{"id":10830,"date":"2024-05-27T16:47:06","date_gmt":"2024-05-27T08:47:06","guid":{"rendered":"http:\/\/192.168.10.115\/?p=10830"},"modified":"2024-05-27T16:47:06","modified_gmt":"2024-05-27T08:47:06","slug":"2024-05-27-diffmap%ef%bc%9a%e9%a6%96%e4%b8%aa%e5%88%a9%e7%94%a8ldm%e6%9d%a5%e5%a2%9e%e5%bc%ba%e9%ab%98%e7%b2%be%e5%9c%b0%e5%9b%be%e6%9e%84%e5%bb%ba%e7%9a%84%e7%bd%91%e7%bb%9c","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2024\/05\/27\/10830\/","title":{"rendered":"2024-05-27 DiffMap\uff1a\u9996\u4e2a\u5229\u7528LDM\u6765\u589e\u5f3a\u9ad8\u7cbe\u5730\u56fe\u6784\u5efa\u7684\u7f51\u7edc"},"content":{"rendered":"\n<p>\u8bba\u6587\u6807\u9898\uff1a<\/p>\n\n\n\n<p><em>DiffMap: Enhancing Map Segmentation with Map Prior Using Diffusion Model<\/em><\/p>\n\n\n\n<p>\u8bba\u6587\u4f5c\u8005\uff1a<\/p>\n\n\n\n<p><em>Peijin Jia, Tuopu Wen, Ziang Luo, Mengmeng Yang, Kun Jiang, Zhiquan Lei, Xuewei Tang, Ziyuan Liu, Le Cui, Kehua Sheng, Bo Zhang, Diange Yang<\/em><\/p>\n\n\n\n<p><strong>\u5bfc\u8bfb\uff1a<\/strong><\/p>\n\n\n\n<p>\u9996\u4e2a\u5229\u7528\u6f5c\u5728\u6269\u6563\u6a21\u5757\uff08Latent Diffusion Model\uff09\u5bf9\u5730\u56fe\u5206\u5272\u63a9\u7801\u7684\u7ed3\u6784\u5316\u5148\u9a8c\u8fdb\u884c\u5efa\u6a21\u7684\u65b0\u65b9\u6cd5\uff0c\u57fa\u4e8e\u8be5\u6280\u672f\uff0c\u73b0\u6709\u8bed\u4e49\u5206\u5272\u65b9\u6cd5\u7684\u6027\u80fd\u53ef\u4ee5\u5f97\u5230\u663e\u8457\u63d0\u5347\uff0c\u5e76\u540c\u65f6\u63d0\u9ad8\u751f\u6210\u5730\u56fe\u7684\u8d28\u91cf\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"152\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/05\/\u56fe\u7247-343-1024x152.png\" alt=\"\" class=\"wp-image-10831\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/05\/\u56fe\u7247-343-1024x152.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/05\/\u56fe\u7247-343-300x44.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/05\/\u56fe\u7247-343-768x114.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/05\/\u56fe\u7247-343.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u5bf9\u81ea\u52a8\u9a7e\u9a76\u8f66\u8f86\u6765\u8bf4\uff0c\u9ad8\u6e05\uff08HD\uff09\u5730\u56fe\u80fd\u591f\u5e2e\u52a9\u5176\u63d0\u9ad8\u5bf9\u73af\u5883\u7406\u89e3\uff08\u611f\u77e5\uff09\u7684\u51c6\u786e\u5ea6\u548c\u5bfc\u822a\u7684\u7cbe\u5ea6\u3002\u7136\u800c\uff0c\u4eba\u5de5\u5efa\u56fe\u9762\u4e34\u7e41\u6742\u548c\u9ad8\u6210\u672c\u7684\u95ee\u9898\u3002\u4e3a\u6b64\uff0c\u5f53\u524d\u7814\u7a76\u5c06\u5730\u56fe\u6784\u5efa\u96c6\u6210\u5230BEV\uff08\u9e1f\u77b0\u89c6\u89d2\uff09\u611f\u77e5\u4efb\u52a1\u4e2d\uff0c\u5728BEV\u7a7a\u95f4\u4e2d\u6784\u5efa\u6805\u683c\u5316HD\u5730\u56fe\u89c6\u4e3a\u4e00\u4e2a\u5206\u5272\u4efb\u52a1\uff0c\u53ef\u4ee5\u7406\u89e3\u4e3a\u83b7\u5f97BEV\u7279\u5f81\u540e\u589e\u52a0\u4f7f\u7528\u7c7b\u4f3c\u4e8eFCN\uff08\u5168\u5377\u79ef\u7f51\u7edc\uff09\u7684\u5206\u5272\u5934\u3002\u4f8b\u5982\uff0cHDMapNet\u901a\u8fc7LSS\uff08Lift\uff0cSplat\uff0cShoot\uff09\u7f16\u7801\u4f20\u611f\u5668\u7279\u5f81\uff0c\u7136\u540e\u91c7\u7528\u591a\u5206\u652fFCN\u8fdb\u884c\u8bed\u4e49\u5206\u5272\u3001\u5b9e\u4f8b\u68c0\u6d4b\u548c\u65b9\u5411\u9884\u6d4b\u6765\u6784\u5efa\u5730\u56fe\u3002<\/p>\n\n\n\n<p>\u4f46\u76ee\u524d\u6b64\u7c7b\u65b9\u6cd5\uff08\u57fa\u4e8e\u50cf\u7d20\u7684\u5206\u7c7b\u65b9\u6cd5\uff09\u4ecd\u5b58\u5728\u56fa\u6709\u5c40\u9650\u6027\uff0c\u5305\u62ec\u53ef\u80fd\u5ffd\u7565\u7279\u5b9a\u7c7b\u522b\u5c5e\u6027\uff0c\u8fd9\u53ef\u80fd\u5bfc\u81f4\u5206\u9694\u5e26\u626d\u66f2\u548c\u4e2d\u65ad\u3001\u884c\u4eba\u6a2a\u9053\u6a21\u7cca\u4ee5\u53ca\u5176\u4ed6\u7c7b\u578b\u7684\u4f2a\u5f71\u548c\u566a\u58f0\uff0c\u5982\u56fe1\uff08a\uff09\u6240\u793a\u3002\u8fd9\u4e9b\u95ee\u9898\u4e0d\u4ec5\u5f71\u54cd\u5730\u56fe\u7684\u7ed3\u6784\u7cbe\u5ea6\uff0c\u8fd8\u53ef\u80fd\u76f4\u63a5\u5f71\u54cd\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u7684\u4e0b\u6e38\u8def\u5f84\u89c4\u5212\u6a21\u5757\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"986\" height=\"641\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/05\/\u56fe\u7247-344.png\" alt=\"\" class=\"wp-image-10832\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/05\/\u56fe\u7247-344.png 986w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/05\/\u56fe\u7247-344-300x195.