> ## Documentation Index
> Fetch the complete documentation index at: https://kensou.mintlify.site/llms.txt
> Use this file to discover all available pages before exploring further.
# Functional map
# 功能类地图 (Functional Map)
> **一张图看清整本 handbook 的功能分类** — 按 "做什么" 而不是 "在哪里" 组织。
>
> 用法：定位自己的需求 → 看属于哪类 → 跳到对应顶层目录的具体 dissection。
## 🗂️ 按功能分类（10 个功能簇）
```mermaid theme={null}
graph TB
subgraph TOOLBOX["🧰 工具箱 (foundations/)"]
MATH["🧮 数学骨架
SE(3) · 四元数 · BA
PGO · EKF/MSCKF · IMU
spatial-math/"]
CLASSIC["🗺️ 经典 SLAM
ORB-SLAM3 · DSO/LSD
Kalibr · maplab
classical-slam/"]
end
subgraph PERCEPTION["👁️ 感知原语 (foundations/)"]
FF["🔮 前向 3D
VGGT · DUSt3R · MASt3R
feed-forward-3d/"]
GS["💎 3DGS family
3DGS · 4DGS · GS-SLAM
Mip-Splatting
3dgs-family/"]
NF["🔬 NeRF family
NeRF · Instant-NGP
Mip-NeRF 360 · Block-NeRF
nerf-family/"]
DF["📏 深度基础
Depth Anything v2 · Metric3D
MoGe · FoundationStereo
depth-foundation/"]
PT["🎯 位姿 / 追踪
FoundationPose · MegaPose
RAFT · CoTracker
pose-tracking/"]
end
subgraph SEMANTICS["🧠 语义与推理 (foundations/)"]
SEM["🌐 语义 3D
LERF · OpenScene
DINOv2 / SigLIP 上抬到 3D
semantic-3d/"]
VLM["🧠 VLM 空间推理
SpatialVLM · SpatialBot
3DSRBench · BLINK
vlm-spatial-reasoning/"]
WM["🌍 世界模型 (决策)
Cosmos · Genie · Marble
world-model/"]
end
subgraph SIM["🎬 仿真 / Sim2Real (foundations/)"]
GEN["🎬 生成式 3D
Splat-Sim · Aerial Gym
Mitsuba · nvdiffrast
generative-3d-sim/"]
PHY["⚛️ 物理感知
PhysGaussian
MPM + 渲染
physics/"]
end
subgraph SENSOR["📡 硬件物理 (foundations/) ★"]
SP["📡 Sensor Physics
NIR 850 · ToF · LiDAR
IMU · Event Camera
sensor-physics/"]
end
subgraph EMBODY["🤖 应用层 (embodiments/)"]
MANIP["✋ Manipulation
桌面 / 抓取 / 双臂
灵巧手 / humanoid 上肢"]
HUMAN["🦿 Humanoid / 足式
全身 / 行走 / 平衡
Unitree · Figure · 1X"]
GROUND["🛒 Ground Mobile
AGV / 室内 / VLN"]
DRIVE["🚗 Driving
BEV · 占用网络
Waymo vs Tesla"]
AERIAL["🚁 Aerial ★
VIO · 避障 · 追踪
on-board 3DGS · event"]
MARINE["🌊 Marine
AUV · USV · 声呐"]
end
subgraph CROSSING["🔭 跨 embodiment ★ USP (crossing/)"]
CR1["📏 尺度对比"]
CR2["📋 sensor 矩阵"]
CR3["🔁 SLAM/VIO 迁移"]
CR4["🔀 表示迁移"]
CR5["💥 失败模式图谱"]
end
subgraph SUPPORT["🌉 支撑层"]
BRIDGE["🌉 Bridge to VLA
3D-aware VLA
feature cloud → action
neural map as memory"]
BENCH["📊 Benchmarks
ScanNet++ · EuRoC
nuScenes · AQUALOC
3DSRBench"]
DEPLOY["🔧 Deployment
BoM · 同步 · 标定
compute · failure"]
COMP["🏢 Companies
NVIDIA · Skydio · Wayve
Apple · Tesla · World Labs
Physical Intelligence"]
CHEAT["📋 Cheat Sheet
timeline · 表示对比
sensor budget · 功能图"]
end
subgraph AUTO["📈 Pulsar 自动产出"]
WEEKLY["每周报告"]
BIWEEK["双周报告"]
end
TOOLBOX --> PERCEPTION
PERCEPTION --> SEMANTICS
SEMANTICS --> EMBODY
PERCEPTION --> EMBODY
SIM --> EMBODY
SENSOR -.->|硬件来源| PERCEPTION
SENSOR -.->|物理底层| SIM
EMBODY --> CROSSING
SEMANTICS --> CROSSING
SIM --> CROSSING
