{"id":11830,"date":"2024-06-20T16:59:09","date_gmt":"2024-06-20T08:59:09","guid":{"rendered":"http:\/\/192.168.10.115\/?p=11830"},"modified":"2024-06-20T16:59:09","modified_gmt":"2024-06-20T08:59:09","slug":"2024-06-20-%e9%87%8d%e6%96%b0%e5%ae%9a%e4%b9%89%e7%ab%af%e5%88%b0%e7%ab%af%e8%87%aa%e5%8a%a8%e9%a9%be%e9%a9%b6%ef%bc%81sparsedrive%ef%bc%9a%e6%89%80%e6%9c%89%e4%bb%bb%e5%8a%a1%e9%83%bd%e8%b6%85","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2024\/06\/20\/11830\/","title":{"rendered":"2024-06-20 \u91cd\u65b0\u5b9a\u4e49\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76\uff01SparseDrive\uff1a\u6240\u6709\u4efb\u52a1\u90fd\u8d85\u8fc7\u73b0\u6709SOTA\uff08\u6e05\u534e&amp;\u5730\u5e73\u7ebf\uff09"},"content":{"rendered":"\n<p>\u8bba\u6587\u94fe\u63a5\uff1ahttps:\/\/arxiv.org\/pdf\/2405.19620<br>github\u94fe\u63a5: https:\/\/github.com\/swc-17\/SparseDrive<\/p>\n\n\n\n<p>\u4e0d\u5f97\u4e0d\u8bf4\uff0c\u5730\u5e73\u7ebf\u771f\u7684\u5f88\u559c\u6b22\u5728\u5728sparse\u4e0a\u505a\u6587\u7ae0\uff01\u4e4b\u524d\u5f00\u6e90\u76843D\u76ee\u6807\u68c0\u6d4b\u5de5\u4f5c&#8221;Sparse4D&#8221;\uff0c\u65e0\u8bba\u662f\u6027\u80fd\u8fd8\u662f\u90e8\u7f72\u7aef\u7684\u53cb\u597d\u7a0b\u5ea6\uff0c\u90fd\u5728\u4e1a\u5185\u4e0d\u5c0f\u7684\u53cd\u54cd\u3002\u8fd9\u7bc7\u8bba\u6587\uff0c\u5730\u5e73\u7ebf\u53c8\u901a\u8fc7\u7a00\u758f\u7684\u573a\u666f\u8868\u8fbe\uff0c\u5b9e\u73b0\u7aef\u5230\u7aef\u7684\u81ea\u52a8\u9a7e\u9a76\uff0c\u8fbe\u5230 SOTA\u3002\u547d\u540d\u4e3a&#8221;<strong>SparseDrive<\/strong>&#8220;!<\/p>\n\n\n\n<p>\u5728\u7aef\u5230\u7aef\u706b\u70ed\u8d77\u6765\u4e4b\u524d\uff0c\u6210\u719f\u7684\u6a21\u5757\u5316\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u88ab\u5206\u89e3\u4e3a\u4e0d\u540c\u7684\u72ec\u7acb\u4efb\u52a1\uff0c\u4f8b\u5982\u611f\u77e5\u3001\u9884\u6d4b\u548c\u89c4\u5212\uff0c\u4ece\u800c\u5bfc\u81f4\u6a21\u5757\u95f4\u4fe1\u606f\u4e22\u5931\u548c\u9519\u8bef\u7d2f\u79ef\u3002\u76f8\u6bd4\u4e4b\u4e0b\uff0c\u7aef\u5230\u7aef\u8303\u5f0f\u5c06\u591a\u4efb\u52a1\u7edf\u4e00\u5230\u4e00\u4e2a\u5b8c\u5168\u53ef\u5fae\u5206\u7684\u6846\u67b6\u4e2d\uff0c\u4ece\u800c\u5141\u8bb8\u4ee5\u89c4\u5212\u4e3a\u5bfc\u5411\u8fdb\u884c\u4f18\u5316\u3002\u5c3d\u7ba1\u7aef\u5230\u7aef\u8303\u5f0f\u5177\u6709\u5de8\u5927\u6f5c\u529b\uff0c\u4f46\u73b0\u6709\u65b9\u6cd5\u7684\u6027\u80fd\u548c\u6548\u7387\u90fd\u4e0d\u4ee4\u4eba\u6ee1\u610f\uff0c\u7279\u522b\u662f\u5728\u89c4\u5212\u5b89\u5168\u65b9\u9762\u3002\u4f5c\u8005\u5c06\u5176\u5f52\u56e0\u4e8e\u8ba1\u7b97\u6210\u672c\u9ad8\u6602\u7684 BEV \u7279\u5f81\u4ee5\u53ca\u8f83\u4e3a\u7b80\u5355\u7684\u9884\u6d4b\u548c\u89c4\u5212\u8bbe\u8ba1\u3002\u4e3a\u6b64\uff0c\u4f5c\u8005\u63a2\u7d22\u4e86\u7a00\u758f\u8868\u793a\u5e76\u56de\u987e\u4e86\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76\u7684\u4efb\u52a1\u8bbe\u8ba1\uff0c\u63d0\u51fa\u4e86\u4e00\u4e2a\u540d\u4e3a SparseDrive \u7684\u65b0\u8303\u5f0f\u3002\u5177\u4f53\u70b9\u8bf4\uff0cSparseDrive \u7531\u5bf9\u79f0\u7a00\u758f\u611f\u77e5\u6a21\u5757\u548c\u5e76\u884c\u8fd0\u52a8\u89c4\u5212\u5668\u7ec4\u6210\u3002\u7a00\u758f\u611f\u77e5\u6a21\u5757\u5c06\u68c0\u6d4b\u3001\u8ddf\u8e2a\u548c\u5728\u7ebf\u5efa\u56fe\u4e0e\u5bf9\u79f0\u6a21\u578b\u67b6\u6784\u7edf\u4e00\u8d77\u6765\uff0c\u5b66\u4e60\u9a7e\u9a76\u573a\u666f\u7684<strong>\u5b8c\u5168\u7a00\u758f\u8868\u793a<\/strong>\u3002\u5bf9\u4e8e\u8fd0\u52a8\u9884\u6d4b\u548c\u89c4\u5212\uff0c\u6211\u4eec\u53d1\u73b0\u8fd9\u4e24\u4e2a\u4efb\u52a1\u4e4b\u95f4\u7684\u5de8\u5927\u76f8\u4f3c\u6027\uff0c\u4ece\u800c\u4e3a\u8fd0\u52a8\u89c4\u5212\u5668\u63d0\u51fa\u4e86\u4e00\u4e2a\u5e76\u884c\u8bbe\u8ba1\u3002\u57fa\u4e8e\u8fd9\u79cd\u5c06\u89c4\u5212\u5efa\u6a21\u4e3a\u591a\u6a21\u6001\u95ee\u9898\u7684\u5e76\u884c\u8bbe\u8ba1\uff0c\u4f5c\u8005\u63d0\u51fa\u4e86\u4e00\u79cd\u5206\u5c42\u89c4\u5212\u9009\u62e9\u7b56\u7565\uff0c\u8be5\u7b56\u7565\u7ed3\u5408\u4e86\u78b0\u649e\u611f\u77e5\u91cd\u65b0\u8bc4\u5206\u6a21\u5757\uff0c\u4ee5\u9009\u62e9\u5408\u7406\u4e14\u5b89\u5168\u7684\u8f68\u8ff9\u4f5c\u4e3a\u6700\u7ec8\u89c4\u5212\u8f93\u51fa\u3002\u51ed\u501f\u8fd9\u79cd\u6709\u6548\u7684\u8bbe\u8ba1\uff0cSparseDrive \u5728\u6240\u6709\u4efb\u52a1\u7684\u6027\u80fd\u4e0a\u90fd\u5b9e\u73b0 SOTA\uff0c\u540c\u65f6\u5b9e\u73b0\u4e86\u66f4\u9ad8\u7684\u8bad\u7ec3\u548c\u63a8\u7406\u6548\u7387\u3002<\/p>\n\n\n\n<p><strong>\u4e3a\u4ec0\u4e48\u8981\u505a\uff1f<\/strong><\/p>\n\n\n\n<p>\u4e3a\u4e86\u5145\u5206\u5229\u7528\u7aef\u5230\u7aef\u8303\u5f0f\u7684\u6f5c\u529b\uff0c\u4f5c\u8005\u56de\u987e\u4e86\u73b0\u6709\u65b9\u6cd5\u7684\u4efb\u52a1\u8bbe\u8ba1\uff0c\u5e76\u8ba4\u4e3a\u8fd0\u52a8\u9884\u6d4b\u548c\u89c4\u5212\u4e4b\u95f4\u6709\u4e09\u4e2a\u4e3b\u8981\u76f8\u4f3c\u4e4b\u5904\u88ab\u5ffd\u7565\u4e86\uff1a<\/p>\n\n\n\n<ul 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SparseDrive\uff0c\u4e00\u79cd\u4ee5\u7a00\u758f\u4e3a\u4e2d\u5fc3\u7684\u8303\u4f8b\uff0c<\/li>\n<\/ul>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"461\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-216-1024x461.png\" alt=\"\" class=\"wp-image-11831\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-216-1024x461.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-216-300x135.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-216-768x346.