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class=\"wp-block-list\">\n<li><strong>\u7f16\u7801\u5668<\/strong>\uff1a\u4f7f\u7528DGCNN\u52a8\u6001\u56fe\u5377\u79ef\u63d0\u53d6\u6bcf\u70b9\u7684\u5c40\u90e8\u90bb\u57df\u7279\u5f81\uff0c\u7136\u540e\u901a\u8fc7\u6700\u5927\u6c60\u5316\u83b7\u5f97\u5168\u5c40\u7279\u5f81\u00a0<math xmlns=\"http:\/\/www.w3.org\/1998\/Math\/MathML\"><semantics><mrow><msub><mi>f<\/mi><mi>g<\/mi><\/msub><\/mrow><\/semantics><\/math><em>f<\/em><em>g<\/em>\u200b\uff1b\u540c\u65f6\u4fdd\u7559\u70b9\u7ea7\u522b\u7279\u5f81\u00a0<math xmlns=\"http:\/\/www.w3.org\/1998\/Math\/MathML\"><semantics><mrow><msub><mi>f<\/mi><mi>l<\/mi><\/msub><\/mrow><\/semantics><\/math><em>f<\/em><em>l<\/em>\u200b\u3002<\/li>\n\n\n\n<li><strong>\u5168\u5c40\u5206\u652f<\/strong>\uff1a\u5c06\u00a0<math xmlns=\"http:\/\/www.w3.org\/1998\/Math\/MathML\"><semantics><mrow><msub><mi>f<\/mi><mi>g<\/mi><\/msub><\/mrow><\/semantics><\/math><em>f<\/em><em>g<\/em>\u200b\u00a0\u901a\u8fc7\u5168\u8fde\u63a5\u5c42\u751f\u6210\u7c97\u7cd9\u70b9\u4e91\u9aa8\u67b6\uff08512\u70b9\uff09\uff0c\u518d\u7ecf\u8fc7FoldingNet\u4e0a\u91c7\u6837\u81f31024\u70b9\u3002<\/li>\n\n\n\n<li><strong>\u5c40\u90e8\u5206\u652f<\/strong>\uff1a\u5bf9\u6bcf\u4e2a\u70b9\uff0c\u5c06\u00a0<math xmlns=\"http:\/\/www.w3.org\/1998\/Math\/MathML\"><semantics><mrow><msub><mi>f<\/mi><mi>l<\/mi><\/msub><\/mrow><\/semantics><\/math><em>f<\/em><em>l<\/em>\u200b\u00a0\u4e0e\u00a0<math xmlns=\"http:\/\/www.w3.org\/1998\/Math\/MathML\"><semantics><mrow><msub><mi>f<\/mi><mi>g<\/mi><\/msub><\/mrow><\/semantics><\/math><em>f<\/em><em>g<\/em>\u200b\u00a0\u62fc\u63a5\u540e\uff0c\u901a\u8fc7\u4e00\u4e2a\u5171\u4eabMLP\u9884\u6d4b\u8be5\u70b9\u5468\u56f4\u7f3a\u5931\u533a\u57df\u7684\u70b9\u504f\u79fb\u3002<\/li>\n\n\n\n<li><strong>\u878d\u5408<\/strong>\uff1a\u5168\u5c40\u9aa8\u67b6\u4e0e\u5c40\u90e8\u5206\u652f\u9884\u6d4b\u70b9\u4e91\u8fdb\u884c\u6700\u8fdc\u70b9\u91c7\u6837\u878d\u5408\uff0c\u5f97\u5230\u6700\u7ec8\u8f93\u51fa\u3002<\/li>\n<\/ul>\n\n\n\n<h4 class=\"wp-block-heading\">3.3 \u5224\u522b\u5668\u4e0e\u635f\u5931\u51fd\u6570<\/h4>\n\n\n\n<p class=\"wp-block-paragraph\">\u5224\u522b\u5668&nbsp;<math xmlns=\"http:\/\/www.w3.org\/1998\/Math\/MathML\"><semantics><mrow><mi>D<\/mi><\/mrow><\/semantics><\/math><em>D<\/em>&nbsp;\u533a\u5206\u771f\u5b9e\u5b8c\u6574\u70b9\u4e91\u4e0e\u751f\u6210\u70b9\u4e91\u3002\u91c7\u7528PatchGAN\u601d\u60f3\uff0c\u5bf9\u70b9\u4e91\u5c40\u90e8\u533a\u57df\u5206\u522b\u5224\u65ad\u3002\u53e6\u5916\u5f15\u5165\u611f\u77e5\u635f\u5931\uff1a\u4f7f\u7528\u9884\u8bad\u7ec3\u7684PointNet\uff08\u56fa\u5b9a\u53c2\u6570\uff09\u63d0\u53d6\u771f\u5b9e\u4e0e\u751f\u6210\u70b9\u4e91\u7684\u5168\u5c40\u7279\u5f81\uff0c\u8ba1\u7b97\u5176L2\u8ddd\u79bb\uff0c\u9f13\u52b1\u5f62\u72b6\u8bed\u4e49\u4e00\u81f4\u6027\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u603b\u635f\u5931\uff1a<math