{"id":11245,"date":"2024-06-07T17:00:26","date_gmt":"2024-06-07T09:00:26","guid":{"rendered":"http:\/\/192.168.10.115\/?p=11245"},"modified":"2024-06-07T17:00:26","modified_gmt":"2024-06-07T09:00:26","slug":"2024-06-07-delphi%ef%bc%9a%e9%9c%b8%e6%a6%9cnuscenes-ua-track%ef%bc%9a%e7%ab%af%e5%88%b0%e7%ab%afmot%e6%96%b0%e6%96%b9%e6%a1%88%ef%bc%8c%e5%ae%9e%e7%8e%b0%e7%9c%9f%e6%ad%a3%e7%ab%af%e5%88%b0","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2024\/06\/07\/11245\/","title":{"rendered":"2024-06-07 Delphi\uff1a\u9738\u699cNuscenes | UA-Track\uff1a\u7aef\u5230\u7aefMOT\u65b0\u65b9\u6848\uff0c\u5b9e\u73b0\u771f\u6b63\u7aef\u5230\u7aef\u7684\u7b2c\u4e00\u6b65\uff01"},"content":{"rendered":"\n

\u6587\u7ae0\uff1aUA-Track: Uncertainty-Aware End-to-End 3D Multi-Object Tracking
\u94fe\u63a5\uff1ahttps:\/\/arxiv.org\/pdf\/2406.02147
\u4e3b\u9875\uff1ahttps:\/\/liautoad.github.io\/ua-track-website\/<\/p>\n\n\n\n

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

\u56fe1\uff1a3D MOT \u4e2d\u7ecf\u5e38\u9047\u5230\u7684\u4e0d\u786e\u5b9a\u6027\u95ee\u9898<\/p>\n\n\n\n

3D \u591a\u76ee\u6807\u8ddf\u8e2a (MOT) \u662f\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u611f\u77e5\u7684\u91cd\u8981\u7ec4\u6210\u90e8\u5206\u3002\u5728\u52a8\u6001\u73af\u5883\u4e2d\u51c6\u786e\u800c\u7a33\u5065\u5730\u8ddf\u8e2a\u76ee\u6807\u7684\u80fd\u529b\u5bf9\u4e8e\u786e\u4fdd\u5e73\u7a33\u5b89\u5168\u7684\u5bfc\u822a\u548c\u5408\u7406\u7684\u51b3\u7b56\u81f3\u5173\u91cd\u8981\u3002\u4f20\u7edf\u7684 3D MOT \u65b9\u6cd5\u4f9d\u8d56\u4e8e\u68c0\u6d4b\u5668\u7ed3\u679c\uff0c\u8bbe\u8ba1\u6570\u636e\u5173\u8054\u548c\u8f68\u8ff9\u8fc7\u6ee4\u7b49\u540e\u5904\u7406\u6a21\u5757\uff0c\u4ece\u800c\u5bfc\u81f4\u6d41\u7a0b\u590d\u6742\u3002\u4e3a\u4e86\u907f\u514d\u57fa\u4e8e\u68c0\u6d4b\u7684\u8ddf\u8e2a\u5668\u4e2d\u4eba\u4e3a\u7684\u542f\u53d1\u5f0f\u8bbe\u8ba1\uff0c\u7aef\u5230\u7aef\u57fa\u4e8equery\u67e5\u8be2\u7684\u6700\u65b0\u65b9\u6cd5\u5df2\u663e\u793a\u51fa\u901a\u8fc7\u540c\u65f6\u68c0\u6d4b\u548c\u8ddf\u8e2a\u76ee\u6807\u6765\u89e3\u51b3 3D MOT \u4efb\u52a1\u7684\u5de8\u5927\u6f5c\u529b\uff0c\u8fd9\u4e9b\u65b9\u6cd5\u5728\u8ddf\u8e2a\u6027\u80fd\u548c\u6548\u7387\u65b9\u9762\u8868\u73b0\u51fa\u8272\u3002\u7136\u800c\uff0c\u5b83\u4eec\u5047\u8bbe\u5468\u56f4\u4fe1\u606f\u5df2\u5145\u5206\u83b7\u5f97\uff0c\u5e76\u5ffd\u7565\u4e86 3D MOT \u4e2d\u7ecf\u5e38\u9047\u5230\u7684\u4e0d\u786e\u5b9a\u6027\u95ee\u9898\u3002\u5982\u56fe 1 \u6240\u793a\uff0c\u4e4b\u524d\u6700\u5148\u8fdb\u7684\u7aef\u5230\u7aef\u8ddf\u8e2a\u5668 PF-Track [1]\u7f3a\u4e4f\u4e0d\u786e\u5b9a\u6027\u5efa\u6a21\uff0c\u65e0\u6cd5\u5728\u5177\u6709\u4e0d\u786e\u5b9a\u6027\u95ee\u9898\u7684\u590d\u6742\u573a\u666f\u4e2d\u8ddf\u8e2a\u76ee\u6807\u3002<\/p>\n\n\n\n