CROSSING --> BRIDGE
EMBODY --> BENCH
EMBODY --> DEPLOY
EMBODY --> COMP
BENCH --> AUTO
DEPLOY --> AUTO
CROSSING --> CHEAT
style TOOLBOX fill:#0f0f1e,stroke:#9d4edd,color:#fff
style PERCEPTION fill:#0f1e2e,stroke:#4361ee,color:#fff
style SEMANTICS fill:#1e0f1e,stroke:#e94560,color:#fff
style SIM fill:#1e1e0f,stroke:#f77f00,color:#fff
style SENSOR fill:#0f1e1e,stroke:#2a9d8f,color:#fff
style EMBODY fill:#1e0f0f,stroke:#f77f00,color:#fff
style CROSSING fill:#1e0f2e,stroke:#e94560,color:#fff
style SUPPORT fill:#0f1e0f,stroke:#06a0a0,color:#fff
style AUTO fill:#2e0f2e,stroke:#533483,color:#fff
```
## 🎯 按需求反查
| 你想要做什么 | 跳到哪个功能簇 | 具体目录 |
| -------------------------- | ----------------------- | --------------------------------------------------------------------------------------- |
| 选一个 SOTA 3D representation | 感知原语 | `foundations/3dgs-family/` 或 `foundations/feed-forward-3d/` |
| 写一个新的 SLAM 系统 | 数学骨架 + 经典 SLAM | `foundations/spatial-math/` + `foundations/classical-slam/` |
| 给机器人加视觉 depth | 感知原语 | `foundations/depth-foundation/` |
| 训练一个 3D-aware policy | 语义推理 + bridge | `foundations/semantic-3d/` + `bridge-to-vla/` |
| 设计无人机感知 stack | 应用层 + 硬件 + 跨 embodiment | `embodiments/aerial/` + `foundations/sensor-physics/` + `crossing/sensor-stack-matrix/` |
| 选 sensor BoM | 硬件物理 + 工程 | `foundations/sensor-physics/` + `deployment/hardware-selection/` |
| 找下一个 paper idea | 跨 embodiment USP | `crossing/failure-modes-atlas/` |
| 跟产业最新动态 | Companies + Pulsar 自动 | `companies/` + `reports/` |
| 学 spatial AI 基础数学 | 数学骨架 | `foundations/spatial-math/` |
| 选 sim2real 仿真方案 | 仿真 / Sim2Real | `foundations/generative-3d-sim/` |
| 6D 物体位姿估计 | 感知原语 | `foundations/pose-tracking/` |
| AD BEV / 占用网络 | 应用层 + Companies | `embodiments/driving/` + `companies/tesla_occupancy.md` |
## 📐 三层架构（功能视角）
```
┌─────────────────────────────────────────────────────────────────┐
│ 应用层 (embodiments/) │
│ ✋ Manip · 🦿 Humanoid · 🛒 Ground · 🚗 Drive · 🚁 Aerial · 🌊 Marine │
├─────────────────────────────────────────────────────────────────┤
│ 跨 embodiment 合流 (crossing/) ★ USP │
│ 📏 Scale · 📋 Sensor matrix · 🔁 SLAM · 🔀 Repr · 💥 Failure │
├─────────────────────────────────────────────────────────────────┤
│ 工具箱 (foundations/) 13 zones │
│ 🧮 数学骨架 🗺️ 经典 SLAM 🔮 前向 3D 💎 3DGS 🔬 NeRF │
│ 📏 深度 🎯 位姿/追踪 🌐 语义 3D 🧠 VLM 推理 🌍 世界模型 │
│ 🎬 生成式 3D 仿真 ⚛️ 物理感知 📡 Sensor Physics ★ │
├─────────────────────────────────────────────────────────────────┤
│ 🌉 Bridge VLA · 📊 Benchmarks · 🔧 Deployment · 🏢 Companies │
│ 📋 Cheat Sheet · 📈 Pulsar Auto Reports │
└─────────────────────────────────────────────────────────────────┘
```
每一层都对应一组 dissection 文件，按 [`AGENTS.md`](../AGENTS.md) 的 14 项门槛写。
***
## 📊 当前内容总览（截至 2026-05-22 · 多轮深化后）
| 功能簇 | 子目录 | 篇数 | 重大更新 |