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-216.png 1030w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u5982\u4e0a\u56fe\u6240\u793a\uff0cSparseDrive 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class=\"wp-block-list\">\n<li>\u6211\u4eec\u63a2\u7d22\u4e86\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76\u7684\u7a00\u758f\u573a\u666f\u8868\u793a\uff0c\u5e76\u63d0\u51fa\u4e86\u4e00\u79cd\u4ee5\u7a00\u758f\u4e3a\u4e2d\u5fc3\u7684\u8303\u5f0f SparseDrive\uff0c\u5b83\u5c06\u591a\u4e2a\u4efb\u52a1\u4e0e\u7a00\u758f\u5b9e\u4f8b\u8868\u793a\u7edf\u4e00\u8d77\u6765\u3002<\/li>\n\n\n\n<li>\u6211\u4eec\u4fee\u6539\u4e86\u8fd0\u52a8\u9884\u6d4b\u548c\u89c4\u5212\u4e4b\u95f4\u7684\u5de8\u5927\u76f8\u4f3c\u6027\uff0c\u76f8\u5e94\u5730\u5e26\u6765\u4e86\u8fd0\u52a8\u89c4\u5212\u5668\u7684\u5e76\u884c\u8bbe\u8ba1\u3002\u6211\u4eec\u8fdb\u4e00\u6b65\u63d0\u51fa\u4e86\u4e00\u79cd\u5206\u5c42\u89c4\u5212\u9009\u62e9\u7b56\u7565\uff0c\u5176\u4e2d\u5305\u542b\u4e00\u4e2a\u78b0\u649e\u611f\u77e5\u91cd\u65b0\u8bc4\u5206\u6a21\u5757\uff0c\u4ee5\u63d0\u9ad8\u89c4\u5212\u6027\u80fd\u3002<\/li>\n\n\n\n<li>\u5728\u5177\u6709 nuScenes \u6570\u636e\u96c6\u4e0a\uff0cSparseDrive \u5728\u6240\u6709\u6307\u6807\u65b9\u9762\u90fd\u8d85\u8d8a\u4e86\u4e4b\u524d\u7684 SOTA \u65b9\u6cd5\uff0c\u5c24\u5176\u662f\u5b89\u5168\u5173\u952e\u6307\u6807\u78b0\u649e\u7387\uff0c\u540c\u65f6\u4fdd\u6301\u4e86\u66f4\u9ad8\u7684\u8bad\u7ec3\u548c\u63a8\u7406\u6548\u7387\u3002<\/li>\n<\/ul>\n\n\n\n<p><strong>\u76f8\u5173\u5de5\u4f5c<\/strong><\/p>\n\n\n\n<p><strong>\u591a\u89c6\u89d23D\u68c0\u6d4b\uff08Multi-view 3D Detection\uff09<\/strong><\/p>\n\n\n\n<p>\u591a\u89c6\u89d2 3D \u68c0\u6d4b\u662f\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u5b89\u5168\u7684\u5148\u51b3\u6761\u4ef6\u3002LSS \u5229\u7528\u6df1\u5ea6\u4f30\u8ba1\u5c06\u56fe\u50cf\u7279\u5f81\u63d0\u5347\u5230 3D \u7a7a\u95f4\uff0c\u5e76\u5c06\u7279\u5f81\u5206\u5c42\u5230 BEV \u5e73\u9762\u3002\u540e\u7eed\u5de5\u4f5c\u5c06 lift-splat \u64cd\u4f5c\u5e94\u7528\u4e8e 3D \u68c0\u6d4b\u9886\u57df\uff0c\u5728\u51c6\u786e\u7387\u548c\u6548\u7387\u65b9\u9762\u53d6\u5f97\u4e86\u663e\u7740\u63d0\u5347\u3002\u4e00\u4e9b\u5de5\u4f5c\u9884\u5b9a\u4e49\u4e86\u4e00\u7ec4 BEV \u67e5\u8be2\u5e76\u5c06\u5176\u6295\u5f71\u5230\u900f\u89c6\u89c6\u56fe\u4ee5\u8fdb\u884c\u7279\u5f81\u91c7\u6837\u3002\u53e6\u4e00\u6761\u7814\u7a76\u8def\u7ebf\u6d88\u9664\u4e86\u5bf9\u5bc6\u96c6 BEV \u7279\u5f81\u7684\u4f9d\u8d56\u3002PETR \u7cfb\u5217\u5f15\u5165\u4e86 3D \u4f4d\u7f6e\u7f16\u7801\u548c\u5168\u5c40\u6ce8\u610f\u529b\u6765\u9690\u5f0f\u5b66\u4e60\u89c6\u56fe\u53d8\u6362\u3002Sparse4D \u7cfb\u5217\u5728 3D \u7a7a\u95f4\u4e2d\u8bbe\u7f6e\u663e\u5f0f\u951a\u70b9\uff0c\u5c06\u5b83\u4eec\u6295\u5f71\u5230\u56fe\u50cf\u89c6\u56fe\u4ee5\u805a\u5408\u5c40\u90e8\u7279\u5f81\u5e76\u4ee5\u8fed\u4ee3\u65b9\u5f0f\u7ec6\u5316\u951a\u70b9\u3002<\/p>\n\n\n\n<p><strong>\u7aef\u5230\u7aef\u8ddf\u8e2a\uff08End-to-End Tracking\uff09<\/strong><\/p>\n\n\n\n<p>\u5927\u591a\u6570\u591a\u76ee\u6807\u8ddf\u8e2a (MOT) \u65b9\u6cd5\u91c7\u7528\u57fa\u4e8e\u68c0\u6d4b\u7684\u8ddf\u8e2a\u65b9\u5f0f\uff0c\u8fd9\u79cd\u65b9\u5f0f\u4f9d\u8d56\u4e8e\u6570\u636e\u5173\u8054\u7b49\u540e\u5904\u7406\u3002\u8fd9\u79cd\u6d41\u7a0b\u65e0\u6cd5\u5145\u5206\u5229\u7528\u795e\u7ecf\u7f51\u7edc\u7684\u529f\u80fd\u3002\u4e00\u4e9b\u5de5\u4f5c\u5f15\u5165\u4e86\u8f68\u8ff9\u67e5\u8be2\uff0c\u4ee5\u6d41\u5f0f\u65b9\u5f0f\u5bf9\u8ddf\u8e2a\u5b9e\u4f8b\u8fdb\u884c\u5efa\u6a21\u3002MOTR \u63d0\u51fa\u4e86\u8f68\u8ff9\u611f\u77e5\u6807\u7b7e\u5206\u914d\uff0c\u8fd9\u8feb\u4f7f\u8f68\u8ff9\u67e5\u8be2\u4e0d\u65ad\u68c0\u6d4b\u76f8\u540c\u7684\u76ee\u6807\uff0c\u5e76\u906d\u53d7\u68c0\u6d4b\u548c\u5173\u8054\u4e4b\u95f4\u7684\u51b2\u7a81\u3002Sparse4Dv3 \u8bc1\u660e\u65f6\u95f4\u4f20\u64ad\u7684\u5b9e\u4f8b\u5df2\u7ecf\u5177\u6709\u4e00\u81f4\u6027\uff0c\u5e76\u901a\u8fc7\u7b80\u5355\u7684 ID \u5206\u914d\u8fc7\u7a0b\u5b9e\u73b0\u4e86 SOTA \u8ddf\u8e2a\u6027\u80fd\u3002<\/p>\n\n\n\n<p><strong>\u5728\u7ebf\u5efa\u56fe\uff08Online Mapping\uff09<\/strong><\/p>\n\n\n\n<p>\u7531\u4e8e\u9ad8\u6e05\u5730\u56fe\u6784\u5efa\u6210\u672c\u9ad8\u6602\u4e14\u8017\u8d39\u5927\u91cf\u4eba\u529b\uff0c\u5728\u7ebf\u5efa\u56fe\u88ab\u63d0\u51fa\u4f5c\u4e3a\u9ad8\u6e05\u5730\u56fe\u7684\u66ff\u4ee3\u65b9\u6848\u3002HDMapNet\u5c06 BEV \u8bed\u4e49\u5206\u5272\u4e0e\u540e\u5904\u7406\u76f8\u7ed3\u5408\uff0c\u4ee5\u83b7\u5f97\u77e2\u91cf\u5316\u5730\u56fe\u5b9e\u4f8b\u3002VectorMapNet \u5229\u7528\u4e24\u9636\u6bb5\u81ea\u56de\u5f52\u53d8\u6362\u5668\u8fdb\u884c\u5728\u7ebf\u5730\u56fe\u6784\u5efa\u3002MapTR \u5c06\u5730\u56fe\u5143\u7d20\u5efa\u6a21\u4e3a\u7b49\u4ef7\u6392\u5217\u7684\u70b9\u96c6\uff0c\u907f\u514d\u4e86\u5730\u56fe\u5143\u7d20\u5b9a\u4e49\u7684\u6b67\u4e49\u3002BeMapNet \u91c7\u7528\u5206\u6bb5\u8d1d\u585e\u5c14\u66f2\u7ebf\u6765\u63cf\u8ff0\u5730\u56fe\u5143\u7d20\u7684\u7ec6\u8282\u3002StreamMapNet \u5f15\u5165\u4e86 BEV \u878d\u5408\u548c\u67e5\u8be2\u4f20\u64ad\u8fdb\u884c\u65f6\u95f4\u5efa\u6a21\u3002<\/p>\n\n\n\n<p><strong>\u7aef\u5230\u7aef\u8fd0\u52a8\u9884\u6d4b\uff08End-to-End Motion Prediction\uff09<\/strong><\/p>\n\n\n\n<p>\u7aef\u5230\u7aef\u8fd0\u52a8\u9884\u6d4b\u7684\u63d0\u51fa\u662f\u4e3a\u4e86\u907f\u514d\u4f20\u7edf\u6d41\u7a0b\u4e2d\u7684\u7ea7\u8054\u8bef\u5dee\u3002FaF \u91c7\u7528\u5355\u4e2a\u5377\u79ef\u7f51\u7edc\u6765\u9884\u6d4b\u5f53\u524d\u548c\u672a\u6765\u7684\u8fb9\u754c\u6846\u3002IntentNet \u66f4\u8fdb\u4e00\u6b65\uff0c\u63a8\u7406\u9ad8\u7ea7\u884c\u4e3a\u548c\u957f\u671f\u8f68\u8ff9\u3002PnPNet\u5f15\u5165\u4e86\u4e00\u4e2a\u5728\u7ebf\u8ddf\u8e2a\u6a21\u5757\u6765\u805a\u5408\u8f68\u8ff9\u7ea7\u7279\u5f81\u4ee5\u8fdb\u884c\u8fd0\u52a8\u9884\u6d4b\u3002ViP3D \u4f7f\u7528\u667a\u80fd\u4f53\u67e5\u8be2\u6267\u884c\u8ddf\u8e2a\u548c\u9884\u6d4b\uff0c\u4ee5\u56fe\u50cf\u548c\u9ad8\u6e05\u5730\u56fe\u4f5c\u4e3a\u8f93\u5165\u3002PIP \u7528\u5c40\u90e8\u77e2\u91cf\u5316\u5730\u56fe\u53d6\u4ee3\u4e86\u4eba\u5de5\u6ce8\u91ca\u7684\u9ad8\u6e05\u5730\u56fe\u3002<\/p>\n\n\n\n<p><strong>\u7aef\u5230\u7aef\u89c4\u5212\uff08End-to-End Planning\uff09<\/strong><\/p>\n\n\n\n<p>\u7aef\u5230\u7aef\u89c4\u5212\u7684\u7814\u7a76\u81ea\u4e0a\u4e2a\u4e16\u7eaa\u4ee5\u6765\u4e00\u76f4\u5728\u8fdb\u884c\u3002\u65e9\u671f\u7684\u8bba\u6587\u7701\u7565\u4e86\u611f\u77e5\u548c\u8fd0\u52a8\u9884\u6d4b\u7b49\u4e2d\u95f4\u4efb\u52a1\uff0c\u8fd9\u4e9b\u4efb\u52a1\u7f3a\u4e4f\u53ef\u89e3\u91ca\u6027\u5e76\u4e14\u96be\u4ee5\u4f18\u5316\u3002\u4e00\u4e9b\u7814\u7a76\u4ece\u611f\u77e5\u6216\u9884\u6d4b\u7ed3\u679c\u4e2d\u6784\u5efa\u663e\u5f0f\u635f\u5931\u56fe\u4ee5\u589e\u5f3a\u53ef\u89e3\u91ca\u6027\uff0c\u4f46\u4f9d\u9760\u624b\u5de5\u5236\u4f5c\u7684\u89c4\u5219\u6765\u9009\u62e9\u635f\u5931\u6700\u4f4e\u7684\u6700\u4f73\u8f68\u8ff9\u3002\u6700\u8fd1\uff0cUniAD \u63d0\u51fa\u4e86\u4e00\u79cd\u7edf\u4e00\u7684\u67e5\u8be2\u8bbe\u8ba1\uff0c\u5c06\u5404\u79cd\u4efb\u52a1\u96c6\u6210\u5230\u4e00\u4e2a\u9762\u5411\u76ee\u6807\u7684\u6a21\u578b\u4e2d\uff0c\u5728\u611f\u77e5\u3001\u9884\u6d4b\u548c\u89c4\u5212\u65b9\u9762\u53d6\u5f97\u4e86\u663e\u8457\u7684\u8868\u73b0\u3002VAD \u91c7\u7528\u77e2\u91cf\u5316\u8868\u793a\u8fdb\u884c\u573a\u666f\u5b66\u4e60\u548c\u89c4\u5212\u7ea6\u675f\u3002GraphAD \u5229\u7528\u56fe\u6a21\u578b\u8fdb\u884c\u4ea4\u901a\u573a\u666f\u4e2d\u7684\u590d\u6742\u4ea4\u4e92\u3002FusionAD \u5c06\u7aef\u5230\u7aef\u9a7e\u9a76\u6269\u5c55\u5230\u591a\u4f20\u611f\u5668\u8f93\u5165\u3002\u7136\u800c\uff0c\u4ee5\u524d\u7684\u65b9\u6cd5\u4e3b\u8981\u4fa7\u91cd\u4e8e\u573a\u666f\u5b66\u4e60\uff0c\u5e76\u91c7\u7528\u7b80\u5355\u7684\u9884\u6d4b\u548c\u89c4\u5212\u8bbe\u8ba1\uff0c\u6ca1\u6709\u5145\u5206\u8003\u8651\u8fd9\u4e24\u4e2a\u4efb\u52a1\u4e4b\u95f4\u7684\u76f8\u4f3c\u6027\uff0c\u6781\u5927\u5730\u9650\u5236\u4e86\u6027\u80fd\u3002<\/p>\n\n\n\n<p><strong>\u5177\u4f53\u600e\u4e48\u505a\uff1f<\/strong><\/p>\n\n\n\n<p><strong>\u6a21\u578b\u6982\u8ff0<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"640\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-217-1024x640.png\" alt=\"\" class=\"wp-image-11833\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-217-1024x640.