\u5c3d\u7ba1\u4e0d\u786e\u5b9a\u6027\u95ee\u9898\uff08\u6307\u795e\u7ecf\u7f51\u7edc\u65e0\u6cd5\u63d0\u4f9b\u786e\u5b9a\u6027\u4f30\u8ba1\u6216\u4fe1\u5fc3\u4e0d\u8db3\uff09\u5df2\u5728\u67d0\u4e9b\u9886\u57df\u5f97\u5230\u5e94\u7528\uff0c\u4f8b\u5982\u52a8\u4f5c\u8bc6\u522b\u548c\u4f2a\u88c5\u76ee\u6807\u68c0\u6d4b\u7b49\u9886\u57df\uff0c\u4f46\u5728 3D MOT \u9886\u57df\u5c1a\u672a\u5f97\u5230\u63a2\u7d22\u3002\u7531\u4e8e\u9a7e\u9a76\u573a\u666f\u7684\u590d\u6742\u73af\u5883\u548c\u8ddf\u8e2a\u4efb\u52a1\u7684\u72ec\u7279\u7279\u70b9\uff0c3D MOT \u4e2d\u7684\u4e0d\u786e\u5b9a\u6027\u95ee\u9898\u5c24\u5176\u5177\u6709\u6311\u6218\u6027\uff0c\u4ee5\u524d\u9488\u5bf9\u5176\u4ed6\u7279\u5b9a\u9886\u57df\u7684\u89e3\u51b3\u65b9\u6848\u4e0d\u80fd\u76f4\u63a5\u5e94\u7528\u4e8e\u6b64\u3002\u5728\u9a7e\u9a76\u573a\u666f\u4e2d\uff0c\u73af\u5883\u53ef\u80fd\u975e\u5e38\u590d\u6742\uff0c\u901a\u5e38\u5728\u57ce\u5e02\u9a7e\u9a76\u65f6\uff0c\u8f66\u8f86\u548c\u884c\u4eba\u7b49\u4f17\u591a\u76ee\u6807\u5728\u573a\u666f\u4e2d\u4ea4\u7ec7\uff0c\u5e76\u4e14\u5b83\u4eec\u7684\u8fd0\u52a8\u6a21\u5f0f\u5b58\u5728\u5f88\u5927\u53d8\u5316\u3002\u6b64\u5916\uff0c\u88ab\u8ddf\u8e2a\u7684\u76ee\u6807\u901a\u5e38\u8986\u76d6\u5f88\u5927\u7684\u7a7a\u95f4\u8ddf\u8e2a\u8303\u56f4\u548c\u5f88\u957f\u7684\u65f6\u95f4\u8ddf\u8e2a\u5e8f\u5217\u3002\u56e0\u6b64\uff0c\u7ecf\u5e38\u4f1a\u51fa\u73b0\u906e\u6321\u60c5\u51b5\u548c\u76ee\u6807\u7269\u4f53\u7684\u5c3a\u5bf8\u592a\u5c0f\u60c5\u51b5\uff0c\u8fd9\u901a\u5e38\u4f1a\u5bfc\u81f4\u4e00\u4e9b\u76ee\u6807\u672a\u88ab\u68c0\u6d4b\u6216\u88ab\u906e\u6321\u7684\u8ddf\u8e2a\u4e22\u5931\u3002\u8fd9\u4e9b\u4e0d\u786e\u5b9a\u56e0\u7d20\u5bf9\u5b9e\u73b0\u51c6\u786e\u548c\u9c81\u68d2\u7684 3D MOT \u63d0\u51fa\u4e86\u91cd\u5927\u6311\u6218\u3002<\/p>\n\n\n\n

