{"id":10782,"date":"2024-05-24T16:14:13","date_gmt":"2024-05-24T08:14:13","guid":{"rendered":"http:\/\/192.168.10.115\/?p=10782"},"modified":"2024-05-24T16:14:13","modified_gmt":"2024-05-24T08:14:13","slug":"2024-05-24-waymo-pvtransformer-%e5%8f%af%e6%89%a9%e5%b1%953d%e6%a3%80%e6%b5%8b%e7%9a%84%e7%82%b9%e5%88%b0%e4%bd%93%e7%b4%a0transformer","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2024\/05\/24\/10782\/","title":{"rendered":"2024-05-24 Waymo | PVTransformer: \u53ef\u6269\u5c553D\u68c0\u6d4b\u7684\u70b9\u5230\u4f53\u7d20Transformer"},"content":{"rendered":"\n

\u539f\u6807\u9898\uff1aPVTransformer: Point-to-Voxel Transformer for Scalable 3D Object Detection<\/p>\n\n\n\n

\u8bba\u6587\u94fe\u63a5\uff1ahttps:\/\/arxiv.org\/pdf\/2405.02811<\/p>\n\n\n\n

\u4f5c\u8005\u5355\u4f4d\uff1aWaymo Research<\/p>\n\n\n\n

\"\"<\/figure>\n\n\n\n

\u8bba\u6587\u601d\u8def\uff1a<\/strong><\/p>\n\n\n\n

\u70b9\u4e91\u76843D\u76ee\u6807\u68c0\u6d4b\u5668\u901a\u5e38\u4f9d\u8d56\u4e8e\u57fa\u4e8e\u6c60\u5316\u7684PointNet [20]\uff0c\u5c06\u7a00\u758f\u70b9\u7f16\u7801\u6210\u7c7b\u4f3c\u7f51\u683c\u7684\u4f53\u7d20\u6216 pillars\u3002\u672c\u6587\u8bc6\u522b\u51fa\u5e38\u89c1\u7684PointNet\u8bbe\u8ba1\u5f15\u5165\u4e86\u4e00\u4e2a\u4fe1\u606f\u74f6\u9888\uff0c\u9650\u5236\u4e863D\u76ee\u6807\u68c0\u6d4b\u7684\u51c6\u786e\u6027\u548c\u53ef\u6269\u5c55\u6027\u3002\u4e3a\u4e86\u89e3\u51b3\u8fd9\u4e00\u9650\u5236\uff0c\u672c\u6587\u63d0\u51fa\u4e86PVTransformer\uff1a\u4e00\u79cd\u57fa\u4e8eTransformer\u7684\u70b9\u5230\u4f53\u7d20\u67b6\u6784\u7528\u4e8e3D\u68c0\u6d4b\u3002\u672c\u6587\u7684\u5173\u952e\u601d\u60f3\u662f\u7528\u6ce8\u610f\u529b\u6a21\u5757\u66ff\u6362PointNet\u7684\u6c60\u5316\u64cd\u4f5c\uff0c\u4ece\u800c\u5b9e\u73b0\u66f4\u597d\u7684\u70b9\u5230\u4f53\u7d20\u805a\u5408\u51fd\u6570\u3002\u672c\u6587\u7684\u8bbe\u8ba1\u5c0a\u91cd\u7a00\u758f3D\u70b9\u7684\u7f6e\u6362\u4e0d\u53d8\u6027\uff0c\u540c\u65f6\u6bd4\u57fa\u4e8e\u6c60\u5316\u7684PointNet\u66f4\u5177\u8868\u73b0\u529b\u3002\u5b9e\u9a8c\u7ed3\u679c\u663e\u793a\uff0c\u672c\u6587\u7684PVTransformer\u5728\u6027\u80fd\u4e0a\u6bd4\u6700\u65b0\u76843D\u76ee\u6807\u68c0\u6d4b\u5668\u6709\u663e\u8457\u63d0\u5347\u3002\u5728\u5e7f\u6cdb\u4f7f\u7528\u7684Waymo Open Dataset\u4e0a\uff0c\u672c\u6587\u7684PVTransformer\u8fbe\u5230\u4e8676.5 mAPH L2\u7684\u6700\u65b0\u6c34\u5e73\uff0c\u8d85\u8d8a\u4e86\u4e4b\u524d\u7684SWFormer [27] +1.7 mAPH L2\u3002<\/p>\n\n\n\n