xmlns=\"http:\/\/www.w3.org\/1998\/Math\/MathML\" display=\"block\"><semantics><mrow><msub><mi mathvariant=\"script\">L<\/mi><mi>G<\/mi><\/msub><mo>=<\/mo><msub><mi>\u03bb<\/mi><mn>1<\/mn><\/msub><msub><mi mathvariant=\"script\">L<\/mi><mtext>adv<\/mtext><\/msub><mo>+<\/mo><msub><mi>\u03bb<\/mi><mn>2<\/mn><\/msub><msub><mi mathvariant=\"script\">L<\/mi><mtext>cd<\/mtext><\/msub><mo>+<\/mo><msub><mi>\u03bb<\/mi><mn>3<\/mn><\/msub><msub><mi mathvariant=\"script\">L<\/mi><mtext>perc<\/mtext><\/msub><\/mrow><\/semantics><\/math>L<em>G<\/em>\u200b=<em>\u03bb<\/em>1\u200bLadv\u200b+<em>\u03bb<\/em>2\u200bLcd\u200b+<em>\u03bb<\/em>3\u200bLperc\u200b<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u5176\u4e2d&nbsp;<math xmlns=\"http:\/\/www.w3.org\/1998\/Math\/MathML\"><semantics><mrow><msub><mi mathvariant=\"script\">L<\/mi><mtext>cd<\/mtext><\/msub><\/mrow><\/semantics><\/math>Lcd\u200b&nbsp;\u4e3a\u5012\u89d2\u8ddd\u79bb\uff08\u82e5\u90e8\u5206\u89c2\u6d4b\u4e2d\u5df2\u77e5\u7684\u53ef\u89c1\u533a\u57df\u4e5f\u9700\u5339\u914d\uff09\uff0c\u5b9e\u9a8c\u4e2d\u53d6&nbsp;<math xmlns=\"http:\/\/www.w3.org\/1998\/Math\/MathML\"><semantics><mrow><msub><mi>\u03bb<\/mi><mn>1<\/mn><\/msub><mo>=<\/mo><mn>1<\/mn><mo separator=\"true\">,<\/mo><msub><mi>\u03bb<\/mi><mn>2<\/mn><\/msub><mo>=<\/mo><mn>10<\/mn><mo separator=\"true\">,<\/mo><msub><mi>\u03bb<\/mi><mn>3<\/mn><\/msub><mo>=<\/mo><mn>0.5<\/mn><\/mrow><\/semantics><\/math><em>\u03bb<\/em>1\u200b=1,<em>\u03bb<\/em>2\u200b=10,<em>\u03bb<\/em>3\u200b=0.5\u3002<\/p>\n\n\n\n<h4 class=\"wp-block-heading\">3.4 \u5c0f\u6837\u672c\u8bad\u7ec3\u7b56\u7565<\/h4>\n\n\n\n<p class=\"wp-block-paragraph\">\u5c0f\u6837\u672c\u7684\u5173\u952e\u5728\u4e8e\u9632\u6b62\u8fc7\u62df\u5408\u3002\u91c7\u7528\u6df7\u5408\u589e\u5f3a\u8bad\u7ec3\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u4ece\u540c\u4e00\u7c7b\u522b\u7684\u5c11\u91cf\u5b8c\u6574\u70b9\u4e91\u4e2d\u968f\u673a\u88c1\u526a\u6a21\u62df\u90e8\u5206\u89c2\u6d4b\u3002<\/li>\n\n\n\n<li>\u5f15\u5165\u8de8\u7c7b\u522b\u7684\u201c\u5f62\u72b6\u5148\u9a8c\u9884\u70ed\u201d\uff1a\u5148\u5728\u5927\u578b\u901a\u7528\u6570\u636e\u96c6\uff08\u5982ModelNet40\uff09\u4e0a\u9884\u8bad\u7ec3\u751f\u6210\u5668\uff0c\u7136\u540e\u5728\u975e\u6807\u96f6\u4ef6\u7684\u5c0f\u6837\u672c\u96c6\u5408\u4e0a\u5fae\u8c03\u3002<\/li>\n\n\n\n<li>\u4f7f\u7528\u68af\u5ea6\u60e9\u7f5a\u4e0e\u8c31\u5f52\u4e00\u5316\u7a33\u5b9aGAN\u8bad\u7ec3\u3002<\/li>\n<\/ul>\n\n\n\n<h4 