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-217-300x188.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-217-768x480.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-217.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=\"673\" height=\"202\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/06\/062001.png\" alt=\"\" class=\"wp-image-11834\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/062001.png 673w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/062001-300x90.png 300w\" sizes=\"(max-width: 673px) 100vw, 673px\" \/><\/figure>\n\n\n\n<p><strong>\u5bf9\u79f0\u7a00\u758f\u611f\u77e5\uff08Symmetric Sparse Perception\uff09<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"577\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-218-1024x577.png\" alt=\"\" class=\"wp-image-11835\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-218-1024x577.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-218-300x169.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-218-768x433.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-218.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=\"668\" height=\"780\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/06\/062002.png\" alt=\"\" class=\"wp-image-11836\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/062002.png 668w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/062002-257x300.png 257w\" sizes=\"(max-width: 668px) 100vw, 668px\" \/><\/figure>\n\n\n\n<p><strong>\u5e76\u884c\u8fd0\u52a8\u89c4\u5212\u5668\uff08Parallel Motion Planner\uff09<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"492\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-219-1024x492.png\" alt=\"\" class=\"wp-image-11837\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-219-1024x492.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-219-300x144.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-219-768x369.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-219.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u5982\u56fe 4 \u6240\u793a\uff0c\u5e73\u884c\u8fd0\u52a8\u89c4\u5212\u5668\u7531\u4e09\u90e8\u5206\u7ec4\u6210\uff1a\u81ea\u6211\u5b9e\u4f8b\u521d\u59cb\u5316\u3001\u65f6\u7a7a\u4ea4\u4e92\u548c\u5206\u5c42\u89c4\u5212\u9009\u62e9\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"668\" height=\"184\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/06\/062003.png\" alt=\"\" class=\"wp-image-11838\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/062003.png 668w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/062003-300x83.png 300w\" sizes=\"(max-width: 