\u4e3b\u8981\u8d21\u732e\uff1a<\/strong><\/p>\n\n\n\n

\u65b0\u67b6\u6784<\/strong>\uff1a\u5f15\u5165\u4e86\u4e00\u79cd\u57fa\u4e8e\u6ce8\u610f\u529b\u7684\u70b9-\u4f53\u7d20\u67b6\u6784\uff0c\u5373PVTransformer\uff0c\u65e8\u5728\u89e3\u51b3PointNet\u7684\u6c60\u5316\u9650\u5236\u95ee\u9898\u3002<\/p>\n\n\n\n

\u65b0\u9896\u7684\u6269\u5c55\u7814\u7a76<\/strong>\uff1a\u542f\u52a8\u5bf9\u57fa\u4e8eTransformer\u76843D\u68c0\u6d4b\u5668\u67b6\u6784\u53ef\u6269\u5c55\u6027\u7684\u63a2\u7d22\u3002<\/p>\n\n\n\n

\u5e7f\u6cdb\u7814\u7a76<\/strong>\uff1a\u901a\u8fc7\u5e7f\u6cdb\u7684\u67b6\u6784\u641c\u7d22\uff0c\u672c\u6587\u5c55\u793a\u4e86\u6240\u63d0\u51fa\u7684PVTransformer\u67b6\u6784\u7684\u6709\u6548\u6027\uff0c\u5176\u5728Waymo Open Dataset\u4e0a\u8fbe\u5230\u4e8676.5 mAPH L2\u7684\u6700\u65b0\u6c34\u5e73\u3002<\/p>\n\n\n\n

