\u00a0<\/p>\n<\/td>\n

\n

AJ<\/p>\n<\/td>\n

\n

<\u03b4_avg><\/p>\n<\/td>\n

\n

OA<\/p>\n<\/td>\n

\n

AJ<\/p>\n<\/td>\n<\/tr>\n

\n

CoTracker3<\/p>\n<\/td>\n

\n

37.5<\/p>\n<\/td>\n

\n

56.4<\/p>\n<\/td>\n

\n

77.8<\/p>\n<\/td>\n

\n

38.9<\/p>\n<\/td>\n<\/tr>\n

\n

CoTracker3 w\/ Flat.<\/p>\n<\/td>\n

\n

9.5<\/p>\n<\/td>\n

\n

19.5<\/p>\n<\/td>\n

\n

54.3<\/p>\n<\/td>\n

\n

4.4<\/p>\n<\/td>\n<\/tr>\n

\n

CoTracker3 w\/ Tri.<\/p>\n<\/td>\n

\n

37.1<\/p>\n<\/td>\n

\n

55.6<\/p>\n<\/td>\n

\n

77.8<\/p>\n<\/td>\n

\n

37.8<\/p>\n<\/td>\n<\/tr>\n

\n

MVTracker<\/p>\n<\/td>\n

\n

–<\/p>\n<\/td>\n

\n

35.8<\/p>\n<\/td>\n

\n

–<\/p>\n<\/td>\n

\n

–<\/p>\n<\/td>\n<\/tr>\n

\n

MV-TAP\u200b<\/p>\n<\/td>\n

\n

39.2\u200b<\/p>\n<\/td>\n

\n

56.8\u200b<\/p>\n<\/td>\n

\n

76.8\u200b<\/p>\n<\/td>\n

\n

40.3\u200b<\/p>\n<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n

\u8868 3：\u200b \u591a\u89c6\u89d2\u4fe1\u606f\u80fd\u5426\u89e3\u51b3\u906e\u6321\u6a21\u7cca\u6027？\u6211\u4eec\u8fd8\u8bc4\u4f30\u4e86\u5e27\u5185\u88ab\u906e\u6321\u70b9\u7684\u4f4d\u7f6e\u7cbe\u5ea6\u3002\u6211\u4eec\u7684\u6a21\u578b\u5728\u906e\u6321\u4e0a\u663e\u793a\u51fa\u9c81\u68d2\u6027，\u8868\u660e\u6211\u4eec\u7684\u6a21\u578b\u6709\u6548\u5730\u5229\u7528\u4e86\u591a\u89c6\u89d2\u7ebf\u7d22\u3002<\u03b4_occ> \u8868\u793a\u5e27\u5185\u906e\u6321\u70b9\u4e0a\u7684\u70b9\u7cbe\u5ea6\u3002<\/p>\n\n\n

\u65b9\u6cd5<\/p>\n

DexYCB<\/p>\n

Panoptic Studio<\/p>\n

Harmony4D<\/p>\n<\/tr>\n

\n\n\n\n\n\n\n
\n

\u00a0<\/p>\n<\/td>\n

\n

<\u03b4_avg><\/p>\n<\/td>\n

\n

<\u03b4_occ><\/p>\n<\/td>\n

\n

<\u03b4_avg><\/p>\n<\/td>\n<\/tr>\n

\n

CoTracker3<\/p>\n<\/td>\n

\n

59.6<\/p>\n<\/td>\n

\n

33.9<\/p>\n<\/td>\n

\n

61.4<\/p>\n<\/td>\n<\/tr>\n

\n

CoTracker3 w\/ Flat.<\/p>\n<\/td>\n

\n

7.1<\/p>\n<\/td>\n

\n

1.9<\/p>\n<\/td>\n

\n

12.7<\/p>\n<\/td>\n<\/tr>\n

\n

CoTracker3 w\/ Tri.<\/p>\n<\/td>\n

\n

57.1<\/p>\n<\/td>\n

\n

34.8<\/p>\n<\/td>\n

\n

59.5<\/p>\n<\/td>\n<\/tr>\n

\n

MVTracker<\/p>\n<\/td>\n

\n

32.6<\/p>\n<\/td>\n

\n

16.0<\/p>\n<\/td>\n

\n

62.4<\/p>\n<\/td>\n<\/tr>\n

\n

MV-TAP\u200b<\/p>\n<\/td>\n

\n

61.9\u200b<\/p>\n<\/td>\n

\n

38.4\u200b<\/p>\n<\/td>\n

\n

62.8\u200b<\/p>\n<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n

\u89c6\u89d2\u6ce8\u610f\u529b\u3002\u200b \u867d\u7136\u65f6\u95f4\u6ce8\u610f\u529b\u548c\u7a7a\u95f4\u6ce8\u610f\u529b\u6355\u6349\u4e86\u89c6\u89d2\u5185\u5173\u7cfb（\u5982\u65f6\u95f4\u5e73\u6ed1\u6027\u548c\u5c40\u90e8\u521a\u6027），\u4f46\u5b83\u4eec\u5728\u5efa\u6a21\u89c6\u89d2\u95f4\u5173\u7cfb\u65b9\u9762\u5b58\u5728\u56fa\u6709\u5c40\u9650\u6027\u3002\u4e3a\u663e\u5f0f\u5bf9\u9f50\u4e0d\u540c\u89c6\u89d2\u7684\u8868\u793a，\u6211\u4eec\u6cbf\u89c6\u89d2\u8f74 V \u5e94\u7528\u6ce8\u610f\u529b\u3002\u8fd9\u91cc，Q_V, K_V, V_V \u2208 \u211d^(V\u00d7d)，<\/p>\n

𝙰𝚝𝚝𝚗_view(X) = 𝚂𝚘𝚏𝚝𝚖𝚊𝚡( (Q_V K_V\u1d40) \/ \u221ad ) V_V. (6)<\/p>\n

\u6b64\u6ce8\u610f\u529b\u6a21\u5757\u5141\u8bb8\u6a21\u578b\u5728\u4e0d\u540c\u89c6\u70b9\u4e4b\u95f4\u4ea4\u6362\u4fe1\u606f，\u4ece\u800c\u514b\u670d\u4f9d\u8d56\u4e8e\u89c6\u89d2\u7684\u6a21\u7cca\u6027\u3002<\/p>\n

3.6 \u5faa\u73af\u8f68\u8ff9\u548c\u906e\u6321\u66f4\u65b0<\/p>\n

\u901a\u8fc7\u65f6\u95f4\u3001\u7a7a\u95f4\u548c\u89c6\u89d2\u6ce8\u610f\u529b，\u53d8\u6362\u5668\u8fed\u4ee3\u5730\u4f18\u5316\u70b9\u8f68\u8ff9\u548c\u906e\u6321\u6982\u7387\u3002\u5177\u4f53\u6765\u8bf4，\u5728\u6bcf\u4e2a\u4f18\u5316\u6b65\u9aa4，\u53d8\u6362\u5668\u9884\u6d4b\u8f68\u8ff9\u4f4d\u7f6e\u548c\u906e\u6321\u72b6\u6001\u7684\u589e\u91cf\u66f4\u65b0：<\/p>\n