\u6846\u67b6\u4ecb\u7ecd<\/strong><\/p>\n\n\n\n

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

\u56fe2: UA-Track \u6846\u67b6<\/p>\n\n\n\n

\u6240\u4ee5\uff0c\u5728\u8fd9\u4e2a\u5de5\u4f5c\u4e2d\uff0c\u6211\u4eec\u63d0\u51fa\u4e86\u4e00\u4e2a\u4e0d\u786e\u5b9a\u6027\u611f\u77e5\u7684 3D MOT \u6846\u67b6 UA-Track\uff0c\u5982\u56fe2\uff0c\u4ece\u591a\u4e2a\u65b9\u9762\u89e3\u51b3\u4e0d\u786e\u5b9a\u6027\u95ee\u9898\u3002\u9996\u5148\uff0c\u6211\u4eec\u5f15\u5165\u4e86\u4e00\u4e2a\u4e0d\u786e\u5b9a\u6027\u611f\u77e5\u7684\u6982\u7387\u89e3\u7801\u5668\u6765\u6355\u83b7\u548c\u5efa\u6a21\u5bf9\u8c61\u9884\u6d4b\u8fc7\u7a0b\u4e2d\u7684\u4e0d\u786e\u5b9a\u6027\uff08UPD-\u84dd\u8272\u6a21\u5757\uff09\u3002\u5177\u4f53\u6765\u8bf4\uff0c\u5982\u56fe3\uff0c\u6211\u4eec\u5c06\u6ce8\u610f\u529b\u5f97\u5206\u5efa\u6a21\u4e3a\u9ad8\u65af\u5206\u5e03\u800c\u4e0d\u662f\u786e\u5b9a\u6027\u7684\u8f93\u51fa\uff0c\u4ee5\u91cf\u5316\u9884\u6d4b\u4e0d\u786e\u5b9a\u6027\u3002\u5176\u6b21\uff0c\u6211\u4eec\u63d0\u51fa\u4e86\u4e00\u79cd\u4e0d\u786e\u5b9a\u6027\u5f15\u5bfc\u7684\u67e5\u8be2\u53bb\u566a\u7b56\u7565\u6765\u8fdb\u4e00\u6b65\u6539\u8fdb\u8bad\u7ec3\u8fc7\u7a0b\uff08UQD-\u7eff\u8272\u6a21\u5757\uff09\u3002\u5728\u8bad\u7ec3\u9636\u6bb5\uff0c\u6211\u4eec\u5411\u771f\u5b9e\u8fb9\u754c\u6846\u6dfb\u52a0\u566a\u58f0\u4ee5\u5f62\u6210\u566a\u58f0\u67e5\u8be2\uff0c\u5e76\u6839\u636e\u5176\u4e0d\u786e\u5b9a\u6027\u6c34\u5e73\u6709\u9009\u62e9\u5730\u5bf9\u67e5\u8be2\u8fdb\u884c\u53bb\u566a\uff0c\u4ece\u800c\u589e\u5f3a\u4e86\u8bad\u7ec3\u8fc7\u7a0b\u7684\u9c81\u68d2\u6027\u548c\u5bf9\u4e0d\u786e\u5b9a\u6027\u7684\u6536\u655b\u6027\u3002\u6b64\u5916\uff0c\u6211\u4eec\u63d0\u51fa\u4e86\u51cf\u5c11\u4e0d\u786e\u5b9a\u6027\u7684query\u521d\u59cb\u5316\u6a21\u5757\uff08UQI-\u9ec4\u8272\u6a21\u5757\uff09\uff0c\u8be5\u6a21\u5757\u5229\u7528\u9884\u6d4b\u7684 2D\u76ee\u6807\u4f4d\u7f6e\u548c\u6df1\u5ea6\u4fe1\u606f\uff0c\u51cf\u5c11query\u521d\u59cb\u5316\u7684\u4e0d\u786e\u5b9a\u6027\uff0c\u5373\u901a\u8fc7\u7ed3\u5408\u5b66\u4e60\u5230\u7684\u5148\u9a8c\u77e5\u8bc6\uff0c\u63d0\u9ad8\u521d\u59cbquery\u7684\u51c6\u786e\u6027\uff0c\u4ece\u800c\u83b7\u5f97\u66f4\u53ef\u9760\u7684\u8ddf\u8e2a\u7ed3\u679c\u3002<\/p>\n\n\n\n

\u5173\u952e\u7ec4\u4ef6\u4ecb\u7ecd<\/strong><\/p>\n\n\n\n

UPD\uff08Uncertainty-aware Probabilistic Decoder\uff09\u7ec4\u4ef6<\/strong><\/p>\n\n\n\n

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

\u56fe3: \u4e0d\u786e\u5b9a\u6027\u611f\u77e5\u7684\u6982\u7387\u89e3\u7801\u5668<\/p>\n\n\n\n

\u8be5\u7ec4\u4ef6\u65e8\u5728\u89e3\u51b33D\u591a\u76ee\u6807\u8ddf\u8e2a\uff08MOT\uff09\u4e2d\u7684\u4e0d\u786e\u5b9a\u6027\u95ee\u9898\u3002UPD\u901a\u8fc7\u5f15\u5165\u6982\u7387\u6ce8\u610f\u529b\u673a\u5236\u6765\u6355\u83b7\u548c\u5efa\u6a21\u76ee\u6807\u9884\u6d4b\u8fc7\u7a0b\u4e2d\u7684\u4e0d\u786e\u5b9a\u6027\u3002\u5177\u4f53\u6765\u8bf4\uff0cUPD\u5c06\u4f20\u7edf\u7684\u786e\u5b9a\u6027\u6ce8\u610f\u529b\u5206\u6570\u66ff\u6362\u4e3a\u9ad8\u65af\u5206\u5e03\uff0c\u4ece\u800c\u91cf\u5316\u9884\u6d4b\u7684\u4e0d\u786e\u5b9a\u6027\u3002<\/p>\n\n\n\n