\u7f51\u7edc\u8bbe\u8ba1\uff1a<\/strong><\/p>\n\n\n\n

\u5728\u57ce\u5e02\u73af\u5883\u4e2d\u7684\u81ea\u52a8\u9a7e\u9a763D\u76ee\u6807\u68c0\u6d4b\u9700\u8981\u5904\u7406\u5927\u91cf\u7a00\u758f\u4e14\u65e0\u5e8f\u7684\u70b9\uff0c\u8fd9\u4e9b\u70b9\u6563\u5e03\u5728\u5f00\u653e\u7684\u4e09\u7ef4\u7a7a\u95f4\u4e2d\u3002\u4e3a\u4e86\u7ba1\u7406\u70b9\u7684\u4e0d\u89c4\u5219\u5206\u5e03\uff0c\u73b0\u6709\u65b9\u6cd5\u5c06\u70b9\u805a\u5408\u6210\u4e8c\u7ef4\u6216\u4e09\u7ef4\u4f53\u7d20\u8868\u793a [35]\uff0c\u5229\u7528PointNet\u7c7b\u578b\u7684\u7279\u5f81\u7f16\u7801\u5668 [20] \u5c06\u70b9\u7279\u5f81\u805a\u5408\u5230\u4f53\u7d20\u4e2d\uff0c\u968f\u540e\u901a\u8fc7\u4e3b\u5e72\u7f51\u7edc\u548c\u68c0\u6d4b\u5934\u8fdb\u884c\u5904\u7406\u3002\u7136\u800c\uff0c\u73b0\u6709\u7684\u70b9\u67b6\u6784\u5f80\u5f80\u88ab\u5ffd\u89c6\uff0c\u5e76\u56e0\u5176\u7b80\u7ea6\u8bbe\u8ba1\u800c\u53d7\u5230\u9650\u5236\uff0c\u5373\u5c11\u6570\u51e0\u4e2a\u5168\u8fde\u63a5\u5c42\u540e\u8ddf\u4e00\u4e2a\u6700\u5927\u6c60\u5316\u5c42\u3002\u6b63\u5982\u539f\u59cb\u8bba\u6587 [20] \u6240\u5f3a\u8c03\u7684\uff0cPointNet\u7c7b\u578b\u6a21\u5757\u7684\u5173\u952e\u5728\u4e8e\u6700\u5927\u6c60\u5316\u5c42\uff0c\u5b83\u4ece\u65e0\u5e8f\u70b9\u4e2d\u63d0\u53d6\u4fe1\u606f\u5e76\u4f5c\u4e3a\u805a\u5408\u51fd\u6570\u3002\u5c3d\u7ba1\u5229\u7528\u4e86\u4f17\u591a\u5168\u8fde\u63a5\u5c42\u8fdb\u884c\u7279\u5f81\u63d0\u53d6\uff0c\u4f46\u4f53\u7d20\u5185\u6240\u6709\u70b9\u7684\u7279\u5f81\u901a\u8fc7\u4e00\u4e2a\u7b80\u5355\u7684\u6c60\u5316\u5c42\u8fdb\u884c\u7ec4\u5408\u3002\u672c\u6587\u89c2\u5bdf\u5230\uff0c3D\u76ee\u6807\u68c0\u6d4b\u4e2d\u7684\u666e\u901a\u6c60\u5316\u64cd\u4f5c\u5f15\u5165\u4e86\u4fe1\u606f\u74f6\u9888\uff0c\u963b\u788d\u4e86\u73b0\u4ee33D\u76ee\u6807\u68c0\u6d4b\u5668\u7684\u6027\u80fd\u3002\u4e0e\u56fe\u50cf\u8bc6\u522b\u4e2d\u7684\u6807\u51c62D\u6700\u5927\u6c60\u5316\u4e0d\u540c\uff0c\u540e\u8005\u4f5c\u7528\u4e8e\u6709\u9650\u7684\u50cf\u7d20\u96c6\uff0c3D\u68c0\u6d4b\u5668\u4e2d\u7684\u70b9-\u4f53\u7d20\u6c60\u5316\u5c42\u5fc5\u987b\u805a\u5408\u5927\u91cf\u65e0\u5e8f\u70b9\u3002\u4f8b\u5982\uff0c\u5728Waymo Open Dataset [26] \u4e2d\uff0c\u5e38\u89c1\u4e00\u4e2a0.32m \u00d7 0.32m\u7684\u4f53\u7d20\u4e2d\u6709\u8d85\u8fc7100\u4e2a\u70b9\uff0c\u8fd9\u4e9b\u70b9\u88ab\u6c60\u5316\u6210\u4e00\u4e2a\u5355\u4e00\u7684\u4f53\u7d20\u7279\u5f81\u5411\u91cf\u3002\u8fd9\u5bfc\u81f4\u4e86\u5728\u6c60\u5316\u5c42\u4e4b\u540e\u70b9\u7279\u5f81\u7684\u663e\u8457\u4fe1\u606f\u635f\u5931\u3002<\/p>\n\n\n\n