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/05\/\u56fe\u7247-344-768x499.png 768w\" sizes=\"(max-width: 986px) 100vw, 986px\" \/><\/figure>\n\n\n\n<p>HDMapNet\uff0cDiffMap\u548cGroundTruth\u6548\u679c\u5bf9\u6bd4<\/p>\n\n\n\n<p>\u56e0\u6b64\uff0c\u6a21\u578b\u6700\u597d\u80fd\u8003\u8651HD\u5730\u56fe\u7684\u7ed3\u6784\u5148\u9a8c\u4fe1\u606f\uff0c\u5982\u8f66\u9053\u7ebf\u7684\u5e73\u884c\u548c\u7b14\u76f4\u7279\u6027\u3002\u4e00\u4e9b\u751f\u6210\u6a21\u578b\u5728\u6355\u6349\u56fe\u50cf\u771f\u5b9e\u6027\u548c\u56fa\u6709\u7279\u6027\u5177\u5907\u8fd9\u6837\u7684\u80fd\u529b\u3002\u4f8b\u5982\uff0cLDM\uff08\u6f5c\u5728\u6269\u6563\u6a21\u578b\uff09\u5728\u9ad8\u4fdd\u771f\u56fe\u50cf\u751f\u6210\u65b9\u9762\u5c55\u73b0\u4e86\u5de8\u5927\u6f5c\u529b\uff0c\u5e76\u5728\u4e0e\u5206\u5272\u589e\u5f3a\u76f8\u5173\u7684\u4efb\u52a1\u4e2d\u8bc1\u660e\u4e86\u5176\u6709\u6548\u6027\u3002\u53e6\u5916\uff0c\u8fd8\u53ef\u4ee5\u901a\u8fc7\u5f15\u5165\u63a7\u5236\u53d8\u91cf\uff0c\u8fdb\u4e00\u6b65\u6307\u5bfc\u56fe\u50cf\u7684\u751f\u6210\u4ee5\u6ee1\u8db3\u7279\u5b9a\u7684\u63a7\u5236\u8981\u6c42\u3002\u56e0\u6b64\uff0c\u5c06\u751f\u6210\u6a21\u578b\u5e94\u7528\u4e8e\u6355\u6349\u5730\u56fe\u7ed3\u6784\u5148\u9a8c\uff0c\u6709\u671b\u51cf\u5c11\u5206\u5272\u4f2a\u5f71\u5e76\u63d0\u9ad8\u5730\u56fe\u6784\u5efa\u6027\u80fd\u3002<\/p>\n\n\n\n<p>\u5728\u672c\u6587\u4e2d\uff0c\u4f5c\u8005\u63d0\u51faDiffMap\u7f51\u7edc\u3002\u8be5\u7f51\u7edc\u9996\u6b21\u901a\u8fc7\u4f7f\u7528\u6539\u8fdb\u7684LDM\u4f5c\u4e3a\u589e\u5f3a\u6a21\u5757\uff0c\u5bf9\u73b0\u6709\u7684\u5206\u5272\u6a21\u578b\u8fdb\u884c\u5730\u56fe\u7ed3\u6784\u5316\u5148\u9a8c\u5efa\u6a21\u5e76\u652f\u6301\u5373\u63d2\u5373\u7528\u3002DiffMap\u4e0d\u4ec5\u80fd\u901a\u8fc7\u6dfb\u52a0\u548c\u5220\u9664\u566a\u58f0\u7684\u8fc7\u7a0b\u5b66\u4e60\u5730\u56fe\u5148\u9a8c\uff0c\u8fd8\u53ef\u4ee5\u5c06BEV\u7279\u5f81\u96c6\u6210\u4e3a\u63a7\u5236\u4fe1\u53f7\uff0c\u4ee5\u786e\u4fdd\u8f93\u51fa\u4e0e\u5f53\u524d\u5e27\u89c2\u6d4b\u76f8\u5339\u914d\u3002\u5b9e\u9a8c\u7ed3\u679c\u8868\u660e\uff0cDiffMap\u80fd\u591f\u6709\u6548\u5730\u751f\u6210\u66f4\u52a0\u5e73\u6ed1\u5408\u7406\u7684\u5730\u56fe\u5206\u5272\u7ed3\u679c\uff0c\u540c\u65f6\u6781\u5927\u5730\u51cf\u5c11\u4e86\u4f2a\u5f71\uff0c\u63d0\u9ad8\u4e86\u6574\u4f53\u7684\u5730\u56fe\u6784\u5efa\u6027\u80fd\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"158\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/05\/\u56fe\u7247-345-1024x158.png\" alt=\"\" class=\"wp-image-10833\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/05\/\u56fe\u7247-345-1024x158.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/05\/\u56fe\u7247-345-300x46.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/05\/\u56fe\u7247-345-768x119.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/05\/\u56fe\u7247-345.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p><strong>2.1 \u8bed\u4e49\u5730\u56fe\u6784\u5efa<\/strong><\/p>\n\n\n\n<p>\u5728\u4f20\u7edf\u7684\u9ad8\u6e05\uff08HD\uff09\u5730\u56fe\u6784\u5efa\u4e2d\uff0c\u8bed\u4e49\u5730\u56fe\u901a\u5e38\u662f\u57fa\u4e8e\u6fc0\u5149\u96f7\u8fbe\u70b9\u4e91\u624b\u52a8\u6216\u534a\u81ea\u52a8\u6807\u6ce8\u7684\u3002\u4e00\u822c\u57fa\u4e8eSLAM\u7684\u7b97\u6cd5\u6765\u6784\u5efa\u5168\u5c40\u4e00\u81f4\u7684\u5730\u56fe\uff0c\u5e76\u624b\u52a8\u4e3a\u5730\u56fe\u6dfb\u52a0\u8bed\u4e49\u6807\u6ce8\u3002\u7136\u800c\uff0c\u8fd9\u79cd\u65b9\u6cd5\u8d39\u65f6\u8d39\u529b\uff0c\u540c\u65f6\u5728\u66f4\u65b0\u5730\u56fe\u65b9\u9762\u4e5f\u5b58\u5728\u6781\u5927\u6