\u5728\u4f20\u7edf\u7684\u53d8\u6362\u5668\u4e2d\uff0c\u6ce8\u610f\u529b\u5206\u6570\u662f\u901a\u8fc7\u786e\u5b9a\u6027\u8ba1\u7b97\u5f97\u5230\u7684\uff0c\u8fd9\u9650\u5236\u4e86\u6a21\u578b\u6709\u6548\u91cf\u5316\u9884\u6d4b\u4e0d\u786e\u5b9a\u6027\u7684\u80fd\u529b\u3002\u4e3a\u4e86\u89e3\u51b3\u8fd9\u4e2a\u95ee\u9898\uff0cUPD\u91c7\u7528\u591a\u5c42\u611f\u77e5\u673a\uff08MLP\uff09\u6765\u62df\u5408\u67e5\u8be2\uff08q\uff09\u548c\u952e\uff08k\uff09\u7684\u5747\u503c\uff08\u00b5\uff09\u548c\u6807\u51c6\u5dee\uff08\u03c3\uff09\uff0c\u4ece\u800c\u6784\u5efa\u9ad8\u65af\u5206\u5e03\u3002\u901a\u8fc7\u91cd\u53c2\u6570\u5316\u6280\u5de7\uff0c\u4ece\u6784\u5efa\u7684\u9ad8\u65af\u5206\u5e03\u4e2d\u91c7\u6837\u5f97\u5230\u6ce8\u610f\u529b\u503c\u03b1\u3002<\/p>\n\n\n\n

UPD\u7684\u4e3b\u8981\u8d21\u732e\u5305\u62ec\uff1a<\/p>\n\n\n\n

    \n
  1. \u901a\u8fc7\u6982\u7387\u6ce8\u610f\u529b\u673a\u5236\uff0c\u5c06\u6ce8\u610f\u529b\u5206\u6570\u8868\u793a\u4e3a\u9ad8\u65af\u5206\u5e03\uff0c\u589e\u5f3a\u4e86\u6a21\u578b\u5728\u5904\u74063D MOT\u4e2d\u7684\u53d8\u5f02\u548c\u566a\u58f0\u65f6\u7684\u9c81\u68d2\u6027\u3002<\/li>\n\n\n\n
  2. \u5f15\u5165\u4e86\u5747\u503c\uff08\u00b5\uff09\u548c\u6807\u51c6\u5dee\uff08\u03c3\uff09\u8fd9\u4e24\u4e2a\u4e0d\u786e\u5b9a\u6027\u53c2\u6570\uff0c\u5141\u8bb8\u5728\u8bad\u7ec3\u8fc7\u7a0b\u4e2d\u9002\u5e94\u4e0d\u786e\u5b9a\u6027\u3002<\/li>\n\n\n\n
  3. \u4f7f\u7528\u7f29\u653e\u70b9\u79ef\u6ce8\u610f\u529b\u6765\u7ea6\u675f\u6982\u7387\u6ce8\u610f\u529b\uff0c\u5e76\u91c7\u7528\u8d1f\u5bf9\u6570\u4f3c\u7136\u635f\u5931\u6765\u76d1\u7763\u89e3\u7801\u5668\u3002<\/li>\n<\/ol>\n\n\n\n

    \u901a\u8fc7\u8fd9\u79cd\u65b9\u5f0f\uff0cUPD\u80fd\u591f\u6709\u6548\u5730\u6355\u6349\u76ee\u6807\u5728\u590d\u6742\u9a7e\u9a76\u573a\u666f\u4e2d\u7684\u8f68\u8ff9\u53d8\u5316\uff0c\u7279\u522b\u662f\u5728\u76ee\u6807\u5c3a\u5bf8\u548c\u53ef\u89c1\u6027\u53d8\u5316\u8f83\u5927\u65f6\uff0c\u5982\u5927\u578b\u5361\u8f66\u548c\u5c0f\u5b69\u7b49\u4e0d\u540c\u5927\u5c0f\u7684\u76ee\u6807\uff0c\u4ee5\u53ca\u5728\u906e\u6321\u60c5\u51b5\u4e0b\u7684\u76ee\u6807\u3002\u8fd9\u4f7f\u5f97UA-Track\u6846\u67b6\u80fd\u591f\u5728\u5b58\u5728\u4e0d\u786e\u5b9a\u6027\u56e0\u7d20\u7684\u60c5\u51b5\u4e0b\uff0c\u5982\u906e\u6321\u548c\u5c0f\u76ee\u6807\u5c3a\u5bf8\uff0c\u5b9e\u73b0\u66f4\u51c6\u786e\u548c\u9c81\u68d2\u76843D\u591a\u76ee\u6807\u8ddf\u8e2a\u3002<\/p>\n\n\n\n

      \n
    • UQD \uff08Uncertainty-guided Query Denoising\uff09\u7ec4\u4ef6<\/strong><\/li>\n<\/ul>\n\n\n\n

      UQD\u65e8\u5728\u589e\u5f3a\u6a21\u578b\u5728\u8bad\u7ec3\u8fc7\u7a0b\u4e2d\u5bf9\u4e0d\u786e\u5b9a\u6027\u7684\u9c81\u68d2\u6027\u548c\u6536\u655b\u6027\u3002UQD\u901a\u8fc7\u67e5\u8be2\u53bb\u566a\u7b56\u7565\u6765\u5e94\u5bf93D\u591a\u76ee\u6807\u8ddf\u8e2a\uff08MOT\uff09\u4e2d\u7684\u590d\u6742\u60c5\u51b5\uff0c\u5982\u906e\u6321\u548c\u5c0f\u76ee\u6807\u5c3a\u5bf8\uff0c\u8fd9\u4e9b\u60c5\u51b5\u53ef\u80fd\u4f1a\u663e\u8457\u963b\u788d\u57fa\u4e8e\u67e5\u8be2\u7684\u65b9\u6cd5\u7684\u5b66\u4e60\u8fc7\u7a0b\u548c\u5feb\u901f\u6536\u655b\u3002<\/p>\n\n\n\n