\u4e3a\u4e86\u89e3\u51b3\u57fa\u4e8e\u6c60\u5316\u7684PointNet\u67b6\u6784\u7684\u5c40\u9650\u6027\uff0c\u672c\u6587\u5f15\u5165\u4e86PVTransformer\uff0c\u8fd9\u662f\u4e00\u79cd\u57fa\u4e8eTransformer [29] \u7684\u65b0\u578b\u6ce8\u610f\u529b\u70b9-\u4f53\u7d20\u67b6\u6784\uff0c\u7528\u4e8e3D\u76ee\u6807\u68c0\u6d4b\u3002PVTransformer\u7684\u76ee\u6807\u662f\u901a\u8fc7\u6ce8\u610f\u529b\u6a21\u5757\u7aef\u5230\u7aef\u5b66\u4e60\u70b9\u5230\u4f53\u7d20\u7684\u7f16\u7801\u51fd\u6570\uff0c\u4ee5\u7f13\u89e3\u73b0\u4ee33D\u76ee\u6807\u68c0\u6d4b\u5668\u4e2d\u7531\u4e8e\u6c60\u5316\u64cd\u4f5c\u5f15\u5165\u7684\u4fe1\u606f\u74f6\u9888\u3002\u5728PVTransformer\u4e2d\uff0c\u6bcf\u4e2a\u4f53\u7d20\u4e2d\u7684\u6bcf\u4e2a\u70b9\u88ab\u89c6\u4e3a\u4e00\u4e2atoken\uff0c\u5e76\u4f7f\u7528\u5355\u4e2a\u67e5\u8be2\u5411\u91cf\u6765\u67e5\u8be2\u6240\u6709\u70b9tokens\uff0c\u4ece\u800c\u805a\u5408\u5e76\u7f16\u7801\u4f53\u7d20\u5185\u6240\u6709\u70b9\u7279\u5f81\u5230\u5355\u4e00\u7684\u4f53\u7d20\u7279\u5f81\u5411\u91cf\u4e2d\u3002PVTransformer\u4e2d\u7684\u57fa\u4e8e\u6ce8\u610f\u529b\u7684\u805a\u5408\u6a21\u5757\u4f5c\u4e3a\u4e00\u4e2a\u96c6\u5408\u64cd\u4f5c\u7b26(set operator)\uff0c\u4fdd\u6301\u4e86\u6392\u5217\u4e0d\u53d8\u6027\uff0c\u4f46\u6bd4\u6700\u5927\u6c60\u5316\u66f4\u5177\u8868\u73b0\u529b\u3002\u503c\u5f97\u6ce8\u610f\u7684\u662f\uff0c\u4e0e\u5176\u4ed6\u57fa\u4e8eTransformer\u7684\u70b9\u7f51\u7edc\u5982Point Transformer [32] \u4f7f\u7528\u6c60\u5316\u6765\u805a\u5408\u70b9\u4e0d\u540c\uff0cPVTransformer\u65e8\u5728\u5b66\u4e60\u7279\u5f81\u805a\u5408\u51fd\u6570\uff0c\u800c\u65e0\u9700\u4f9d\u8d56\u542f\u53d1\u5f0f\u7684\u6c60\u5316\u64cd\u4f5c\u3002<\/p>\n\n\n\n

\u672c\u6587\u5728Waymo Open Dataset\u4e0a\u8bc4\u4f30\u4e86PVTransformer\uff0c\u8fd9\u662f\u76ee\u524d\u6700\u5927\u7684\u516c\u5f003D\u70b9\u4e91\u6570\u636e\u96c6 [26]\u3002\u5b9e\u9a8c\u7ed3\u679c\u8868\u660e\uff0cPVTransformer\u901a\u8fc7\u6539\u8fdb\u70b9\u5230\u4f53\u7d20\u7684\u805a\u5408\uff0c\u663e\u8457\u4f18\u4e8e\u4e4b\u524d\u57fa\u4e8ePointNet\u76843D\u76ee\u6807\u68c0\u6d4b\u5668\u3002\u6b64\u5916\uff0cPVTransformer\u4f7f\u672c\u6587\u80fd\u591f\u6269\u5c55\u6a21\u578b\uff0c\u5b9e\u73b0\u4e86\u65b0\u7684\u6700\u5148\u8fdb\u6c34\u5e73\uff1a\u5728\u8f66\u8f86\u548c\u884c\u4eba\u68c0\u6d4b\u4e2d\u5206\u522b\u8fbe\u5230\u4e8676.1 mAPH L2\u548c85.0\/84.7 AP L1\u3002\u503c\u5f97\u6ce8\u610f\u7684\u662f\uff0c\u672c\u6587\u7684\u4f53\u7d20\u4e3b\u5e72\u7f51\u7edc\u548c\u635f\u5931\u8bbe\u8ba1\u4e3b\u8981\u57fa\u4e8e\u5148\u524d\u7684SWFormer [27]\uff0c\u4f46\u672c\u6587\u65b0\u63d0\u51fa\u7684\u70b9\u5230\u4f53\u7d20Transformer\u76f8\u6bd4\u57fa\u7ebfSWFormer\u63d0\u9ad8\u4e86+1.7 mAPH L2\u3002<\/p>\n\n\n\n