\u0394𝒯, \u0394𝒪 = 𝚃𝚛𝚊𝚗𝚜𝚏𝚘𝚛𝚖𝚎𝚛(X). (7)<\/p>\n

\u8fd9\u4e9b\u66f4\u65b0\u88ab\u5e94\u7528\u5230\u5148\u524d\u7684\u4f30\u8ba1\u4e2d：<\/p>\n

𝒯^(m+1) = 𝒯^(m) + \u0394𝒯, 𝒪^(m+1) = 𝒪^(m) + \u0394𝒪, (8)<\/p>\n

\u4f7f\u5f97\u7ecf\u8fc7 M \u6b21\u4f18\u5316\u6b65\u9aa4\u540e，\u6a21\u578b\u4ea7\u751f\u6700\u7ec8\u8f68\u8ff9 𝒯 \u548c\u906e\u6321\u72b6\u6001 𝒪\u3002<\/p>\n

3.7 \u8bad\u7ec3\u635f\u5931<\/p>\n

\u4e3a\u8bad\u7ec3 MV-TAP，\u6211\u4eec\u540c\u65f6\u4f18\u5316\u8f68\u8ff9\u56de\u5f52\u548c\u906e\u6321\u9884\u6d4b\u3002\u5bf9\u4e8e\u8f68\u8ff9\u76d1\u7763，\u6211\u4eec\u4f7f\u7528 Huber \u635f\u5931 [huber1992robust]：<\/p>\n

\u2112track(𝒯, 𝒯*) = \u2211{m=1}^M \u03b3^(M-m) \u2113_Huber(𝒯^(m), 𝒯*), (9)<\/p>\n

\u5176\u4e2d 𝒯^(m) \u662f\u4f18\u5316\u6b65\u9aa4 m \u65f6\u7684\u9884\u6d4b\u8f68\u8ff9，𝒯* \u662f\u771f\u5b9e\u8f68\u8ff9\u3002<\/p>\n

\u5bf9\u4e8e\u906e\u6321\u76d1\u7763，\u6211\u4eec\u4f7f\u7528\u4e8c\u5143\u4ea4\u53c9\u71b5（BCE）\u635f\u5931\u3002\u5728\u8ba1\u7b97\u635f\u5931\u4e4b\u524d，\u6211\u4eec\u5bf9\u906e\u6321\u903b\u8f91\u503c 𝒪^(m) \u5e94\u7528 sigmoid \u6fc0\u6d3b：<\/p>\n

\u2112occ(𝒪, 𝒪*) = \u2211{m=1}^M \u03b3^(M-m) 𝙱𝙲𝙴(\u03c3(𝒪^(m)), 𝒪*), (10)<\/p>\n

\u5176\u4e2d 𝒪^(m) \u662f\u4f18\u5316\u6b65\u9aa4 m \u65f6\u7684\u9884\u6d4b\u906e\u6321\u72b6\u6001，𝒪* \u662f\u771f\u5b9e\u503c\u3002<\/p>\n

4 \u5b9e\u9a8c<\/p>\n

4.1 \u5b9e\u9a8c\u8bbe\u7f6e<\/p>\n

\u8bad\u7ec3\u3002\u200b \u7531\u4e8e\u73b0\u6709\u7684\u70b9\u8ddf\u8e2a\u8bad\u7ec3\u6570\u636e\u96c6\u4ec5\u9002\u7528\u4e8e\u5355\u89c6\u89d2\u573a\u666f，\u6211\u4eec\u5229\u7528 Kubric \u751f\u6210\u5f15\u64ce [greff2022kubric] \u751f\u6210\u4e86\u4e00\u4e2a\u7528\u4e8e\u591a\u89c6\u89d2\u70b9\u8ddf\u8e2a\u7684\u5408\u6210\u6570\u636e\u96c6\u3002\u6211\u4eec\u751f\u6210\u7684\u6570\u636e\u96c6\u5305\u542b 5,000 \u4e2a\u573a\u666f\u7684\u540c\u6b65\u591a\u89c6\u89d2\u89c6\u9891，\u4ee5\u53ca\u6807\u6ce8，\u5305\u62ec\u70b9\u8f68\u8ff9\u3001\u76f8\u5e94\u7684\u906e\u6321\u72b6\u6001\u548c\u76f8\u673a\u53c2\u6570（\u5185\u53c2\u548c\u5916\u53c2）\u3002\u6211\u4eec\u5728\u7b2c D \u8282\u63d0\u4f9b\u66f4\u591a\u7ec6\u8282\u3002\u6211\u4eec\u7684\u6a21\u578b\u5728\u751f\u6210\u7684\u591a\u89c6\u89d2\u6570\u636e\u96c6\u4e0a\u8bad\u7ec3\u4e86 50K \u6b65，\u4f7f\u7528 4 \u5757 NVIDIA A6000 GPU，\u6bcf\u5757 GPU \u7684\u6279\u6b21\u5927\u5c0f\u4e3a 1\u3002\u6211\u4eec\u91c7\u7528 AdamW \u4f18\u5316\u5668 [loshchilov2017decoupled]，\u5b66\u4e60\u7387\u4e3a 10\u207b\u2074，\u6743\u91cd\u8870\u51cf\u4e3a 10\u207b\u2074\u3002\u6211\u4eec\u4f7f\u7528\u5e26\u6709 1,000 \u6b65\u9884\u70ed\u9636\u6bb5\u7684\u4f59\u5f26\u5b66\u4e60\u7387\u8c03\u5ea6\u5668，\u5e76\u5e94\u7528\u9608\u503c\u4e3a 1.0 \u7684\u68af\u5ea6\u88c1\u526a\u4ee5\u5b9e\u73b0\u7a33\u5b9a\u6536\u655b\u3002\u7531\u4e8e MV-TAP \u57fa\u4e8e CoTracker3 [karaev2024cotracker3]，\u6211\u4eec\u91c7\u7528\u9884\u8bad\u7ec3\u6743\u91cd\u6765\u521d\u59cb\u5316\u7279\u5f81\u7f16\u7801\u5668\u548c\u53d8\u6362\u5668\u5c42\u3002\u5728\u8bad\u7ec3\u671f\u95f4，\u6211\u4eec\u4ec5\u51bb\u7ed3\u7279\u5f81\u63d0\u53d6\u7f51\u7edc，\u540c\u65f6\u66f4\u65b0\u6240\u6709\u5176\u4ed6\u53c2\u6570\u3002\u8f93\u5165\u89c6\u89d2\u7684\u6570\u91cf\u5728 1 \u5230 4 \u4e4b\u95f4\u968f\u673a\u9009\u62e9\u3002\u8f93\u5165\u5206\u8fa8\u7387\u4e3a 384\u00d7512，\u8f68\u8ff9\u6570\u91cf\u4e3a 384\u3002\u6211\u4eec\u5c06\u4f18\u5316\u8fed\u4ee3\u6b21\u6570\u8bbe\u7f6e\u4e3a M=4，\u5c40\u90e8 4D \u76f8\u5173\u6027\u7684\u7a7a\u95f4\u534a\u5f84\u8bbe\u7f6e\u4e3a r_p = r_q = 3\u3002<\/p>\n