311\u6218\uff0c\u4ece\u800c\u9650\u5236\u4e86\u5176\u53ef\u6269\u5c55\u6027\u548c\u5b9e\u65f6\u6027\u80fd\u3002<\/p>\n\n\n\n<p>HDMapNet\u63d0\u51fa\u4e86\u4e00\u79cd\u4f7f\u7528\u8f66\u8f7d\u4f20\u611f\u5668\u52a8\u6001\u6784\u5efa\u5c40\u90e8\u8bed\u4e49\u5730\u56fe\u7684\u65b9\u6cd5\u3002\u5b83\u5c06\u6fc0\u5149\u96f7\u8fbe\u70b9\u4e91\u548c\u5168\u666f\u56fe\u50cf\u7279\u5f81\u7f16\u7801\u5230\u9e1f\u77b0\u89c6\u56fe\uff08BEV\uff09\u7a7a\u95f4\uff0c\u5e76\u4f7f\u7528\u4e09\u4e2a\u4e0d\u540c\u7684\u5934\u90e8\u8fdb\u884c\u89e3\u7801\uff0c\u6700\u7ec8\u4ea7\u751f\u4e00\u4e2a\u77e2\u91cf\u5316\u7684\u5c40\u90e8\u8bed\u4e49\u5730\u56fe\u3002SuperFusion\u4e13\u6ce8\u4e8e\u6784\u5efa\u8fdc\u7a0b\u9ad8\u7cbe\u5ea6\u8bed\u4e49\u5730\u56fe\uff0c\u5229\u7528\u6fc0\u5149\u96f7\u8fbe\u6df1\u5ea6\u4fe1\u606f\u589e\u5f3a\u56fe\u50cf\u6df1\u5ea6\u4f30\u8ba1\uff0c\u5e76\u4f7f\u7528\u56fe\u50cf\u7279\u5f81\u5f15\u5bfc\u8fdc\u7a0b\u6fc0\u5149\u96f7\u8fbe\u7279\u5f81\u9884\u6d4b\u3002\u7136\u540e\u91c7\u7528\u7c7b\u4f3c\u4e8eHDMapNet\u7684\u5730\u56fe\u68c0\u6d4b\u5934\u83b7\u5f97\u8bed\u4e49\u5730\u56fe\u3002MachMap\u5c06\u4efb\u52a1\u5212\u5206\u4e3a\u6298\u7ebf\u68c0\u6d4b\u548c\u591a\u8fb9\u5f62\u5b9e\u4f8b\u5206\u5272\uff0c\u5e76\u4f7f\u7528\u540e\u5904\u7406\u6765\u7ec6\u5316\u63a9\u7801\u4ee5\u83b7\u5f97\u6700\u7ec8\u7ed3\u679c\u3002\u540e\u7eed\u7684\u7814\u7a76\u805a\u7126\u5728\u7aef\u5230\u7aef\u5728\u7ebf\u5efa\u56fe\uff0c\u76f4\u63a5\u83b7\u5f97\u77e2\u91cf\u5316\u7684\u9ad8\u6e05\u5730\u56fe\u3002\u65e0\u9700\u624b\u52a8\u6807\u6ce8\u7684\u8bed\u4e49\u5730\u56fe\u52a8\u6001\u6784\u5efa\u6709\u6548\u5730\u964d\u4f4e\u4e86\u6784\u5efa\u6210\u672c\u3002<\/p>\n\n\n\n<p><strong>2.2 \u6269\u6563\u6a21\u578b\u5e94\u7528\u4e8e\u5206\u5272\u548c\u68c0\u6d4b<\/strong><\/p>\n\n\n\n<p>\u53bb\u566a\u6269\u6563\u6982\u7387\u6a21\u578b\uff08DDPMs\uff09\u662f\u57fa\u4e8e\u9a6c\u5c14\u53ef\u592b\u94fe\u7684\u4e00\u7c7b\u751f\u6210\u6a21\u578b\uff0c\u5728\u56fe\u50cf\u751f\u6210\u7b49\u9886\u57df\u5c55\u73b0\u51fa\u4f18\u79c0\u7684\u6027\u80fd\uff0c\u5e76\u9010\u6b65\u6269\u5c55\u5230\u5206\u5272\u548c\u68c0\u6d4b\u7b49\u5404\u79cd\u4efb\u52a1\u3002SegDiff\u5c06\u6269\u6563\u6a21\u578b\u5e94\u7528\u4e8e\u56fe\u50cf\u5206\u5272\u4efb\u52a1\uff0c\u5176\u4e2d\u4f7f\u7528\u7684UNet\u7f16\u7801\u5668\u8fdb\u4e00\u6b65\u89e3\u8026\u4e3a\u4e09\u4e2a\u6a21\u5757\uff1aE\u3001F\u548cG\u3002\u6a21\u5757G\u548cF\u5206\u522b\u7f16\u7801\u8f93\u5165\u56fe\u50cfI\u548c\u5206\u5272\u56fe\uff0c\u7136\u540e\u5728E\u4e2d\u901a\u8fc7\u52a0\u6cd5\u5408\u5e76\uff0c\u4ee5\u8fed\u4ee3\u5730\u7ec6\u5316\u5206\u5272\u56fe\u3002DDPMS\u4f7f\u7528\u57fa\u7840\u5206\u5272\u6a21\u578b\u4ea7\u751f\u521d\u59cb\u9884\u6d4b\u5148\u9a8c\uff0c\u5e76\u5229\u7528\u6269\u6563\u6a21\u578b\u5bf9\u5148\u9a8c\u8fdb\u884c\u7ec6\u5316\u3002DiffusionDet\u5c06\u6269\u6563\u6a21\u578b\u6269\u5c55\u5230\u76ee\u6807\u68c0\u6d4b\u6846\u67b6\uff0c\u5c06\u76ee\u6807\u68c0\u6d4b\u5efa\u6a21\u4e3a\u4ece\u566a\u58f0\u6846\u5230\u76ee\u6807\u6846\u7684\u53bb\u566a\u6269\u6563\u8fc7\u7a0b\u3002<\/p>\n\n\n\n<p>\u6269\u6563\u6a21\u578b\u4e5f\u5e94\u7528\u4e8e\u81ea\u52a8\u9a7e\u9a76\u9886\u57df\uff0c\u5982MagicDrive\u5229\u7528\u51e0\u4f55\u7ea6\u675f\u5408\u6210\u8857\u666f\uff0c\u4ee5\u53caMotiondiffuser\u5c06\u6269\u6563\u6a21\u578b\u6269\u5c55\u5230\u591a\u667a\u80fd\u4f53\u8fd0\u52a8\u9884\u6d4b\u95ee\u9898\u3002<\/p>\n\n\n\n<p><strong>2.3 \u5730\u56fe\u5148\u9a8c<\/strong><\/p>\n\n\n\n<p>\u76ee\u524d\u6709\u51e0\u79cd\u65b9\u6cd5\u901a\u8fc7\u5229\u7528\u5148\u9a8c\u4fe1\u606f\uff08\u5305\u62ec\u663e\u5f0f\u7684\u6807\u51c6\u5730\u56fe\u4fe1\u606f\u548c\u9690\u5f0f\u7684\u65f6\u95f4\u4fe1\u606f\uff09\u6765\u589e\u5f3a\u6a21\u578b\u9c81\u68d2\u6027\uff0c\u51cf\u5c11\u8f66\u8f7d\u4f20\u611f\u5668\u7684\u4e0d\u786e\u5b9a\u6027\u3002MapLite2.0\u4ee5\u6807\u51c6\u5b9a\u4e49\uff08SD\uff09\u5148\u9a8c\u5730\u56fe\u4e3a\u8d77\u70b9\uff0c\u5e76\u7ed3\u5408\u8f66\u8f7d\u4f20\u611f\u5668\u5b9e\u65f6\u63a8\u65ad\u5c40\u90e8\u9ad8\u6e05\u5730\u56fe\u3002MapEx\u548cSMERF\u5229\u7528\u6807\u51c6\u5730\u56fe\u6570\u636e\u6539\u5584\u8f66\u9053\u611f\u77e5\u548c\u62d3\u6251\u7406\u89e3\u3002SMERF\u91c7\u7528\u57fa\u4e8eTransformer\u7684\u6807\u51c6\u5730\u56fe\u7f16\u7801\u5668\u7f16\u7801\u8f66\u9053\u7ebf\u548c\u8f66\u9053\u7c7b\u578b\uff0c\u7136\u540e\u8ba1\u7b97\u6807\u51c6\u5730\u56fe\u4fe1\u606f\u4e0e\u57fa\u4e8e\u4f20\u611f\u5668\u7684\u9e1f\u77b0\u89c6\u56fe\uff08BEV\uff09\u7279\u5f81\u4e4b\u95f4\u7684\u4ea4\u53c9\u6ce8\u610f\u529b\uff0c\u4ee5\u96c6\u6210\u6807\u51c6\u5730\u56fe\u4fe1\u606f\u3002NMP\u901a\u8fc7\u5c06\u8fc7\u53bb\u7684\u5730\u56fe\u5148\u9a8c\u6570\u636e\u4e0e\u5f53\u524d\u611f\u77e5\u6570\u636e\u76f8\u7ed3\u5408\uff0c\u4e3a\u81ea\u52a8\u9a7e\u9a76\u6c7d\u8f66\u63d0\u4f9b\u957f\u671f\u8bb0\u5fc6\u80fd\u529b\u3002MapPrior\u7ed3\u5408\u5224\u522b\u5f0f\u548c\u751f\u6210\u5f0f\u6a21\u578b\uff0c\u5728\u9884\u6d4b\u9636\u6bb5\u5c06\u57fa\u4e8e\u73b0\u6709\u6a21\u578b\u751f\u6210\u7684\u521d\u6b65\u9884\u6d4b\u7f16\u7801\u4e3a\u5148\u9a8c\uff0c\u6ce8\u5165\u751f\u6210\u6a21\u578b\u7684\u79bb\u6563\u6f5c\u5728\u7a7a\u95f4\uff0c\u7136\u540e\u4f7f\u7528\u751f\u6210\u6a21\u578b\u8fdb\u884c\u7ec6\u5316\u9884\u6d4b\u3002PreSight\u5229\u7528\u5148 \u524d\u884c\u7a0b\u7684\u6570\u636e\u4f18\u5316\u57ce\u5e02\u5c3a\u5ea6\u7684\u795e\u7ecf\u8f90\u5c04\u573a\uff0c\u751f\u6210\u795e\u7ecf\u5148\u9a8c\uff0c\u589e\u5f3a\u540e\u7eed\u5bfc\u822a\u4e2d\u7684\u5728\u7ebf\u611f\u77e5\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"152\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/05\/\u56fe\u7247-346-1024x152.png\" alt=\"\" class=\"wp-image-10834\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/05\/\u56fe\u7247-346-1024x152.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/05\/\u56fe\u7247-346-300x44.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/05\/\u56fe\u7247-346-768x114.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/05\/\u56fe\u7247-346.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p><strong>3.1 \u51c6\u5907\u5de5\u4f5c<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"744\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/05\/\u56fe\u7247-347-1024x744.png\" alt=\"\" class=\"wp-image-10835\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/05\/\u56fe\u7247-347-1024x744.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/05\/\u56fe\u7247-347-300x218.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/05\/\u56fe\u7247-347-768x558.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/05\/\u56fe\u7247-347.png 1060w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"416\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/05\/\u56fe\u7247-348-1024x416.png\" alt=\"\" class=\"wp-image-10836\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/05\/\u56fe\u7247-348-1024x416.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/05\/\u56fe\u7247-348-300x122.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/05\/\u56fe\u7247-348-768x312.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/05\/\u56fe\u7247-348.png 1068w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p><strong>3.2 \u6574\u4f53\u67b6\u6784<\/strong><\/p>\n\n\n\n<p>\u5982\u56fe2\u6240\u793a\u3002DiffMap\u4f5c\u4e3a\u89e3\u7801\u5668\uff0c\u5c06\u6269\u6563\u6a21\u578b\u7eb3\u5165\u8bed\u4e49\u5730\u56fe\u5206\u5272\u6a21\u578b\uff0c\u8be5\u6a21\u578b\u4ee5\u5468\u56f4\u591a\u89c6\u89d2\u56fe\u50cf\u548cLiDAR\u70b9\u4e91\u4f5c\u4e3a\u8f93\u5165\uff0c\u5c06\u5176\u7f16\u7801\u4e3aBEV\u7a7a\u95f4\u5e76\u83b7\u5f97\u878d\u5408\u7684BEV\u7279\u5f81\u3002\u7136\u540e\u91c7\u7528DiffMap\u4f5c\u4e3a\u89e3\u7801\u5668\u751f\u6210\u5206\u5272\u56fe\u3002\u5728DiffMap\u6a21\u5757\u4e2d\uff0c\u5c06BEV\u7279\u5f81\u4f5c\u4e3a\u6761\u4ef6\u6765\u5f15\u5bfc\u53bb\u566a\u8fc7\u7a0b\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"680\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/05\/\u56fe\u7247-349-1024x680.png\" alt=\"\" class=\"wp-image-10837\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/05\/\u56fe\u7247-349-1024x680.