\"\"<\/figure>\n\n\n\n

\u56fe1\uff1aPVTransformer\uff08PVT\uff09\u4f5c\u4e3a\u4e00\u79cd\u53ef\u6269\u5c55\u7684\u67b6\u6784\u3002PVTransformer\u89e3\u51b3\u4e86\u4e4b\u524d\u57fa\u4e8e\u4f53\u7d20\u76843D\u68c0\u6d4b\u5668\u4e2d\u7684\u6c60\u5316\u74f6\u9888\uff0c\u5e76\u5c55\u793a\u4e86\u76f8\u8f83\u4e8e\u6269\u5c55PointNet\uff08Scale Point\uff09\u548c\u4f53\u7d20\u67b6\u6784\uff08Scale Voxel\uff09\u66f4\u597d\u7684\u53ef\u6269\u5c55\u6027\u3002\u6bcf\u4e2a\u70b9\u7684\u5927\u5c0f\u8868\u793a\u6a21\u578b\u7684Flops\u3002\u66f4\u591a\u7ec6\u8282\u8bf7\u53c2\u89c1\u56fe4\u548c\u56fe5\u3002<\/p>\n\n\n\n

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\u56fe2\uff1aPVTransformer\u67b6\u6784\u6982\u8ff0\u3002PVTransformer\u67b6\u6784\u5305\u542b\u70b9\u67b6\u6784\u548c\u4f53\u7d20\u67b6\u6784\u3002\u5176\u521b\u65b0\u4e4b\u5904\u5728\u4e8e\u70b9\u67b6\u6784\uff0c\u7528\u4e00\u79cd\u65b0\u9896\u7684Transformer\u8bbe\u8ba1\u66ff\u4ee3\u4e86PointNet\u3002\u5728\u70b9\u67b6\u6784\u4e2d\uff0c\u70b9\u88ab\u5206\u7ec4\u5230pillars\u5185\uff0c\u6bcf\u4e2apillars\u88ab\u89c6\u4e3a\u4e00\u4e2atoken\u3002\u5728\u4e00\u4e2a\u4f53\u7d20\u5185\uff0c\u70b9\u9996\u5148\u7ecf\u8fc7\u81ea\u6ce8\u610f\u529bTransformer\uff0c\u7136\u540e\u901a\u8fc7\u4ea4\u53c9\u6ce8\u610f\u529bTransformer\u5c06\u70b9\u7279\u5f81\u805a\u5408\u4e3a\u4f53\u7d20\u7279\u5f81\uff0c\u8be6\u7ec6\u4fe1\u606f\u89c1\u56fe3\uff08b\uff09\u3002\u7a00\u758f\u7684BEV\u4f53\u7d20\u7279\u5f81\u968f\u540e\u8fdb\u5165\u4f53\u7d20\u67b6\u6784\uff0c\u91c7\u7528\u591a\u5c3a\u5ea6\u7a00\u758f\u7a97\u53e3Transformer\uff08SWFormer Block\uff09[27]\u8fdb\u884c\u7f16\u7801\uff0c\u5e76\u4f7f\u7528CenterNet\u5934\u8fdb\u884c\u8fb9\u754c\u6846\u9884\u6d4b[31]\u3002<\/p>\n\n\n\n

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\u56fe3\uff1aPVTransformer\u4e2d\u7684\u70b9\u5230\u4f53\u7d20\u805a\u5408\u3002\u8be5\u6a21\u5757\u4f7f\u7528Transformer\u5c42\u66ff\u4ee3\u4e86PointNet\u7684\u6700\u5927\u6c60\u5316[20]\u3002<\/p>\n\n\n\n

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\u5b9e\u9a8c\u7ed3\u679c\uff1a<\/strong><\/p>\n\n\n\n

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\u603b\u7ed3\uff1a<\/strong><\/p>\n\n\n\n

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\u5f15\u7528\uff1a<\/strong><\/p>\n\n\n\n

Leng Z, Sun P, He T, et al. PVTransformer: Point-to-Voxel Transformer for Scalable 3D Object Detection[J]. arXiv preprint arXiv:2405.02811, 2024.<\/p>\n","protected":false},"excerpt":{"rendered":"

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