\u8bc4\u4f30\u534f\u8bae\u3002\u200b \u6211\u4eec\u5728 DexYCB \u6570\u636e\u96c6 [chao2021dexycb]\u3001Panoptic Studio \u6570\u636e\u96c6 [joo2015panoptic]\u3001Kubric \u6570\u636e\u96c6 [greff2022kubric] \u548c Harmony4D \u6570\u636e\u96c6 [khirodkar2024harmony4d] \u4e0a\u8bc4\u4f30\u6211\u4eec\u7684\u65b9\u6cd5\u548c\u57fa\u7ebf\u3002\u5bf9\u4e8e DexYCB \u548c Panoptic Studio，\u6211\u4eec\u5206\u522b\u4f7f\u7528 [koppula2024tapvid] \u548c [rajivc2025multi] \u63d0\u4f9b\u7684\u70b9\u8ddf\u8e2a\u6807\u6ce8，\u800c\u5bf9\u4e8e Kubric \u548c Harmony4D，\u6211\u4eec\u4f7f\u7528\u751f\u6210\u5f15\u64ce\u548c\u57fa\u4e8e\u4eba\u4f53\u7f51\u683c\u6062\u590d\u7684\u6807\u6ce8\u6d41\u7a0b [kim2025learning] \u6784\u5efa\u70b9\u8ddf\u8e2a\u6807\u6ce8\u3002\u5728 DexYCB \u7684\u60c5\u51b5\u4e0b，\u6211\u4eec\u5728\u624b\u90e8\u548c\u4ea4\u4e92\u7684\u7269\u4f53\u4e0a\u91c7\u6837\u52a8\u6001\u70b9，\u4ee5\u4e13\u6ce8\u4e8e\u52a8\u6001\u70b9\u8ddf\u8e2a\u8bc4\u4f30\u3002\u4e3a\u786e\u4fdd\u4e00\u81f4\u7684\u8bc4\u4f30，\u6211\u4eec\u5728\u6240\u6709\u6570\u636e\u96c6\u4e0b\u8fdb\u884c 8 \u89c6\u89d2\u8bbe\u7f6e\u7684\u4e3b\u8981\u5b9e\u9a8c，\u5176\u4e2d\u5728 DexYCB \u548c Kubric \u4e2d\u4f7f\u7528\u6240\u6709 8 \u4e2a\u53ef\u7528\u89c6\u89d2，\u5e76\u4ece Panoptic Studio \u548c Harmony4D \u4e2d\u91c7\u6837 8 \u4e2a\u89c6\u89d2\u3002\u5bf9\u4e8e\u89c6\u89d2\u91c7\u6837，\u6211\u4eec\u8bbe\u8ba1\u4e86\u4e09\u79cd\u91c7\u6837\u7b56\u7565：\u6700\u8fd1\u3001\u968f\u673a\u548c\u6700\u8fdc，\u8fd9\u4e9b\u7b56\u7565\u57fa\u4e8e\u76f8\u673a\u4e4b\u95f4\u7684\u8ddd\u79bb\u5b9a\u4e49\u3002<\/p>\n

\u8868 4：\u200b \u989d\u5916\u8bad\u7ec3\u7684\u6548\u679c\u3002\u867d\u7136\u4ece\u76f8\u540c\u7684\u9884\u8bad\u7ec3\u6a21\u578b\u521d\u59cb\u5316，\u4f46 MV-TAP \u5728\u6240\u6709\u6307\u6807\u4e0a\u59cb\u7ec8\u83b7\u5f97\u66f4\u9ad8\u7684\u6027\u80fd\u3002\u8fd9\u8868\u660e\u5176\u589e\u76ca\u4e3b\u8981\u6765\u81ea\u67b6\u6784\u8bbe\u8ba1，\u800c\u975e\u4ec5\u4ec5\u662f\u5ef6\u957f\u8bad\u7ec3\u65f6\u95f4\u3002<\/p>\n\n\n

\u65b9\u6cd5<\/p>\n

DexYCB<\/p>\n

Panoptic<\/p>\n<\/tr>\n

\n\n\n\n
\n

\u00a0<\/p>\n<\/td>\n

\n

AJ<\/p>\n<\/td>\n

\n

<\u03b4_avg><\/p>\n<\/td>\n<\/tr>\n

\n

CoTracker3<\/p>\n<\/td>\n

\n

41.8<\/p>\n<\/td>\n

\n

59.0<\/p>\n<\/td>\n<\/tr>\n

\n

MV-TAP\u200b<\/p>\n<\/td>\n

\n

44.2\u200b<\/p>\n<\/td>\n

\n

61.9\u200b<\/p>\n<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n

\u5728\u6b63\u6587\u4e2d，\u6211\u4eec\u91c7\u7528\u6700\u8fdc\u91c7\u6837\u7b56\u7565\u4f5c\u4e3a\u4e3b\u8981\u7ed3\u679c，\u800c\u5176\u4ed6\u91c7\u6837\u7b56\u7565\u7684\u7ed3\u679c\u5728\u7b2c C \u8282\u63d0\u4f9b\u3002<\/p>\n

\u8868 5：\u200b \u4e0d\u540c\u70b9\u6570\u91cf\u7684\u6bd4\u8f83\u3002\u6211\u4eec\u6d4b\u91cf\u4e86\u4e0d\u540c\u67e5\u8be2\u70b9\u6570\u91cf\u4e0b\u7684\u8ddf\u8e2a\u6027\u80fd\u3002\u4e0e\u57fa\u7ebf\u76f8\u6bd4，\u6211\u4eec\u7684\u6a21\u578b\u5728\u7a00\u758f\u548c\u5bc6\u96c6\u8bbe\u7f6e\u4e0b\u59cb\u7ec8\u8868\u73b0\u51fa\u66f4\u597d\u7684\u9c81\u68d2\u6027\u3002<\/p>\n\n\n