      UQD\u7ec4\u4ef6\u7684\u4e3b\u8981\u7279\u70b9\u548c\u8d21\u732e\u5305\u62ec\uff1a<\/p>\n\n\n\n

        \n
      1. \u566a\u58f0\u67e5\u8be2\u751f\u6210<\/strong>\uff1a\u901a\u8fc7\u6270\u52a8\u771f\u5b9e\u6807\u6ce8\u6846\uff08ground truth boxes\uff09\u6765\u751f\u6210\u5e26\u6709\u566a\u58f0\u7684\u67e5\u8be2\uff08noised queries\uff09\uff0c\u6a21\u62df\u8bad\u7ec3\u8fc7\u7a0b\u4e2d\u53ef\u80fd\u9047\u5230\u7684\u4e0d\u786e\u5b9a\u6027\u3002<\/li>\n\n\n\n
      2. \u4e0d\u786e\u5b9a\u6027\u9608\u503c<\/strong>\uff1a\u5b9a\u4e49\u4e86\u4e0d\u786e\u5b9a\u6027\u7684\u4e0a\u4e0b\u754c\u9608\u503c\uff08\u03b2lower \u548c \u03b2upper\uff09\uff0c\u6839\u636e\u8fd9\u4e9b\u9608\u503c\u5c06\u566a\u58f0\u67e5\u8be2\u5206\u7c7b\u4e3a\u4e09\u7c7b\uff1a\u4f4e\u4e0d\u786e\u5b9a\u6027\u7684\u6b63\u6837\u672c\uff08Pos\uff09\u3001\u9ad8\u4e0d\u786e\u5b9a\u6027\u7684\u8d1f\u6837\u672c\uff08Neg\uff09\u4ee5\u53ca\u4e0d\u786e\u5b9a\u6027\u6c34\u5e73\u5c45\u4e2d\u7684\u6837\u672c\uff08Ign\uff09\u3002\u6b63\u6837\u672c\u662f\u90a3\u4e9b\u4e0e\u771f\u5b9e\u6807\u6ce8\u6846\u76843D\u4ea4\u5e76\u6bd4\uff08IoU\uff09\u8d85\u8fc7\u03b2upper\u9608\u503c\u7684\u67e5\u8be2\uff0c\u800c\u8d1f\u6837\u672c\u662fIoU\u4f4e\u4e8e\u03b2lower\u9608\u503c\u7684\u67e5\u8be2\u3002\u5ffd\u7565\uff08Ign\uff09\u90a3\u4e9b\u4e0d\u786e\u5b9a\u6027\u6c34\u5e73\u4e0d\u660e\u786e\u7684\u67e5\u8be2\uff0c\u4ee5\u907f\u514d\u5e72\u6270\u6b63\u5e38\u7684\u67e5\u8be2\u5b66\u4e60\u8fc7\u7a0b\u3002<\/li>\n\n\n\n
      3. \u9009\u62e9\u6027\u53bb\u566a<\/strong>\uff1a\u57fa\u4e8e\u4e0d\u786e\u5b9a\u6027\u6c34\u5e73\uff0c\u9009\u62e9\u6027\u5730\u5bf9\u67e5\u8be2\u8fdb\u884c\u53bb\u566a\u5904\u7406\u3002\u8fd9\u4e00\u7b56\u7565\u6709\u52a9\u4e8e\u6a21\u578b\u4e13\u6ce8\u4e8e\u90a3\u4e9b\u6700\u9700\u8981\u6539\u8fdb\u7684\u67e5\u8be2\uff0c\u4ece\u800c\u63d0\u9ad8\u8bad\u7ec3\u7684\u7a33\u5b9a\u6027\u548c\u6548\u7387\u3002<\/li>\n\n\n\n
      4. \u635f\u5931\u51fd\u6570\u8bbe\u8ba1<\/strong>\uff1a\u4e3a\u6b63\u6837\u672c\u548c\u8d1f\u6837\u672c\u8ba1\u7b97\u635f\u5931\uff0c\u4ee5\u5f62\u6210\u4f18\u5316\u76ee\u6807\u3002\u8fd9\u5305\u62ec\u7528\u4e8e\u5206\u7c7b\u548c\u8fb9\u754c\u6846\u635f\u5931\u7684\u7126\u70b9\u635f\u5931\uff08focal loss\uff09\u548cL1\u635f\u5931\uff0c\u4ee5\u53ca\u7528\u4e8e\u533a\u5206\u80cc\u666f\u7684\u8d1f\u6837\u672c\u5206\u7c7b\u7684\u7126\u70b9\u635f\u5931\u3002<\/li>\n\n\n\n
      5. \u6ce8\u610f\u529b\u63a9\u7801<\/strong>\uff1a\u5e94\u7528\u6ce8\u610f\u529b\u63a9\u7801\u6765\u5206\u79bb\u5339\u914d\u90e8\u5206\u548c\u53bb\u566a\u90e8\u5206\uff0c\u9632\u6b62\u4fe1\u606f\u6cc4\u9732\uff0c\u786e\u4fdd\u6a21\u578b\u5728\u53bb\u566a\u8fc7\u7a0b\u4e2d\u80fd\u591f\u6b63\u786e\u5730\u5b66\u4e60\u548c\u66f4\u65b0\u3002<\/li>\n<\/ol>\n\n\n\n