668px) 100vw, 668px\" \/><\/figure>\n\n\n\n<p>\u8fd9\u6837\u505a\u6709\u4e24\u4e2a\u4f18\u70b9\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u6700\u5c0f\u7279\u5f81\u56fe\u5df2\u7ecf\u7f16\u7801\u4e86\u9a7e\u9a76\u573a\u666f\u7684\u8bed\u4e49\u4e0a\u4e0b\u6587<\/li>\n\n\n\n<li>\u5bc6\u96c6\u7279\u5f81\u56fe\u4f5c\u4e3a\u7a00\u758f\u573a\u666f\u8868\u793a\u7684\u8865\u5145\uff0c\u4ee5\u9632\u5b58\u5728\u4e00\u4e9b\u9ed1\u540d\u5355\u969c\u788d\u7269\uff0c\u800c\u7a00\u758f\u611f\u77e5\u65e0\u6cd5\u68c0\u6d4b\u5230\u8fd9\u4e9b\u969c\u788d\u7269\u3002<\/li>\n<\/ul>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"670\" height=\"814\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/06\/062004.png\" alt=\"\" class=\"wp-image-11839\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/062004.png 670w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/062004-247x300.png 247w\" sizes=\"(max-width: 670px) 100vw, 670px\" \/><\/figure>\n\n\n\n<p><strong>\u7aef\u5230\u7aef\u5b66\u4e60\uff08End-to-End Learning\uff09<\/strong><\/p>\n\n\n\n<p><strong>Multi-stage Training<\/strong>\uff1aSparseDrive \u7684\u8bad\u7ec3\u5206\u4e3a\u4e24\u4e2a\u9636\u6bb5\u3002\u5728\u9636\u6bb5 1 \u4e2d\uff0c\u6211\u4eec\u4ece\u5934\u5f00\u59cb\u8bad\u7ec3\u5bf9\u79f0\u7a00\u758f\u611f\u77e5\u6a21\u5757\uff0c\u4ee5\u5b66\u4e60\u7a00\u758f\u573a\u666f\u8868\u793a\u3002\u5728\u9636\u6bb5 2 \u4e2d\uff0c\u7a00\u758f\u611f\u77e5\u6a21\u5757\u548c\u5e76\u884c\u8fd0\u52a8\u89c4\u5212\u5668\u4e00\u8d77\u8bad\u7ec3\uff0c\u6ca1\u6709\u6a21\u578b\u6743\u91cd\u51bb\u7ed3\uff0c\u5145\u5206\u611f\u53d7\u7aef\u5230\u7aef\u4f18\u5316\u7684\u597d\u5904\u3002<\/p>\n\n\n\n<p><strong>Loss Functions<\/strong>\uff1a\u635f\u5931\u51fd\u6570\u5305\u62ec\u56db\u4e2a\u4efb\u52a1\u7684\u635f\u5931\uff0c\u6bcf\u4e2a\u4efb\u52a1\u7684\u635f\u5931\u53ef\u4ee5\u8fdb\u4e00\u6b65\u5206\u4e3a\u5206\u7c7b\u635f\u5931\u548c\u56de\u5f52\u635f\u5931\u3002\u5bf9\u4e8e\u591a\u6a21\u6001\u8fd0\u52a8\u9884\u6d4b\u548c\u89c4\u5212\u4efb\u52a1\uff0c\u6211\u4eec\u91c7\u7528\u8d62\u5bb6\u901a\u5403\u7b56\u7565\u3002\u5bf9\u4e8e\u89c4\u5212\uff0c\u8fd8\u6709\u4e00\u4e2a\u989d\u5916\u7684\u56de\u5f52\u635f\u5931\u7528\u4e8e\u81ea\u6211\u72b6\u6001\u3002\u6211\u4eec\u8fd8\u5f15\u5165\u6df1\u5ea6\u4f30\u8ba1\u4f5c\u4e3a\u8f85\u52a9\u4efb\u52a1\uff0c\u4ee5\u589e\u5f3a\u611f\u77e5\u6a21\u5757\u7684\u8bad\u7ec3\u7a33\u5b9a\u6027\u3002\u7aef\u5230\u7aef\u8bad\u7ec3\u7684\u6574\u4f53\u635f\u5931\u51fd\u6570\u4e3a\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"386\" height=\"45\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/06\/062005.png\" alt=\"\" class=\"wp-image-11840\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/062005.png 