\u65b9\u6cd5<\/p>\n

50 \u70b9<\/p>\n

100 \u70b9<\/p>\n

300 \u70b9<\/p>\n

500 \u70b9<\/p>\n<\/tr>\n

\n\n\n\n\n\n\n
\n

\u00a0<\/p>\n<\/td>\n

\n

AJ<\/p>\n<\/td>\n

\n

<\u03b4_avg><\/p>\n<\/td>\n

\n

OA<\/p>\n<\/td>\n

\n

AJ<\/p>\n<\/td>\n<\/tr>\n

\n

CoTracker3<\/p>\n<\/td>\n

\n

42.0<\/p>\n<\/td>\n

\n

59.9<\/p>\n<\/td>\n

\n

74.6<\/p>\n<\/td>\n

\n

41.9<\/p>\n<\/td>\n<\/tr>\n

\n

CoTracker3 w\/ Flat.<\/p>\n<\/td>\n

\n

2.7<\/p>\n<\/td>\n

\n

7.4<\/p>\n<\/td>\n

\n

34.4<\/p>\n<\/td>\n

\n

2.5<\/p>\n<\/td>\n<\/tr>\n

\n

CoTracker3 w\/ Tri.<\/p>\n<\/td>\n

\n

39.4<\/p>\n<\/td>\n

\n

53.4<\/p>\n<\/td>\n

\n

74.6<\/p>\n<\/td>\n

\n

39.4<\/p>\n<\/td>\n<\/tr>\n

\n

MVTracker<\/p>\n<\/td>\n

\n

–<\/p>\n<\/td>\n

\n

34.2<\/p>\n<\/td>\n

\n

–<\/p>\n<\/td>\n

\n

–<\/p>\n<\/td>\n<\/tr>\n

\n

MV-TAP\u200b<\/p>\n<\/td>\n

\n

44.3\u200b<\/p>\n<\/td>\n

\n

62.0\u200b<\/p>\n<\/td>\n

\n

77.5\u200b<\/p>\n<\/td>\n

\n

44.7\u200b<\/p>\n<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n

\u8868 6：\u200b \u6a21\u578b\u67b6\u6784\u6d88\u878d\u7814\u7a76\u3002\u6211\u4eec\u5c55\u793a\u4e86\u6a21\u578b\u7ec4\u4ef6\u5728\u591a\u89c6\u89d2\u611f\u77e5\u65b9\u9762\u7684\u6d88\u878d\u7814\u7a76\u3002\u968f\u7740\u6bcf\u4e2a\u7ec4\u4ef6\u7684\u6dfb\u52a0，\u6027\u80fd\u6301\u7eed\u63d0\u9ad8，\u8868\u660e\u6bcf\u4e2a\u6a21\u5757\u90fd\u5bf9\u5229\u7528\u591a\u89c6\u89d2\u4fe1\u606f\u6709\u663e\u8457\u8d21\u732e\u3002<\/p>\n\n\n

\u65b9\u6cd5<\/p>\n

DexYCB<\/p>\n

Panoptic Studio<\/p>\n<\/tr>\n

\n\n\n\n\n\n
\n

\u00a0<\/p>\n<\/td>\n

\n

AJ<\/p>\n<\/td>\n

\n

<\u03b4_avg><\/p>\n<\/td>\n<\/tr>\n

\n

CoTracker3<\/p>\n<\/td>\n

\n

41.5<\/p>\n<\/td>\n

\n

59.6<\/p>\n<\/td>\n<\/tr>\n

\n

+ View attn.<\/p>\n<\/td>\n

\n

43.6<\/p>\n<\/td>\n

\n

61.5<\/p>\n<\/td>\n<\/tr>\n

\n

+ Cam embed.<\/p>\n<\/td>\n

\n

42.2<\/p>\n<\/td>\n

\n

60.6<\/p>\n<\/td>\n<\/tr>\n

\n

MV-TAP\u200b<\/p>\n<\/td>\n

\n

44.2\u200b<\/p>\n<\/td>\n

\n

61.9\u200b<\/p>\n<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n

\u8868 7：\u200b \u9891\u7e41\u906e\u6321\u8f68\u8ff9\u4e0b\u7684\u6bd4\u8f83\u3002\u6211\u4eec\u8bc4\u4f30\u4e86\u5728\u5177\u6709\u9ad8\u906e\u6321\u9891\u7387\u7684\u8f68\u8ff9\u4e0a\u7684\u65b9\u6cd5，\u8be5\u9891\u7387\u901a\u8fc7\u53ef\u89c1\u6027\u8f6c\u6362\u7387\u8861\u91cf\u3002MV-TAP \u5229\u7528\u8de8\u89c6\u89d2\u7ebf\u7d22，\u5728\u9891\u7e41\u906e\u6321\u7684\u70b9\u4e0a\u4fdd\u6301\u9c81\u68d2，\u63d0\u9ad8\u4e86 AJ\u3001<\u03b4_avg> \u548c OA\u3002<\/p>\n\n\n

\u65b9\u6cd5<\/p>\n

DexYCB<\/p>\n

Panoptic Studio<\/p>\n<\/tr>\n

\n\n\n\n\n\n\n
\n

\u00a0<\/p>\n<\/td>\n

\n

AJ<\/p>\n<\/td>\n

\n

<\u03b4_avg><\/p>\n<\/td>\n<\/tr>\n

\n

CoTracker3<\/p>\n<\/td>\n

\n

26.2<\/p>\n<\/td>\n

\n

43.4<\/p>\n<\/td>\n<\/tr>\n

\n

CoTracker3 w\/ Flat.<\/p>\n<\/td>\n

\n

0.5<\/p>\n<\/td>\n

\n

1.8<\/p>\n<\/td>\n<\/tr>\n

\n

CoTracker3 w\/ Tri.<\/p>\n<\/td>\n

\n

26.0<\/p>\n<\/td>\n

\n

43.6<\/p>\n<\/td>\n<\/tr>\n

\n

MVTracker<\/p>\n<\/td>\n

\n

–<\/p>\n<\/td>\n

\n

7.9<\/p>\n<\/td>\n<\/tr>\n

\n

MV-TAP\u200b<\/p>\n<\/td>\n

\n

29.7\u200b<\/p>\n<\/td>\n

\n

47.3\u200b<\/p>\n<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n

\u6211\u4eec\u4f7f\u7528\u6765\u81ea TAP-Vid [doersch2022tap] \u7684\u6807\u51c6\u70b9\u8ddf\u8e2a\u6307\u6807，\u5305\u62ec\u4f4d\u7f6e\u7cbe\u5ea6（<\u03b4_avg>）\u3001\u906e\u6321\u7cbe\u5ea6（OA）\u548c\u5e73\u5747\u6770\u5361\u5fb7\u7cfb\u6570（AJ）\u3002<\u03b4_avg> \u4ee3\u8868\u5e73\u5747\u6b63\u786e\u5173\u952e\u70b9\u767e\u5206\u6bd4（PCK），\u7528\u4e8e\u8bc4\u4f30\u9884\u6d4b\u5173\u952e\u70b9\u4f4d\u7f6e\u7684\u51c6\u786e\u6027\u3002\u5177\u4f53\u6765\u8bf4，\u5b83\u901a\u8fc7\u5bf9\u771f\u5b9e\u503c\u4e2d\u53ef\u89c1\u70b9\u5728 1\u30012\u30014\u30018 \u548c 16 \u50cf\u7d20\u8bef\u5dee\u9608\u503c\u4e0a\u7684 PCK \u53d6\u5e73\u5747\u6765\u8ba1\u7b97\u3002OA \u8868\u793a\u906e\u6321\u4e8c\u5143\u9884\u6d4b\u7684\u51c6\u786e\u6027\u3002AJ \u662f\u4e00\u4e2a\u7efc\u5408\u5f97\u5206，\u8054\u5408\u8bc4\u4f30\u6bcf\u4e2a\u70b9\u7684\u4f4d\u7f6e\u548c\u906e\u6321\u9884\u6d4b\u3002<\/p>\n