class=\"wp-block-heading\">3.5 \u4f4d\u59ff\u4f30\u8ba1\u7f51\u7edc<\/h4>\n\n\n\n<p class=\"wp-block-paragraph\">\u8865\u5168\u540e\u7684\u70b9\u4e91\u4e0e\u771f\u5b9e\u5b8c\u6574\u70b9\u4e91\u4ecd\u5b58\u5728\u8bef\u5dee\uff0c\u56e0\u6b64\u4f4d\u59ff\u4f30\u8ba1\u7f51\u7edc\u9700\u8981\u9c81\u68d2\u6027\u3002\u672c\u6587\u91c7\u7528\u57fa\u4e8e\u70b9\u5bf9\u7279\u5f81\uff08PPF\uff09\u6295\u7968\u7684\u65b9\u6cd5\u3002\u5bf9\u4e8e\u8865\u5168\u70b9\u4e91\u7684\u6bcf\u4e2a\u70b9\uff0c\u8ba1\u7b97\u5176\u4e0e\u6a21\u677f\u70b9\u4e91\u7684PPF\u63cf\u8ff0\u5b50\uff0c\u901a\u8fc7\u970d\u592b\u6295\u7968\u5f97\u5230\u4f4d\u59ff\u5019\u9009\u3002\u4e3a\u878d\u5408\u539f\u59cb\u90e8\u5206\u89c2\u6d4b\u4fe1\u606f\uff0c\u5c06\u539f\u59cb\u70b9\u4e91\u4e0e\u8865\u5168\u70b9\u4e91\u7684\u7279\u5f81\u8fdb\u884c\u52a0\u6743\u878d\u5408\uff08\u6743\u91cd\u7531\u8be5\u70b9\u662f\u5426\u4e3a\u751f\u6210\u70b9\u51b3\u5b9a\uff0c\u751f\u6210\u70b9\u7684\u7f6e\u4fe1\u5ea6\u8f83\u4f4e\uff0c\u6743\u91cd\u964d\u4f4e\uff09\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u6700\u7ec8\u4f4d\u59ff\u901a\u8fc7ICP\u7cbe\u7ec6\u914d\u51c6\u5fae\u8c03\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\">4 \u5b9e\u9a8c\u4e0e\u7ed3\u679c<\/h3>\n\n\n\n<h4 class=\"wp-block-heading\">4.1 \u6570\u636e\u96c6<\/h4>\n\n\n\n<p class=\"wp-block-paragraph\">\u81ea\u5efa\u975e\u6807\u96f6\u4ef6\u6570\u636e\u96c6\uff0c\u5305\u542b10\u4e2a\u7c7b\u522b\uff1aL\u578b\u652f\u67b6\u3001U\u578b\u69fd\u3001\u5f02\u5f62\u6cd5\u5170\u3001\u5f27\u5f62\u677f\u7b49\u3002\u6bcf\u7c7b\u96f6\u4ef6\u670920\u4e2a\u5b8c\u6574\u70b9\u4e91\uff08\u901a\u8fc7\u6fc0\u5149\u626b\u63cf\u83b7\u5f97\uff09\uff0c\u4ee5\u53ca50\u4e2a\u90e8\u5206\u70b9\u4e91\uff08\u6a21\u62df\u5355\u89c6\u89d2\u6df1\u5ea6\u76f8\u673a\u91c7\u96c6\uff0c\u4eba\u4e3a\u906e\u632130%-50%\u533a\u57df\uff09\u3002\u8bad\u7ec3\u96c6\uff1a\u6bcf\u7c7b\u53d615\u4e2a\u5b8c\u6574\u70b9\u4e91\u548c\u5168\u90e8\u90e8\u5206\u70b9\u4e91\uff1b\u6d4b\u8bd5\u96c6\uff1a\u6bcf\u7c7b\u5269\u4f595\u4e2a\u5b8c\u6574\u70b9\u4e91\u548c\u65b0\u589e20\u4e2a\u90e8\u5206\u70b9\u4e91\u3002<\/p>\n\n\n\n<h4 class=\"wp-block-heading\">4.2 \u70b9\u4e91\u8865\u5168\u6027\u80fd\u6bd4\u8f83<\/h4>\n\n\n\n<p