| ----------------------- | ------------------------------ | ------------ | ---------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| 🧮 数学骨架 | `spatial-math/` | **9** | + 前置教学 + 相机投影多视几何 + 跨领域灵感 + IMU §6 production 优化 |
| 🗺️ 经典 SLAM | `classical-slam/` | 3 | |
| 🔮 前向 3D | `feed-forward-3d/` | **3** ★ | + VGGT-Ω + MapAnything (metric solved) |
| 💎 3DGS family | `3dgs-family/` | 4 | |
| 🔬 NeRF family | `nerf-family/` | 4 | |
| 📏 深度基础 | `depth-foundation/` | **5** | + depth\_models\_comparison ★ (横向对比) |
| 🎯 位姿 / 追踪 | `pose-tracking/` | **8** | + tracking 全景 primer + MOT (SORT/ByteTrack) + classical (KCF/CSRT) + Siamese-Transformer SOT (含 SAM 2) — 7 家族全覆盖 |
| 🌐 语义 3D | `semantic-3d/` | **4** | + SAM3D + LangSplat (retrieval × promptable 双轴) |
| 🧠 VLM 空间推理 | `vlm-spatial-reasoning/` | **3** | + SpatialBot + 3DSRBench (implicit / explicit / judge 三脚架) |
| 🌍 世界模型 | `world-model/` | 3 | |
| 🎬 生成式 3D | `generative-3d-sim/` | 3 | |
| ⚛️ 物理感知 | `physics/` | 1 | |
| 📡 **Sensor Physics ★** | `sensor-physics/` | **23 · 7 桶** | + RGB / GNSS / barometer / magnetometer / opt-flow / range finder / UWB / WiFi-5G / 水下声呐 / 热红外 / 24GHz Doppler / mic array — drone + 室内 + 水下 + counter-drone 全闭合 |
| **foundations 小计** | | **73** | |
| ✋ Manipulation | `embodiments/manipulation/` | 2 | |
| 🦿 Humanoid | `embodiments/humanoid-legged/` | 2 | |
| 🛒 Ground Mobile | `embodiments/ground-mobile/` | 2 | |
| 🚗 Driving | `embodiments/driving/` | 2 | |
| 🚁 Aerial ★ | `embodiments/aerial/` | 9 | |
| 🌊 Marine | `embodiments/marine/` | 2 | |
| **embodiments 小计** | | **14** | aerial 是维护者深度锚 |
| 🔭 Crossing ★ USP | `crossing/` | 5 | flagship: VGGT(-Ω) vs Drone VIO |
| 🌉 Bridge to VLA | `bridge-to-vla/` | 3 | |
| 📊 Benchmarks | `benchmarks/` | 6 | |
| 🔧 Deployment | `deployment/` | **6** | + calibration drift + edge compute + silent failure (物理→监测→缓解 三段链) |
| 🏢 Companies | `companies/` | 7 | |
| 📋 Cheat Sheet | `cheat-sheet/` | 3 | |
**总计：\~117 dissections · 27 功能簇 · 9 顶层目录 · 158 md 文件 (含 READMEs)**
**Tier 1 logic 升级完成 (2026-05-22)** — AGENTS.md 5 类型文档分层 + vlm-spatial 1→3 + semantic-3d 2→4 + deployment 3→6 + pose-tracking 4→8（vision tracking 全谱）+ 之前 multi-round (FF-3D 三件套, sensor-physics 7 桶, spatial-math 9 篇, depth comparison, IMU §6, cross-domain inspirations).
**GitHub Failure Atlas (新, 2026-05-22)** — 10 个 zone-level `github_failure_atlas.md` 文件，扫 42 tools 的 open issues + PRs，分析 failure cases + project momentum + production guidance。覆盖：FF-3D / 3DGS / NeRF / Depth Foundation / Pose & Tracking / VLM Spatial / Semantic 3D / World Model / Classical SLAM / Aerial VIO 全 10 zones。
***
[← Back to Handbook root](../README.md) · [← Back to Cheat Sheet](./overview.md)