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/05\/\u56fe\u7247-349-300x199.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/05\/\u56fe\u7247-349-768x510.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/05\/\u56fe\u7247-349.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"687\" height=\"493\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/05\/527.png\" alt=\"\" class=\"wp-image-10839\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/05\/527.png 687w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/05\/527-300x215.png 300w\" sizes=\"(max-width: 687px) 100vw, 687px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"471\" height=\"422\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/05\/\u56fe\u7247-350.png\" alt=\"\" class=\"wp-image-10840\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/05\/\u56fe\u7247-350.png 471w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/05\/\u56fe\u7247-350-300x269.png 300w\" sizes=\"(max-width: 471px) 100vw, 471px\" \/><\/figure>\n\n\n\n<p>\u56fe3\uff5c\u53bb\u566a\u6a21\u5757<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"689\" height=\"236\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/05\/5241.png\" alt=\"\" class=\"wp-image-10841\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/05\/5241.png 689w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/05\/5241-300x103.png 300w\" sizes=\"(max-width: 689px) 100vw, 689px\" \/><\/figure>\n\n\n\n<p><strong>3.3 \u5177\u4f53\u5b9e\u73b0<\/strong><\/p>\n\n\n\n<p><em><strong>\u8bad\u7ec3\uff1a<\/strong><\/em><\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"767\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/05\/\u56fe\u7247-351-1024x767.png\" alt=\"\" class=\"wp-image-10842\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/05\/\u56fe\u7247-351-1024x767.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/05\/\u56fe\u7247-351-300x225.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/05\/\u56fe\u7247-351-768x575.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/05\/\u56fe\u7247-351.png 1063w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p><em><strong>\u63a8\u7406\uff1a<\/strong><\/em><\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"500\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/05\/\u56fe\u7247-352-1024x500.png\" alt=\"\" class=\"wp-image-10843\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/05\/\u56fe\u7247-352-1024x500.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/05\/\u56fe\u7247-352-300x146.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/05\/\u56fe\u7247-352-768x375.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/05\/\u56fe\u7247-352.png 1049w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"152\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/05\/\u56fe\u7247-353-1024x152.png\" alt=\"\" class=\"wp-image-10844\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/05\/\u56fe\u7247-353-1024x152.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/05\/\u56fe\u7247-353-300x44.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/05\/\u56fe\u7247-353-768x114.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/05\/\u56fe\u7247-353.