\u57fa\u7ebf\u3002\u200b \u6211\u4eec\u5c06\u6211\u4eec\u7684\u65b9\u6cd5\u4e0e\u6700\u8fd1\u7684\u6700\u5148\u8fdb\u7684\u70b9\u8ddf\u8e2a\u65b9\u6cd5\u8fdb\u884c\u6bd4\u8f83，\u5305\u62ec\u5355\u89c6\u89d2\u548c\u591a\u89c6\u89d2\u65b9\u6cd5，\u6db5\u76d6 2D \u548c 3D \u516c\u5f0f\u3002\u6211\u4eec\u91c7\u7528 TAPIR [doersch2023tapir]\u3001CoTracker2 [karaev2024cotracker]\u3001LocoTrack [cho2024local]\u3001CoTracker3 [karaev2024cotracker3]\u3001TAPNext [zholus2025tapnext]\u3001SpatialTracker [xiao2024spatialtracker] \u548c TAPIP3D [zhang2025tapip3d] \u4f5c\u4e3a\u5355\u89c6\u89d2\u57fa\u7ebf，MVTracker [rajivc2025multi] \u4f5c\u4e3a\u591a\u89c6\u89d2\u57fa\u7ebf\u3002\u7279\u522b\u662f，SpatialTracker\u3001TAPIP3D \u548c MVTracker \u9700\u8981\u6df1\u5ea6\u56fe\u4f5c\u4e3a\u8f93\u5165，\u6211\u4eec\u5728\u53ef\u7528\u65f6\u63d0\u4f9b\u771f\u5b9e\u6df1\u5ea6\u56fe\u3002\u5426\u5219，\u6211\u4eec\u4f7f\u7528\u73b0\u6210\u7684\u6df1\u5ea6\u4f30\u8ba1\u5668 [wang2024dust3r]\u3002\u6b64\u5916，MVTracker \u7684\u76ee\u6807\u662f\u5728\u4e16\u754c\u7a7a\u95f4\u4e2d\u8fdb\u884c 3D \u8ddf\u8e2a，\u5e76\u9884\u6d4b\u8de8\u6240\u6709\u89c6\u89d2\u7684\u805a\u5408\u53ef\u89c1\u6027，\u56e0\u6b64\u65e0\u6cd5\u63d0\u4f9b\u6bcf\u89c6\u89d2\u53ef\u89c1\u6027\u3002\u56e0\u6b64，\u6211\u4eec\u901a\u8fc7\u5c06\u5176\u4e16\u754c\u7a7a\u95f4\u8f68\u8ff9\u6295\u5f71\u5230\u6bcf\u4e2a\u76f8\u673a\u7684\u50cf\u7d20\u7a7a\u95f4\u6765\u4ec5\u62a5\u544a MVTracker \u7684 <\u03b4_avg>\u3002\u5bf9\u4e8e\u4e3a\u5355\u76ee\u89c6\u9891\u8bbe\u7f6e\u8bbe\u8ba1\u7684\u5355\u89c6\u89d2\u8ddf\u8e2a\u57fa\u7ebf，\u6211\u4eec\u5728\u6bcf\u4e2a\u89c6\u89d2\u4e0a\u72ec\u7acb\u6267\u884c\u8ddf\u8e2a，\u7136\u540e\u805a\u5408\u6bcf\u89c6\u89d2\u7ed3\u679c\u4ee5\u8ba1\u7b97\u4e0e\u591a\u89c6\u89d2\u65b9\u6cd5\u8fdb\u884c\u516c\u5e73\u6bd4\u8f83\u7684\u6700\u7ec8\u6307\u6807\u3002<\/p>\n

\u6b64\u5916，\u6211\u4eec\u8fd8\u5305\u62ec\u5355\u89c6\u89d2\u8ddf\u8e2a\u5668\u7684\u4e00\u4e2a\u6734\u7d20\u591a\u89c6\u89d2\u6269\u5c55\u3002\u8be5\u53d8\u4f53\u5c06\u89c6\u89d2\u548c\u65f6\u95f4\u7ef4\u5ea6\u5c55\u5e73，\u5141\u8bb8\u8ddf\u8e2a\u5668\u5c06\u591a\u89c6\u89d2\u89c6\u9891\u4f5c\u4e3a\u5355\u4e2a\u5e8f\u5217\u5904\u7406\u3002\u6211\u4eec\u4f7f\u7528 CoTracker3 \u5b9e\u73b0\u4e86\u6b64\u6269\u5c55\u4f5c\u4e3a\u989d\u5916\u7684\u591a\u89c6\u89d2\u57fa\u7ebf（CoTracker3 w\/Flat.）\u3002\u6b64\u5916，\u4e3a\u68c0\u9a8c\u7b80\u5355\u7684\u51e0\u4f55\u7ebf\u7d22\u662f\u5426\u80fd\u89e3\u51b3\u5355\u76ee\u6a21\u7cca\u6027，\u6211\u4eec\u5229\u7528\u63d0\u4f9b\u7684\u76f8\u673a\u53c2\u6570\u8fdb\u884c\u591a\u89c6\u89d2\u51e0\u4f55\u5904\u7406\u3002\u6211\u4eec\u8003\u8651\u4e24\u79cd\u65b9\u6cd5：\u4f7f\u7528\u6781\u7ebf\u7ea6\u675f\u8fdb\u884c\u4f18\u5316\u6216\u4e09\u89d2\u6d4b\u91cf\u3002\u7136\u800c，\u57fa\u4e8e\u6781\u7ebf\u7684\u65b9\u6cd5\u9700\u8981\u4e00\u4e2a\u53c2\u8003\u70b9\u6765\u5b9a\u4e49\u6781\u7ebf\u3002\u7531\u4e8e\u53c2\u8003\u70b9\u7531\u4e8e\u9884\u6d4b\u4e0d\u51c6\u786e\u6027\u5df2\u7ecf\u5b58\u5728\u566a\u58f0，\u8fd9\u4f1a\u5bfc\u81f4\u663e\u8457\u7684\u8bef\u5dee\u4f20\u64ad\u3002\u56e0\u6b64，\u6211\u4eec\u5728\u5b9e\u9a8c\u4e2d\u6392\u9664\u4e86\u6b64\u65b9\u6cd5\u3002\u76f8\u53cd，\u6211\u4eec\u91c7\u7528\u57fa\u4e8e\u4e09\u89d2\u6d4b\u91cf\u7684\u4f18\u5316\u3002\u5bf9\u4e8e\u6bcf\u4e2a\u65f6\u95f4\u6b65，\u6211\u4eec\u6839\u636e\u5355\u89c6\u89d2\u8ddf\u8e2a\u5668\u7684 2D \u8f93\u51fa\u901a\u8fc7\u4e09\u89d2\u6d4b\u91cf\u8ba1\u7b97\u4e00\u4e2a 3D \u70b9，\u7136\u540e\u5c06\u5176\u91cd\u6295\u5f71\u5230\u6bcf\u4e2a\u89c6\u89d2\u4ee5\u4f18\u5316 2D \u8f68\u8ff9\u3002\u57fa\u4e8e\u4e09\u89d2\u6d4b\u91cf\u7684\u65b9\u6cd5\u4e5f\u5efa\u7acb\u5728 CoTracker3 \u4e4b\u4e0a，\u4f5c\u4e3a\u989d\u5916\u7684\u591a\u89c6\u89d2\u57fa\u7ebf（CoTracker3 w\/Tri.）\u3002<\/p>\n