        \u901a\u8fc7UQD\u7ec4\u4ef6\uff0cUA-Track\u6846\u67b6\u80fd\u591f\u5728\u8bad\u7ec3\u65f6\u66f4\u52a0\u9c81\u68d2\u5730\u5904\u7406\u4e0d\u786e\u5b9a\u6027\uff0c\u63d0\u9ad8\u6a21\u578b\u5bf9\u906e\u6321\u548c\u5c0f\u76ee\u6807\u5c3a\u5bf8\u7b49\u590d\u6742\u60c5\u51b5\u7684\u5904\u7406\u80fd\u529b\uff0c\u4ece\u800c\u57283D MOT\u4efb\u52a1\u4e2d\u53d6\u5f97\u66f4\u597d\u7684\u8ddf\u8e2a\u6027\u80fd\u3002<\/p>\n\n\n\n

          \n
        • UQI \uff08Uncertainty-reduced Query Initialization\uff09\u7ec4\u4ef6<\/strong><\/li>\n<\/ul>\n\n\n\n

          UQI\u4e13\u6ce8\u4e8e\u6539\u5584\u67e5\u8be2\u521d\u59cb\u5316\u9636\u6bb5\u7684\u4e0d\u786e\u5b9a\u6027\uff0c\u4ece\u800c\u63d0\u9ad8\u76ee\u6807\u8ddf\u8e2a\u7684\u7cbe\u5ea6\u548c\u5feb\u901f\u6536\u655b\u3002\u5728\u591a\u76ee\u6807\u8ddf\u8e2a\u4e2d\uff0c\u5c24\u5176\u662f\u5728\u5b58\u5728\u906e\u6321\u548c\u5c0f\u76ee\u6807\u5c3a\u5bf8\u7b49\u590d\u6742\u60c5\u51b5\u4e0b\uff0c\u9ad8\u8d28\u91cf\u7684\u521d\u59cb\u67e5\u8be2\u5bf9\u4e8e\u5b9e\u73b0\u7cbe\u786e\u7684\u8ddf\u8e2a\u81f3\u5173\u91cd\u8981\u3002<\/p>\n\n\n\n

          UQI\u6a21\u5757\u7684\u4e3b\u8981\u7279\u70b9\u548c\u8d21\u732e\u5305\u62ec\uff1a<\/p>\n\n\n\n

            \n
          1. \u8f85\u52a9\u4efb\u52a1<\/strong>\uff1a\u5f15\u5165\u989d\u5916\u7684\u8f85\u52a9\u4efb\u52a1\uff0c\u5305\u62ec2D\u68c0\u6d4b\u548c\u6df1\u5ea6\u9884\u6d4b\uff0c\u4ee5\u5229\u7528\u4ece\u7f51\u7edc\u8bad\u7ec3\u4e2d\u5b66\u5230\u7684\u5148\u9a8c\u77e5\u8bc6\u3002<\/li>\n\n\n\n
          2. \u7279\u5f81\u63d0\u53d6<\/strong>\uff1a\u4f7f\u7528\u5171\u4eab\u56fe\u50cf\u4e3b\u5e72\u548c\u7279\u5f81\u91d1\u5b57\u5854\u7f51\u7edc\uff08FPN\uff09\u5c42\u4ece\u6bcf\u4e2a\u6444\u50cf\u5934\u63d0\u53d6\u56fe\u50cf\u7279\u5f81\u3002<\/li>\n\n\n\n
          3. \u6df1\u5ea6\u7f51\u7edc<\/strong>\uff1a\u7ed3\u5408\u591a\u4e2a\u6b8b\u5dee\u5757\u6784\u5efa\u6df1\u5ea6\u7f51\u7edc\uff0c\u5e76\u4f7f\u7528\u6295\u5f71\u7684\u6fc0\u5149\u96f7\u8fbe\u70b9\u8fdb\u884c\u76d1\u7763\uff0c\u4ee5\u9884\u6d4b\u6df1\u5ea6\u4fe1\u606f\u3002<\/li>\n\n\n\n
          4. \u5750\u6807\u8f6c\u6362<\/strong>\uff1a\u901a\u8fc7\u5750\u6807\u8f6c\u6362\u4f30\u8ba13D\u4f4d\u7f6e\uff0c\u5c062D\u8fb9\u754c\u6846\u548c\u6df1\u5ea6\u4fe1\u606f\u8f6c\u6362\u4e3a\u76f8\u673a\u5750\u6807\u7cfb\u5230\u6fc0\u5149\u96f7\u8fbe\u5750\u6807\u7cfb\u7684\u8f6c\u6362\u77e9\u9635\u548c\u76f8\u673a\u7684\u5185\u5728\u53c2\u6570\u3002<\/li>\n\n\n\n
          5. \u67e5\u8be2\u521d\u59cb\u5316<\/strong>\uff1a\u5229\u7528\u9884\u6d4b\u76842D\u5bf9\u8c61\u4f4d\u7f6e\u548c\u6df1\u5ea6\u4fe1\u606f\u521d\u59cb\u5316\u5bf9\u8c61\u67e5\u8be2\uff0c\u51cf\u5c11\u67e5\u8be2\u521d\u59cb\u5316\u9636\u6bb5\u7684\u4e0d\u786e\u5b9a\u6027\u3002<\/li>\n\n\n\n
          6. \u968f\u673a\u521d\u59cb\u5316\u4fdd\u7559<\/strong>\uff1a\u9664\u4e86\u57fa\u4e8e\u5b66\u4e60\u7684\u521d\u59cb\u5316\u5916\uff0c\u8fd8\u4fdd\u7559\u968f\u673a\u521d\u59cb\u5316\u4ee5\u63a2\u7d22\u53ef\u80fd\u9057\u6f0f\u7684\u5bf9\u8c61\u3002<\/li>\n\n\n\n
          7. \u4f18\u5316\u76ee\u6807<\/strong>\uff1a\u4e3a\u4e24\u4e2a\u8f85\u52a9\u4efb\u52a1\u5b9a\u4e49\u4e86\u4f18\u5316\u76ee\u6807\uff0c\u5305\u62ec2D\u68c0\u6d4b\u635f\u5931\u548c\u6df1\u5ea6\u635f\u5931\u3002<\/li>\n<\/ol>\n\n\n\n