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p><strong>4.1 \u5b9e\u9a8c\u7ec6\u8282<\/strong><\/p>\n\n\n\n<p><em><strong>\u6570\u636e\u96c6\uff1a<\/strong><\/em>\u5728nuScenes\u6570\u636e\u96c6\u4e0a\u9a8c\u8bc1DiffMap\u3002nuScenes\u6570\u636e\u96c6\u5305\u542b1000\u4e2a\u573a\u666f\u7684\u591a\u89c6\u89d2\u56fe\u50cf\u548c\u70b9\u4e91\uff0c\u5176\u4e2d700\u4e2a\u573a\u666f\u7528\u4e8e\u8bad\u7ec3\uff0c150\u4e2a\u7528\u4e8e\u9a8c\u8bc1\uff0c150\u4e2a\u7528\u4e8e\u6d4b\u8bd5\u3002nuScenes\u6570\u636e\u96c6\u8fd8\u5305\u542b\u6ce8\u91ca\u7684\u9ad8\u6e05\u5730\u56fe\u8bed\u4e49\u6807\u7b7e\u3002<\/p>\n\n\n\n<p><em><strong>\u67b6\u6784\uff1a<\/strong><\/em>\u4f7f\u7528ResNet-101\u4f5c\u4e3a\u76f8\u673a\u5206\u652f\u7684\u4e3b\u5e72\u7f51\u7edc\uff0c\u4f7f\u7528PointPillars\u4f5c\u4e3a\u6a21\u578b\u7684LiDAR\u5206\u652f\u4e3b\u5e72\u7f51\u7edc\u3002\u57fa\u7ebf\u6a21\u578b\u4e2d\u7684\u5206\u5272\u5934\u662f\u57fa\u4e8eResNet-18\u7684FCN\u7f51\u7edc\u3002\u5bf9\u4e8e\u81ea\u7f16\u7801\u5668\uff0c\u91c7\u7528VQVAE\uff0c\u8be5\u6a21\u578b\u5728nuScenes\u5206\u5272\u5730\u56fe\u6570\u636e\u96c6\u4e0a\u8fdb\u884c\u4e86\u9884\u8bad\u7ec3\uff0c\u4ee5\u63d0\u53d6\u5730\u56fe\u7279\u5f81\u5e76\u5c06\u5730\u56fe\u538b\u7f29\u4e3a\u57fa\u672c\u6f5c\u5728\u7a7a\u95f4\u3002\u6700\u540e\u4f7f\u7528UNet\u6765\u6784\u5efa\u6269\u6563\u7f51\u7edc\u3002<\/p>\n\n\n\n<p><em><strong>\u8bad\u7ec3\u7ec6\u8282\uff1a<\/strong><\/em>\u4f7f\u7528AdamW\u4f18\u5316\u5668\u8bad\u7ec3VQVAE\u6a21\u578b30\u4e2aepoch\u3002\u4f7f\u7528\u7684\u5b66\u4e60\u7387\u8c03\u5ea6\u5668\u662fLambdaLR\uff0c\u5b83\u4ee5\u6307\u6570\u8870\u51cf\u6a21\u5f0f\u9010\u6e10\u964d\u4f4e\u5b66\u4e60\u7387\uff0c\u8870\u51cf\u56e0\u5b50\u4e3a0.95\u3002\u521d\u59cb\u5b66\u4e60\u7387\u8bbe\u7f6e\u4e3a\uff0c\u6279\u91cf\u5927\u5c0f\u4e3a8\u3002\u7136\u540e\uff0c\u4f7f\u7528AdamW\u4f18\u5316\u5668\u4ece\u5934\u5f00\u59cb\u8bad\u7ec3\u6269\u6563\u6a21\u578b30\u4e2aepoch\uff0c\u521d\u59cb\u5b66\u4e60\u7387\u4e3a2e-4\u3002\u91c7\u7528MultiStepLR\u8c03\u5ea6\u5668\uff0c\u8be5\u8c03\u5ea6\u5668\u6839\u636e\u6307\u5b9a\u7684\u91cc\u7a0b\u7891\u65f6\u95f4\u70b9\uff080.7\u30010.9\u30011.0\uff09\u548c\u5728\u4e0d\u540c\u8bad\u7ec3\u9636\u6bb5\u7684\u7f29\u653e\u56e0\u5b501\/3\u6765\u8c03\u6574\u5b66\u4e60\u7387\u3002\u6700\u540e\u5c06BEV\u5206\u5272\u7ed3\u679c\u8bbe\u7f6e\u4e3a0.15m\u7684\u5206\u8fa8\u7387\uff0c\u5e76\u5c06LiDAR\u70b9\u4e91\u4f53\u7d20\u5316\u3002HDMapNet\u7684\u68c0\u6d4b\u8303\u56f4\u4e3a[-30m\uff0c30m]\u00d7[-15m\uff0c15m]m\uff0c\u56e0\u6b64\u76f8\u5e94\u7684BEV\u5730\u56fe\u5927\u5c0f\u4e3a400\u00d7200\uff0c\u800cSuperfusion\u4f7f\u7528[0m\uff0c90m]\u00d7[-15m\uff0c15m]\u5e76\u5f97\u5230600\u00d7200\u7684\u7ed3\u679c\u3002\u7531\u4e8eLDM\u7684\u7ef4\u5ea6\u7ea6\u675f\uff08\u5728VAE\u548cUNet\u4e2d\u4e0b\u91c7\u68378\u500d\uff09\uff0c\u9700\u8981\u5c06\u8bed\u4e49\u5730\u9762\u5b9e\u51b5\u5730\u56fe\u7684\u5927\u5c0f\u586b\u5145\u523064\u7684\u500d\u6570\u3002<\/p>\n\n\n\n<p><em><strong>\u63a8\u7406\u7ec6\u8282\uff1a<\/strong><\/em>\u901a\u8fc7\u5728\u5f53\u524dBEV\u7279\u5f81\u6761\u4ef6\u4e0b\u5bf9\u566a\u58f0\u5730\u56fe\u6267\u884c\u53bb\u566a\u8fc7\u7a0b20\u6b21\u6765\u83b7\u5f97\u9884\u6d4b\u7ed3\u679c\u3002\u4f7f\u75283\u6b21\u91c7\u6837\u7684\u5e73\u5747\u503c\u4f5c\u4e3a\u6700\u7ec8\u7684\u9884\u6d4b\u7ed3\u679c\u3002<\/p>\n\n\n\n<p><strong>4.2 \u8bc4\u4f30\u6307\u6807<\/strong><\/p>\n\n\n\n<p>\u4e3b\u8981\u9488\u5bf9\u5730\u56fe\u8bed\u4e49\u5206\u5272\u548c\u5b9e\u4f8b\u68c0\u6d4b\u4efb\u52a1\u8fdb\u884c\u5e73\u8bc4\u4f30\u3002\u4e14\u4e3b\u8981\u96c6\u4e2d\u5728\u4e09\u4e2a\u9759\u6001\u5730\u56fe\u5143\u7d20\u4e0a\uff1a\u8f66\u9053\u8fb9\u754c\u3001\u8f66\u9053\u5206\u9694\u7ebf\u548c\u884c\u4eba\u6a2a\u9053\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"755\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/05\/\u56fe\u7247-354-1024x755.png\" alt=\"\" class=\"wp-image-10845\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/05\/\u56fe\u7247-354-1024x755.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/05\/\u56fe\u7247-354-300x221.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/05\/\u56fe\u7247-354-768x566.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/05\/\u56fe\u7247-354.png 1055w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"444\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/05\/\u56fe\u7247-355-1024x444.png\" alt=\"\" class=\"wp-image-10846\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/05\/\u56fe\u7247-355-1024x444.