4.2 \u4e3b\u8981\u7ed3\u679c<\/p>\n

\u5b9a\u91cf\u7ed3\u679c\u3002\u200b \u6211\u4eec\u5728 DexYCB [chao2021dexycb]\u3001Panoptic Studio [joo2015panoptic]\u3001Kubric [greff2022kubric] \u548c Harmony4D [khirodkar2024harmony4d] \u4e0a\u5c06\u6211\u4eec\u7684\u65b9\u6cd5\u4e0e\u6700\u8fd1\u6700\u5148\u8fdb\u7684\u70b9\u8ddf\u8e2a\u5668\u8fdb\u884c\u6bd4\u8f83\u3002\u5982\u8868 1 \u6240\u793a，MV-TAP \u5728\u6240\u6709\u57fa\u51c6\u6d4b\u8bd5\u4e2d\u59cb\u7ec8\u8868\u73b0\u51fa\u5f3a\u5927\u7684\u6027\u80fd，\u53d6\u5f97\u4e86\u663e\u8457\u7684\u6210\u7ee9\u3002\u867d\u7136 TAPIP3D [zhang2025tapip3d] \u548c TAPNext [zholus2025tapnext] \u5728\u5c11\u6570\u6307\u6807\u4e0a\u7565\u4f18\u4e8e\u6211\u4eec\u7684\u65b9\u6cd5，\u4f46 TAPIP3D \u4f9d\u8d56\u4e8e\u771f\u5b9e\u6df1\u5ea6，\u800c TAPNext \u91c7\u7528\u4e86\u57fa\u4e8e SSM \u548c ViT \u5757\u7684\u66f4\u91cd\u67b6\u6784，\u8fd9\u4e24\u79cd\u65b9\u6cd5\u5728\u7279\u5b9a\u57fa\u51c6\u6d4b\u8bd5\u4e0a\u8868\u73b0\u4e0d\u4f73\u3002\u6709\u9274\u4e8e\u6b64，MV-TAP \u7684\u6027\u80fd\u8868\u660e\u4e86\u5176\u5f3a\u5927\u7684\u591a\u89c6\u89d2\u70b9\u8ddf\u8e2a\u80fd\u529b\u3002<\/p>\n

\u5b9a\u6027\u7ed3\u679c\u3002\u200b \u6211\u4eec\u5728\u56fe 4 \u4e2d\u5c55\u793a\u4e86\u5b9a\u6027\u6bd4\u8f83，\u5e76\u5728\u56fe 5 \u4e2d\u5c55\u793a\u4e86\u989d\u5916\u7684\u5b9a\u6027\u7ed3\u679c\u3002\u6211\u4eec\u53ef\u89c6\u5316\u4e86 DexYCB\u3001Panoptic Studio \u548c Harmony4D \u4e0a\u7684\u7ed3\u679c\u3002MV-TAP \u5bf9\u5927\u8fd0\u52a8\u548c\u975e\u521a\u6027\u8fd0\u52a8\u663e\u793a\u51fa\u5353\u8d8a\u7684\u9c81\u68d2\u6027，\u8bc1\u660e\u4e86\u591a\u89c6\u89d2\u4fe1\u606f\u5bf9\u4e8e\u70b9\u8ddf\u8e2a\u7684\u6709\u6548\u6027\u3002<\/p>\n

4.3 \u6d88\u878d\u7814\u7a76\u4e0e\u5206\u6790<\/p>\n

\u867d\u7136\u6211\u4eec\u7684\u4e3b\u8981\u6bd4\u8f83\u5305\u62ec\u4e86\u7b2c 4.2 \u8282\u63cf\u8ff0\u7684\u6240\u6709\u57fa\u7ebf，\u4f46\u5728\u4ee5\u4e0b\u7684\u6d88\u878d\u548c\u5206\u6790\u5b9e\u9a8c\u4e2d，\u6211\u4eec\u9009\u62e9\u4e86\u4e00\u4e2a\u57fa\u7ebf\u5b50\u96c6，\u4ee5\u4fdd\u6301\u6e05\u6670\u5ea6\u548c\u8ba1\u7b97\u6548\u7387\u3002<\/p>\n

\u4e0d\u540c\u89c6\u89d2\u6570\u91cf\u7684\u6d88\u878d\u7814\u7a76\u3002\u200b \u8868 3.5 \u5c55\u793a\u4e86 MV-TAP \u4e0e\u9009\u5b9a\u7684\u57fa\u7ebf\u5b50\u96c6\u5728 DexYCB [chao2021dexycb] \u6570\u636e\u96c6\u4e0a\u7684\u6bd4\u8f83，\u8bc4\u4f30\u4e86\u4e0d\u540c\u89c6\u89d2\u6570\u91cf\u4e0b\u7684\u6027\u80fd\u3002\u5c3d\u7ba1\u7531\u4e8e\u8d44\u6e90\u9650\u5236，MV-TAP \u4ec5\u4f7f\u7528 1 \u5230 4 \u4e2a\u89c6\u89d2\u8fdb\u884c\u8bad\u7ec3，\u4f46\u7531\u4e8e\u6ce8\u610f\u529b\u673a\u5236，\u5b83\u53ef\u4ee5\u5904\u7406\u4efb\u610f\u6570\u91cf\u7684\u89c6\u89d2，\u751a\u81f3\u8d85\u8fc7 4 \u4e2a\u3002MV-TAP \u5728\u5404\u79cd\u89c6\u89d2\u8bbe\u7f6e\u4e0b\u59cb\u7ec8\u4f18\u4e8e\u57fa\u7ebf，\u5e76\u4e14\u6307\u6807\u6027\u80fd\u968f\u7740\u89c6\u89d2\u6570\u91cf\u7684\u589e\u52a0\u800c\u7a33\u6b65\u63d0\u9ad8\u3002\u8fd9\u8868\u660e\u989d\u5916\u7684\u89c6\u89d2\u4e3a\u591a\u89c6\u89d2\u8ddf\u8e2a\u63d0\u4f9b\u4e86\u66f4\u4e30\u5bcc\u7684\u7a7a\u95f4\u4fe1\u606f\u3002<\/p>\n