            \u901a\u8fc7UQI\u6a21\u5757\uff0cUA-Track\u80fd\u591f\u5728\u67e5\u8be2\u521d\u59cb\u5316\u9636\u6bb5\u5c31\u51cf\u5c11\u4e0d\u786e\u5b9a\u6027\uff0c\u63d0\u9ad8\u521d\u59cb\u5bf9\u8c61\u5b9a\u4f4d\u7684\u51c6\u786e\u6027\uff0c\u4ece\u800c\u5728\u6574\u4e2a\u8ddf\u8e2a\u8fc7\u7a0b\u4e2d\u5b9e\u73b0\u66f4\u53ef\u9760\u7684\u8ddf\u8e2a\u7ed3\u679c\u3002\u8fd9\u79cd\u521d\u59cb\u5316\u7b56\u7565\u6709\u52a9\u4e8e\u63d0\u9ad8\u6a21\u578b\u5bf9\u4e8e\u906e\u6321\u548c\u5c0f\u76ee\u6807\u5c3a\u5bf8\u7b49\u590d\u6742\u60c5\u51b5\u7684\u9c81\u68d2\u6027\uff0c\u8fdb\u800c\u57283D\u591a\u76ee\u6807\u8ddf\u8e2a\u4efb\u52a1\u4e2d\u53d6\u5f97\u66f4\u597d\u7684\u6027\u80fd\u3002<\/p>\n\n\n\n

            nuScenes\u6570\u636e\u91cf\u5316\u6307\u6807<\/strong><\/h2>\n\n\n\n

            \u6211\u4eec\u5728nuScenes \u4e0a\u7684\u5b9e\u9a8c\u7ed3\u679c\u8bc1\u660e\u4e86\u6211\u4eec\u7684 UA-Track \u6846\u67b6\u7684\u6709\u6548\u6027\u3002\u5b83\u5728\u6d4b\u8bd5\u96c6\u4e2d\u4ee5\u4ee4\u4eba\u5370\u8c61\u6df1\u523b\u7684 66.3% AMOTA \u5b9e\u73b0\u4e86\u6700\u5148\u8fdb\u7684\u6027\u80fd\uff0c\u8fdc\u8fdc\u8d85\u8fc7\u4e86\u4e4b\u524d\u6700\u597d\u7684\u7aef\u5230\u7aef\u89e3\u51b3\u65b9\u6848 8.9% AMOTA\u3002\u8fd9\u4e9b\u7ed3\u679c\u5f3a\u8c03\u4e86\u89e3\u51b3 3D MOT \u4e2d\u4e0d\u786e\u5b9a\u6027\u95ee\u9898\u7684\u91cd\u8981\u6027\uff0c\u5e76\u5c55\u793a\u4e86\u6211\u4eec\u7684\u4e0d\u786e\u5b9a\u6027\u611f\u77e5\u6846\u67b6\u5728\u63a8\u52a8\u81ea\u52a8\u9a7e\u9a76\u611f\u77e5\u9886\u57df\u53d1\u5c55\u7684\u6f5c\u529b\u3002<\/p>\n\n\n\n