class=\"wp-block-paragraph\">\u57fa\u51c6\u65b9\u6cd5\uff1aPCN\u3001PointTr\u3001FoldingNet\uff08\u5747\u5728\u540c\u6837\u5c0f\u6837\u672c\u6761\u4ef6\u4e0b\u5fae\u8c03\uff09\u3002\u8bc4\u4ef7\u6307\u6807\uff1a\u5012\u89d2\u8ddd\u79bb\uff08CD\uff09\u548c\u8c6a\u65af\u591a\u592b\u8ddd\u79bb\uff08HD\uff09\u3002<\/p>\n\n\n\n<figure class=\"wp-block-table\"><table class=\"has-fixed-layout\"><thead><tr><th class=\"has-text-align-left\" data-align=\"left\">\u65b9\u6cd5<\/th><th class=\"has-text-align-left\" data-align=\"left\">CD(\u00d710\u207b\u00b3)<\/th><th class=\"has-text-align-left\" data-align=\"left\">HD(\u00d710\u207b\u00b3)<\/th><\/tr><\/thead><tbody><tr><td>PCN<\/td><td>1.48<\/td><td>12.34<\/td><\/tr><tr><td>PointTr<\/td><td>1.22<\/td><td>10.87<\/td><\/tr><tr><td>FoldingNet<\/td><td>1.35<\/td><td>11.62<\/td><\/tr><tr><td><strong>\u672c\u6587<\/strong><\/td><td><strong>0.87<\/strong><\/td><td><strong>7.45<\/strong><\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n<p class=\"wp-block-paragraph\">\u672c\u6587\u65b9\u6cd5\u5728CD\u4e0a\u8f83PointTr\u964d\u4f4e28.7%\uff0c\u5728HD\u4e0a\u964d\u4f4e31.5%\u3002\u53ef\u89c6\u5316\u663e\u793a\uff0c\u672c\u6587\u751f\u6210\u7684\u8865\u5168\u533a\u57df\u8fb9\u7f18\u66f4\u6e05\u6670\uff0c\u4e14\u80fd\u6062\u590d\u51fa\u975e\u5bf9\u79f0\u7279\u5f81\uff08\u5982\u51f8\u53f0\u3001\u51f9\u69fd\uff09\uff0c\u800c\u5bf9\u6bd4\u65b9\u6cd5\u503e\u5411\u4e8e\u751f\u6210\u5e73\u6ed1\u7684\u66f2\u9762\u3002<\/p>\n\n\n\n<h4 class=\"wp-block-heading\">4.3 \u4f4d\u59ff\u4f30\u8ba1\u6027\u80fd<\/h4>\n\n\n\n<p class=\"wp-block-paragraph\">\u8bc4\u4ef7\u6307\u6807\uff1a\u5e73\u5747\u5e73\u79fb\u8bef\u5dee\uff08cm\uff09\uff0c\u5e73\u5747\u65cb\u8f6c\u8bef\u5dee\uff08\u00b0\uff09\uff0c\u4ee5\u53caADD-S\u66f2\u7ebf\u4e0b\u9762\u79ef\uff08\u4f18\u4e8e2cm+5\u00b0\u7684\u767e\u5206\u6bd4\uff09\u3002<\/p>\n\n\n\n<figure class=\"wp-block-table\"><table class=\"has-fixed-layout\"><thead><tr><th class=\"has-text-align-left\" data-align=\"left\">\u65b9\u6cd5<\/th><th class=\"has-text-align-left\" data-align=\"left\">\u5e73\u79fb\u8bef\u5dee(cm)<\/th><th class=\"has-text-align-left\" data-align=\"left\">\u65cb\u8f6c\u8bef\u5dee(\u00b0)<\/th><th class=\"has-text-align-left\" data-align=\"left\">ADD-S(0.05)<\/th><\/tr><\/thead><tbody><tr><td>PPF + ICP (\u539f\u59cb\u90e8\u5206\u70b9\u4e91)<\/td><td>0.87<\/td><td>8.3<\/td><td>62%<\/td><\/tr><tr><td>PVN3D (\u6709\u5b8c\u6574\u8bad\u7ec3)<\/td><td>0.32<\/td><td>3.1<\/td><td>91%<\/td><\/tr><tr><td>\u672c\u6587\u8865\u5168+PPF+ICP<\/td><td><strong>0.25<\/strong><\/td><td><strong>3.2<\/strong><\/td><td><strong>89%<\/strong><\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n<p 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