<\/p>\n

\u56fe 5：\u200b MV-TAP \u5728\u4e0d\u540c\u6570\u636e\u96c6\u4e0a\u83b7\u5f97\u7684\u70b9\u8f68\u8ff9\u53ef\u89c6\u5316\u3002\u6211\u4eec\u5728 DexYCB [chao2021dexycb]\u3001Panoptic Studio [joo2015panoptic] \u548c Harmony4D [khirodkar2024harmony4d] \u6570\u636e\u96c6\u4e0a\u5c55\u793a\u4e86\u6211\u4eec\u6a21\u578b\u7684\u9884\u6d4b\u7ed3\u679c\u3002<\/p>\n

\u591a\u89c6\u89d2\u4fe1\u606f\u80fd\u5426\u89e3\u51b3\u906e\u6321\u6a21\u7cca\u6027？\u200b \u4e3a\u7814\u7a76\u591a\u89c6\u89d2\u4fe1\u606f\u662f\u5426\u6709\u52a9\u4e8e\u89e3\u51b3\u906e\u6321\u6a21\u7cca\u6027，\u6211\u4eec\u8bc4\u4f30\u4e86\u7279\u5b9a\u906e\u6321\u70b9\u4e0a\u7684 <\u03b4_avg>\u3002\u5728\u4f20\u7edf\u7684\u70b9\u8ddf\u8e2a\u8bc4\u4f30\u6d41\u7a0b\u4e2d，\u7531\u4e8e\u4eba\u5de5\u6807\u6ce8\u6570\u636e\u96c6 [doersch2022tap] \u7684\u9650\u5236，<\u03b4_avg> \u4ec5\u5728\u53ef\u89c1\u70b9\u4e0a\u6d4b\u91cf，\u56e0\u4e3a\u906e\u6321\u70b9\u96be\u4ee5\u6807\u6ce8\u3002\u7136\u800c，\u81ea\u52a8\u6807\u6ce8\u7684\u6570\u636e\u96c6 [chao2021dexycb, joo2015panoptic, greff2022kubric, khirodkar2024harmony4d] \u5373\u4f7f\u5bf9\u4e8e\u4ecd\u7559\u5728\u5e27\u5185\u7684\u88ab\u906e\u6321\u70b9\u4e5f\u63d0\u4f9b\u51c6\u786e\u7684\u5750\u6807\u3002\u56e0\u6b64，\u6211\u4eec\u5c06\u906e\u6321\u5206\u4e3a\u5e27\u5185\u906e\u6321\u548c\u5e27\u5916\u906e\u6321，\u5e76\u8bc4\u4f30\u5e27\u5185\u88ab\u906e\u6321\u70b9\u7684\u70b9\u7cbe\u5ea6\u3002\u5982\u8868 3.5 \u6240\u793a，\u5f15\u5165\u591a\u89c6\u89d2\u4fe1\u606f\u6709\u52a9\u4e8e\u5904\u7406\u906e\u6321\u3002\u57fa\u4e8e\u4e09\u89d2\u6d4b\u91cf\u7684\u4f18\u5316\u65b9\u6cd5\u5728\u5e27\u5185\u906e\u6321\u70b9\u4e0a\u663e\u793a\u51fa\u5f3a\u5927\u7684\u9c81\u68d2\u6027，\u56e0\u4e3a\u663e\u5f0f\u5229\u7528\u76f8\u673a\u51e0\u4f55\u6709\u52a9\u4e8e\u89e3\u51b3\u906e\u6321\u6a21\u7cca\u6027\u3002\u7136\u800c，\u7531\u4e8e\u5176\u4f9d\u8d56\u4e8e\u5355\u89c6\u89d2\u8ddf\u8e2a\u5668\u7684\u4f30\u8ba1，\u5176\u5728\u53ef\u89c1\u70b9\u4e0a\u7684\u6027\u80fd\u4f1a\u4e0b\u964d\u3002\u76f8\u6bd4\u4e4b\u4e0b，MV-TAP \u5373\u4f7f\u6ca1\u6709\u663e\u5f0f\u7684\u51e0\u4f55\u4f18\u5316，\u4e5f\u901a\u8fc7\u5229\u7528\u591a\u89c6\u89d2\u4fe1\u606f\u4fdd\u6301\u4e86\u6709\u7ade\u4e89\u529b\u7684\u7a33\u5b9a\u6027\u3002<\/p>\n

\u989d\u5916\u8bad\u7ec3\u7684\u6548\u679c\u3002\u200b \u867d\u7136 MV-TAP \u662f\u4ece\u9884\u8bad\u7ec3\u7684 CoTracker3 [karaev2024cotracker3] \u521d\u59cb\u5316\u7684，\u4f46\u6211\u4eec\u8fdb\u4e00\u6b65\u5206\u6790\u4e86\u989d\u5916\u8bad\u7ec3\u7684\u6548\u679c\u3002\u5728\u8868 4.1 \u4e2d，MV-TAP \u663e\u793a\u51fa\u76f8\u5bf9\u4e8e\u57fa\u7ebf\u7684\u660e\u663e\u6027\u80fd\u6539\u8fdb\u3002\u8fd9\u4e00\u7ed3\u679c\u8868\u660e，MV-TAP \u7684\u6027\u80fd\u589e\u76ca\u5e76\u975e\u7b80\u5355\u5730\u6765\u81ea\u989d\u5916\u8bad\u7ec3，\u800c\u662f\u5f97\u76ca\u4e8e\u5176\u7cbe\u5fc3\u8bbe\u8ba1\u7684\u67b6\u6784，\u8be5\u67b6\u6784\u6709\u6548\u5730\u5229\u7528\u4e86\u591a\u89c6\u89d2\u4fe1\u606f\u6765\u589e\u5f3a\u6cdb\u5316\u6027\u548c\u9c81\u68d2\u6027\u3002<\/p>\n