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/05\/\u56fe\u7247-355-300x130.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/05\/\u56fe\u7247-355-768x333.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/05\/\u56fe\u7247-355.png 1060w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p><strong>4.3 \u8bc4\u4f30\u7ed3\u679c<\/strong><\/p>\n\n\n\n<p>\u88681\u663e\u793a\u4e86\u8bed\u4e49\u5730\u56fe\u5206\u5272\u7684 IoU \u5f97\u5206\u6bd4\u8f83\u3002DiffMap \u5728\u6240\u6709\u533a\u95f4\u90fd\u663e\u793a\u51fa\u663e\u8457\u7684\u6539\u5584\uff0c\u5c24\u5176\u5728\u8f66\u9053\u5206\u9694\u7ebf\u548c\u884c\u4eba\u6a2a\u9053\u4e0a\u53d6\u5f97\u4e86\u6700\u4f73\u7ed3\u679c\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"278\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/05\/\u56fe\u7247-356-1024x278.png\" alt=\"\" class=\"wp-image-10847\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/05\/\u56fe\u7247-356-1024x278.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/05\/\u56fe\u7247-356-300x81.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/05\/\u56fe\u7247-356-768x208.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/05\/\u56fe\u7247-356.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u88681\uff5cIoU\u5f97\u5206\u6bd4\u8f83<\/p>\n\n\n\n<p>\u5982\u88682\u6240\u793a\uff0cDiffMap\u65b9\u6cd5\u5728\u5e73\u5747\u7cbe\u5ea6\uff08AP\uff09\u65b9\u9762\u4e5f\u6709\u663e\u8457\u63d0\u5347\uff0c\u9a8c\u8bc1\u4e86 DiffMap \u7684\u6709\u6548\u6027\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"288\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/05\/\u56fe\u7247-357-1024x288.png\" alt=\"\" class=\"wp-image-10848\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/05\/\u56fe\u7247-357-1024x288.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/05\/\u56fe\u7247-357-300x84.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/05\/\u56fe\u7247-357-768x216.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/05\/\u56fe\u7247-357.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u88682\uff5cMAP\u5f97\u5206\u6bd4\u8f83<\/p>\n\n\n\n<p>\u5982\u88683\u6240\u793a\uff0c\u5c06DiffMap\u8303\u5f0f\u96c6\u6210\u5230HDMapNet\u4e2d\u65f6\uff0c\u53ef\u4ee5\u89c2\u5bdf\u5230\uff0c\u65e0\u8bba\u662f\u4ec5\u4f7f\u7528\u6444\u50cf\u5934\u8fd8\u662f\u6444\u50cf\u5934-\u6fc0\u5149\u96f7\u8fbe\u878d\u5408\u65b9\u6cd5\uff0cDiffMap\u90fd\u80fd\u63d0\u9ad8HDMapNet\u7684\u6027\u80fd\u3002\u8fd9\u8bf4\u660eDiffMap\u65b9\u6cd5\u5728\u5404\u7c7b\u5206\u5272\u4efb\u52a1\u4e0a\u90fd\u5f88\u6709\u6548\uff0c\u5305\u62ec\u8fdc\u8ddd\u79bb\u548c\u8fd1\u8ddd\u79bb\u68c0\u6d4b\u3002\u7136\u800c\u5bf9\u4e8e\u8fb9\u754c\uff0cDiffMap\u7684\u8868\u73b0\u5e76\u4e0d\u51fa\u8272\uff0c\u8fd9\u662f\u56e0\u4e3a\u8fb9\u754c\u7684\u5f62\u72b6\u7ed3\u6784\u4e0d\u56fa\u5b9a\uff0c\u5b58\u5728\u8bb8\u591a\u96be\u4ee5\u9884\u6d4b\u7684\u626d\u66f2\uff0c\u4ece\u800c\u4f7f\u6355\u6349\u5148\u9a8c\u7ed3\u6784\u7279\u5f81\u53d8\u5f97\u56f0\u96be\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"1014\" height=\"332\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/05\/\u56fe\u7247-358.png\" alt=\"\" class=\"wp-image-10849\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/05\/\u56fe\u7247-358.png 1014w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/05\/\u56fe\u7247-358-300x98.