            \u603b\u7ed3<\/strong><\/h2>\n\n\n\n

            \u5728\u672c\u6587\u4e2d\uff0c\u6211\u4eec\u63d0\u51fa\u4e86\u4e00\u4e2a\u540d\u4e3aUA-Track\u7684\u4e0d\u786e\u5b9a\u6027\u611f\u77e5\u76843D\u591a\u76ee\u6807\u8ddf\u8e2a\u6846\u67b6\uff0c\u5b83\u4ece\u591a\u4e2a\u65b9\u9762\u6709\u6548\u89e3\u51b3\u4e863D MOT\u4e2d\u7684\u4e0d\u786e\u5b9a\u6027\u95ee\u9898\u3002\u6211\u4eec\u7684\u6846\u67b6\u7a81\u51fa\u4e86\u89e3\u51b33D MOT\u4e2d\u4e0d\u786e\u5b9a\u6027\u95ee\u9898\u7684\u91cd\u8981\u6027\uff0c\u5c24\u5176\u662f\u76ee\u6807\u5bf9\u8c61\u7684\u906e\u6321\u548c\u5c0f\u5c3a\u5bf8\u95ee\u9898\uff0c\u5e76\u5c55\u793a\u4e86\u5176\u5728\u63a8\u8fdb\u81ea\u52a8\u9a7e\u9a76\u611f\u77e5\u65b9\u9762\u7684\u6f5c\u529b\u3002\u5c3d\u7ba1\u6211\u4eec\u7684\u65b9\u6cd5\u5728\u4e09\u4e2a\u65b9\u9762\u6709\u6548\u5730\u6a21\u62df\u4e86\u4e0d\u786e\u5b9a\u6027\uff0c\u4f46\u6211\u4eec\u9f13\u52b1\u672a\u6765\u7684\u7814\u7a76\u53ef\u4ee5\u5f00\u53d1\u66f4\u5f3a\u5927\u7684\u6846\u67b6\uff0c\u4ee5\u8fdb\u4e00\u6b65\u91cf\u5316\u548c\u89e3\u51b3\u66f4\u591a\u7684\u4e0d\u786e\u5b9a\u6027\u95ee\u9898\u3002\u6211\u4eec\u5e0c\u671b\u6211\u4eec\u7684\u5de5\u4f5c\u80fd\u591f\u542f\u53d1\u672a\u6765\u5173\u4e8e\u4e0d\u786e\u5b9a\u6027\u95ee\u9898\u7684\u7814\u7a76\u3002<\/p>\n\n\n\n

            \u6b64\u5916\uff0c\u6211\u4eec\u8fd8\u63d0\u4f9b\u4e86\u4e00\u4e9b\u989d\u5916\u7684\u7ec6\u8282\u548c\u7ed3\u679c\uff0c\u5305\u62ec\u6df1\u5ea6\u7f51\u7edc\u7684\u7ec6\u8282\u3001\u4e0d\u786e\u5b9a\u6027\u5206\u6790\u7684\u7ec6\u8282\u3001\u68c0\u6d4b\u7ed3\u679c\u3001\u63a8\u7406\u5ef6\u8fdf\u548c\u9644\u52a0\u53ef\u89c6\u5316\u6548\u679c\u3002\u8fd9\u4e9b\u989d\u5916\u7684\u4fe1\u606f\u8fdb\u4e00\u6b65\u8bc1\u660e\u4e86\u6211\u4eec\u65b9\u6cd5\u7684\u6709\u6548\u6027\u548c\u5b9e\u7528\u6027\u3002<\/p>\n\n\n\n

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

            \u88681:nuScene\u9a8c\u8bc1\u96c6\u7ed3\u679c<\/p>\n\n\n\n

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

            \u88682:nuScene\u6d4b\u8bd5\u96c6\u7ed3\u679c<\/p>\n\n\n\n

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

            \u88683:\u6d88\u878d\u7ed3\u679c\u4ee5\u53ca\u4e0d\u786e\u5b9a\u7684\u91cf\u5316\u7ed3\u679c<\/p>\n\n\n\n

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

            \u56fe4:\u53ef\u89c6\u5316\u7ed3\u679c<\/p>\n\n\n\n

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

            \u30101\u3011Pang, Z., Li, J., Tokmakov, P., Chen, D., Zagoruyko, S., Wang, Y.X.: Standing between past and future: Spatio-temporal modeling for multi-camera 3d multi- object tracking. In: Proceedings of the IEEE\/CVF Conference on Computer Vision and Pattern Recognition. pp. 17928\u201317938 (2023)<\/p>\n","protected":false},"excerpt":{"rendered":"

            \u6587\u7ae0\uff1aUA-Track: Uncertaint […]<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[3,1],"tags":[],"class_list":["post-11245","post","type-post","status-publish","format-standard","hentry","category-technology-frontier","category-home"],"views":0,"_links":{"self":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/11245"}],"collection":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/comments?post=11245"}],"version-history":[{"count":1,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/11245\/revisions"}],"predecessor-version":[{"id":11255,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/11245\/revisions\/11255"}],"wp:attachment":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/media?parent=11245"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/categories?post=11245"},{"taxonomy":"post_tag","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/tags?post=11245"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}