\u4e0d\u540c\u67e5\u8be2\u70b9\u6570\u91cf\u7684\u6bd4\u8f83\u3002\u200b \u4e0b\u6e38\u5e94\u7528 [vecerik2024robotap, bharadhwaj2024track2act, balasingam2024drivetrack, wang2024shape, st4rtrack2025, geng2025motion, jeong2025track4gen] \u7684\u9700\u6c42\u5404\u4e0d\u76f8\u540c，\u6839\u636e\u4efb\u52a1\u8303\u56f4\u4ece\u7a00\u758f\u5230\u7a20\u5bc6\u7684\u5bf9\u5e94\u5173\u7cfb\u4f30\u8ba1\u3002\u4e3a\u8003\u8651\u8fd9\u79cd\u591a\u6837\u6027，\u6211\u4eec\u8bc4\u4f30\u4e86\u4e0d\u540c\u67e5\u8be2\u70b9\u6570\u91cf\u4e0b\u7684\u8ddf\u8e2a\u6027\u80fd\u3002\u5982\u8868 4.1 \u6240\u793a，MV-TAP \u603b\u4f53\u4e0a\u53d6\u5f97\u4e86\u6bd4\u57fa\u7ebf\u66f4\u9ad8\u7684\u7ed3\u679c，\u7a81\u663e\u4e86\u5176\u666e\u904d\u9002\u7528\u6027\u3002<\/p>\n

\u6a21\u578b\u7ec4\u4ef6\u6d88\u878d\u7814\u7a76\u3002\u200b \u5728\u8868 4.1 \u4e2d，\u6211\u4eec\u5c55\u793a\u4e86 MV-TAP \u67b6\u6784\u7684\u6d88\u878d\u7814\u7a76\u3002\u6211\u4eec\u68c0\u67e5\u4e86\u5355\u72ec\u5e94\u7528\u76f8\u673a\u5d4c\u5165\u548c\u89c6\u89d2\u6ce8\u610f\u529b\u4ee5\u53ca\u7ec4\u5408\u5e94\u7528\u7684\u6548\u679c\u3002\u8fd9\u4e9b\u7ed3\u679c\u8868\u660e，\u4e24\u4e2a\u6a21\u5757\u5355\u72ec\u90fd\u80fd\u63d0\u9ad8\u57fa\u7ebf\u6027\u80fd\u3002\u503c\u5f97\u6ce8\u610f\u7684\u662f，\u7ed3\u5408\u4e86\u89c6\u89d2\u6ce8\u610f\u529b\u548c\u76f8\u673a\u5d4c\u5165\u7684\u7ec4\u5408\u7248\u672c\u5b9e\u73b0\u4e86\u6700\u4f73\u6027\u80fd，\u8bc1\u660e\u4e86\u5b83\u4eec\u7684\u4e92\u8865\u6548\u5e94\u3002<\/p>\n

\u9891\u7e41\u906e\u6321\u573a\u666f\u4e0b\u7684\u6bd4\u8f83\u3002\u200b \u5728\u8868 4.1 \u4e2d，\u6211\u4eec\u4e13\u95e8\u5728\u9891\u7e41\u906e\u6321\u7684\u8f68\u8ff9\u4e0a\u8bc4\u4f30 MV-TAP \u4e0e\u57fa\u7ebf\u3002\u5bf9\u4e8e\u6b64\u8bc4\u4f30，\u6211\u4eec\u91cf\u5316\u4e86\u906e\u6321\u9891\u7387，\u5176\u5b9a\u4e49\u4e3a\u6bcf\u6761\u8f68\u8ff9\u7684\u53ef\u89c1\u6027\u72b6\u6001\u8f6c\u6362\u6b21\u6570\u3002\u7136\u540e，\u6211\u4eec\u901a\u8fc7\u9009\u62e9\u5177\u6709\u6700\u9ad8\u906e\u6321\u9891\u7387\u7684\u524d 30% \u8f68\u8ff9\u6765\u7b5b\u9009\u9ad8\u906e\u6321\u9891\u7387\u7684\u8f68\u8ff9\u3002\u5982\u524d\u6240\u8ff0，\u7531\u4e8e\u7f3a\u4e4f\u8de8\u89c6\u89d2\u4fe1\u606f，\u5355\u89c6\u89d2\u70b9\u8ddf\u8e2a\u6a21\u578b\u5728\u9891\u7e41\u906e\u6321\u7684\u8f68\u8ff9\u4e0a\u663e\u793a\u51fa\u6709\u9650\u7684\u9c81\u68d2\u6027\u3002\u76f8\u6bd4\u4e4b\u4e0b，\u5373\u4f7f\u5728\u9891\u7e41\u906e\u6321\u4e0b，MV-TAP \u4e5f\u4fdd\u6301\u4e86\u5f3a\u5927\u800c\u4e00\u81f4\u7684\u6027\u80fd，\u8bc1\u660e\u4e86\u6211\u4eec\u7cbe\u5fc3\u8bbe\u8ba1\u7684\u65b9\u6cd5\u5728\u5229\u7528\u591a\u89c6\u89d2\u4fe1\u606f\u8fdb\u884c\u9c81\u68d2\u70b9\u8ddf\u8e2a\u65b9\u9762\u7684\u6709\u6548\u6027\u3002<\/p>\n

5 \u7ed3\u8bba<\/p>\n

\u672c\u5de5\u4f5c\u5c06\u591a\u89c6\u89d2 2D \u70b9\u8ddf\u8e2a\u786e\u7acb\u4e3a\u4e00\u9879\u65b0\u7684\u91cd\u8981\u4efb\u52a1，\u7528\u4e8e\u63a8\u8fdb\u52a8\u6001\u3001\u771f\u5b9e\u4e16\u754c\u573a\u666f\u4e2d\u53ef\u9760\u7684\u65f6\u7a7a\u5bf9\u5e94\u5173\u7cfb\u3002\u901a\u8fc7\u5f15\u5165 MV-TAP（\u4e00\u4e2a\u901a\u8fc7\u76f8\u673a\u5d4c\u5165\u548c\u89c6\u89d2\u6ce8\u610f\u529b\u805a\u5408\u8de8\u89c6\u89d2\u4fe1\u606f\u7684\u6a21\u578b），\u6211\u4eec\u5c55\u793a\u4e86\u5982\u4f55\u5229\u7528\u591a\u89c6\u89d2\u8f93\u5165\u6765\u514b\u670d\u5355\u76ee\u8ddf\u8e2a\u5668\u7684\u5173\u952e\u5c40\u9650\u6027，\u5982\u906e\u6321\u548c\u8fd0\u52a8\u6a21\u7cca\u6027\u3002\u7ed3\u5408\u4e13\u4e3a\u6b64\u4efb\u52a1\u8bbe\u8ba1\u7684\u5927\u89c4\u6a21\u5408\u6210\u6570\u636e\u96c6\u548c\u771f\u5b9e\u4e16\u754c\u8bc4\u4f30\u6570\u636e\u96c6，\u6211\u4eec\u7684\u8d21\u732e\u65e2\u63d0\u4f9b\u4e86\u95ee\u9898\u7684\u539f\u5219\u6027\u8868\u8ff0，\u4e5f\u63d0\u4f9b\u4e86\u5f3a\u5927\u7684\u57fa\u7ebf\u65b9\u6cd5，\u4e3a\u672a\u6765\u9c81\u68d2\u591a\u89c6\u89d2\u70b9\u8ddf\u8e2a\u7684\u7814\u7a76\u94fa\u5e73\u4e86\u9053\u8def\u3002<\/p>\n

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