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/05\/\u56fe\u7247-358-768x251.png 768w\" sizes=\"(max-width: 1014px) 100vw, 1014px\" \/><\/figure>\n\n\n\n<p>\u88683\uff5c\u5b9a\u91cf\u5206\u6790\u7ed3\u679c<\/p>\n\n\n\n<p><strong>4.4 \u6d88\u878d\u5b9e\u9a8c<\/strong><\/p>\n\n\n\n<p>\u88684\u663e\u793a\u4e86VQVAE\u4e2d\u4e0d\u540c\u4e0b\u91c7\u6837\u56e0\u5b50\u5bf9\u68c0\u6d4b\u7ed3\u679c\u7684\u5f71\u54cd\u3002\u901a\u8fc7\u5206\u6790DiffMap\u5728\u4e0b\u91c7\u6837\u56e0\u5b50\u4e3a4\u30018\u300116\u65f6\u7684\u884c\u4e3a\u53ef\u4ee5\u770b\u5230\uff0c\u5f53\u4e0b\u91c7\u6837\u56e0\u5b50\u8bbe\u7f6e\u4e3a8x\u65f6\uff0c\u7ed3\u679c\u6700\u4f73\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"915\" height=\"331\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/05\/\u56fe\u7247-359.png\" alt=\"\" class=\"wp-image-10850\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/05\/\u56fe\u7247-359.png 915w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/05\/\u56fe\u7247-359-300x109.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/05\/\u56fe\u7247-359-768x278.png 768w\" sizes=\"(max-width: 915px) 100vw, 915px\" \/><\/figure>\n\n\n\n<p>\u88684\uff5c\u6d88\u878d\u5b9e\u9a8c\u7ed3\u679c<\/p>\n\n\n\n<p>\u6b64\u5916\uff0c\u4f5c\u8005\u8fd8\u6d4b\u91cf\u4e86\u5220\u9664\u4e0e\u5b9e\u4f8b\u76f8\u5173\u7684\u9884\u6d4b\u6a21\u5757\u5bf9\u6a21\u578b\u7684\u5f71\u54cd\uff0c\u5982\u88685\u6240\u793a\u3002\u5b9e\u9a8c\u8868\u660e\uff0c\u6dfb\u52a0\u6b64\u9884\u6d4b\u8fdb\u4e00\u6b65\u63d0\u9ad8\u4e86IOU\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"512\" height=\"197\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/05\/\u56fe\u7247-360.png\" alt=\"\" class=\"wp-image-10851\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/05\/\u56fe\u7247-360.png 512w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/05\/\u56fe\u7247-360-300x115.png 300w\" sizes=\"(max-width: 512px) 100vw, 512px\" \/><\/figure>\n\n\n\n<p>\u88685\uff5c\u6d88\u878d\u5b9e\u9a8c\u7ed3\u679c\uff08\u662f\u5426\u5305\u542b\u9884\u6d4b\u6a21\u5757\uff09<\/p>\n\n\n\n<p><strong>4.5 \u53ef\u89c6\u5316<\/strong><\/p>\n\n\n\n<p>\u56fe4\u5c55\u793a\u4e86DiffMap\u548c\u57fa\u7ebf\uff08HDMapNet-fusion\uff09\u5728\u590d\u6742\u573a\u666f\u4e2d\u7684\u6bd4\u8f83\u3002\u5f88\u660e\u663e\uff0c\u57fa\u7ebf\u7684\u5206\u5272\u7ed3\u679c\u5ffd\u7565\u4e86\u5143\u7d20\u5185\u90e8\u7684\u5f62\u72b6\u5c5e\u6027\u548c\u4e00\u81f4\u6027\u3002\u76f8\u6bd4\u4e4b\u4e0b\uff0cDiffMap\u5c55\u793a\u4e86\u80fd\u591f\u7ea0\u6b63\u8fd9\u4e9b\u95ee\u9898\u7684\u80fd\u529b\uff0c\u4ea7\u751f\u4e0e\u5730\u56fe\u89c4\u8303\u5f88\u597d\u5bf9\u9f50\u7684\u5206\u5272\u8f93\u51fa\u3002\u5177\u4f53\u800c\u8a00\uff0c\u5728\u6848\u4f8b\uff08a\uff09\u3001\uff08b\uff09\u3001\uff08d\uff09\u3001\uff08e\uff09\u3001\uff08h\uff09\u548c\uff08l\uff09\u4e2d\uff0cDiffMap\u6709\u6548\u5730\u7ea0\u6b63\u4e86\u4e0d\u51c6\u786e\u9884\u6d4b\u7684\u4eba\u884c\u6a2a\u9053\u3002\u5728\u6848\u4f8b\uff08c\uff09\u3001\uff08d\uff09\u3001\uff08h\uff09\u3001\uff08i\uff09\u3001\uff08j\uff09\u548c\uff08l\uff09\u4e2d\uff0cDiffMap\u5b8c\u6210\u6216\u5220\u9664\u4e86\u4e0d\u51c6\u786e\u7684\u8fb9\u754c\uff0c\u4f7f\u7ed3\u679c\u66f4\u63a5\u8fd1\u4e8e\u73b0\u5b9e\u7684\u8fb9\u754c\u51e0\u4f55\u3002\u6b64\u5916\uff0c\u5728\u6848\u4f8b\uff08b\uff09\u3001\uff08f\uff09\u3001\uff08g\uff09\u3001\uff08h\uff09\u3001\uff08k\uff09\u548c\uff08l\uff09\u4e2d\uff0cDiffMap\u89e3\u51b3\u4e86\u5206\u9694\u7ebf\u65ad\u88c2\u7684\u95ee\u9898\uff0c\u786e\u4fdd\u4e86\u76f8\u90bb\u5143\u7d20\u7684\u5e73\u884c\u6027\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"831\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/05\/\u56fe\u7247-361-1024x831.png\" alt=\"\" class=\"wp-image-10852\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/05\/\u56fe\u7247-361-1024x831.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/05\/\u56fe\u7247-361-300x243.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/05\/\u56fe\u7247-361-768x623.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/05\/\u56fe\u7247-361.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u56fe4\uff5c\u5b9a\u6027\u5206\u6790\u7ed3\u679c<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"152\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/05\/\u56fe\u7247-362-1024x152.png\" alt=\"\" class=\"wp-image-10853\" 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