386w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/062005-300x35.png 300w\" sizes=\"(max-width: 386px) 100vw, 386px\" \/><\/figure>\n\n\n\n<p><strong>\u505a\u7684\u600e\u4e48\u6837\uff1f<\/strong><\/p>\n\n\n\n<p>\u6211\u4eec\u7684\u5b9e\u9a8c\u662f\u5728 nuScenes \u6570\u636e\u96c6\u4e0a\u8fdb\u884c\u7684\uff0c\u8be5\u6570\u636e\u96c6\u5305\u542b 1000 \u4e2a\u590d\u6742\u7684\u9a7e\u9a76\u573a\u666f\uff0c\u6bcf\u4e2a\u573a\u666f\u6301\u7eed\u7ea6 20 \u79d2\u3002\u6211\u4eec\u6709\u4e24\u4e2a\u6a21\u578b\u53d8\u4f53\uff0c\u5b83\u4eec\u4ec5\u5728\u4e3b\u5e72\u7f51\u7edc\u548c\u8f93\u5165\u56fe\u50cf\u5206\u8fa8\u7387\u4e0a\u6709\u6240\u4e0d\u540c\u3002\u5bf9\u4e8e\u6211\u4eec\u7684\u5c0f\u6a21\u578b SparseDrive-S\uff0c\u6211\u4eec\u4f7f\u7528 ResNet50 \u4f5c\u4e3a\u4e3b\u5e72\u7f51\u7edc\uff0c\u8f93\u5165\u56fe\u50cf\u5927\u5c0f\u4e3a 256\u00d7704\u3002\u5bf9\u4e8e\u6211\u4eec\u7684\u57fa\u7840\u6a21\u578b SparseDrive-B\uff0c\u6211\u4eec\u5c06\u4e3b\u5e72\u7f51\u7edc\u66f4\u6539\u4e3a ResNet101\uff0c\u5c06\u8f93\u5165\u56fe\u50cf\u5927\u5c0f\u66f4\u6539\u4e3a 512\u00d71408\u3002\u6240\u6709\u5b9e\u9a8c\u5747\u5728 8 \u4e2a NVIDIA RTX 4090 24GB GPU \u4e0a\u8fdb\u884c\u3002<\/p>\n\n\n\n<p><strong>\u4e3b\u8981\u7ed3\u679c<\/strong><\/p>\n\n\n\n<p>\u6211\u4eec\u4e0e\u4e4b\u524d\u7684\u6700\u5148\u8fdb\u7684\u6a21\u5757\u5316\u548c\u7aef\u5230\u7aef\u65b9\u6cd5\u8fdb\u884c\u4e86\u6bd4\u8f83\u3002\u5728\u7aef\u5230\u7aef\u65b9\u6cd5\u4e2d\uff0c\u6211\u4eec\u7684\u8f7b\u91cf\u7ea7\u6a21\u578b SparseDrive-S \u5728\u6240\u6709\u4efb\u52a1\u4e2d\u90fd\u8d85\u8d8a\u4e86\u4e4b\u524d\u7684 SOTA\uff0c\u800c\u6211\u4eec\u7684\u57fa\u7840\u6a21\u578b SparseDrive-B \u5c06\u6027\u80fd\u754c\u9650\u53c8\u63a8\u5411\u4e86\u66f4\u9ad8\u4e00\u6b65\u3002\u6bcf\u4e2a\u4efb\u52a1\u7684\u4e3b\u8981\u6307\u6807\u5728\u8868\u683c\u4e2d\u4ee5\u7070\u8272\u80cc\u666f\u6807\u8bb0\u3002<\/p>\n\n\n\n<p><strong>Perception<\/strong>: \u5bf9\u4e8e\u8868 a \u4e2d\u7684 3D \u68c0\u6d4b\uff0cSparseDrive \u5b9e\u73b0\u4e86 49.6% \u7684 mAP \u548c 58.8% \u7684 NDS\uff0c\u4e0e UniAD \u76f8\u6bd4\uff0cmAP \u548c NDS \u5206\u522b\u663e\u8457\u63d0\u9ad8\u4e86 +11.6% \u548c +9.0%\u3002\u5bf9\u4e8e\u8868 b \u4e2d\u7684\u591a\u76ee\u6807\u8ddf\u8e2a\uff0cSparseDrive \u5b9e\u73b0\u4e86 50.1% \u7684 AMOTA\uff0c\u6700\u4f4e ID \u5207\u6362\u4e3a 632\uff0c\u5728 AMOTA \u65b9\u9762\u8d85\u8fc7 UniAD +14.2%\uff0cID \u5207\u6362\u51cf\u5c11\u4e86 30.2%\uff0c\u663e\u793a\u4e86\u8ddf\u8e2a\u8f68\u8ff9\u7684\u65f6\u95f4\u4e00\u81f4\u6027\u3002\u5bf9\u4e8e\u5728\u7ebf\u5efa\u56fe\u4efb\u52a1\uff0cSparseDrive \u7684 mAP \u4e3a 56.2%\uff0c\u4e5f\u6bd4\u4e4b\u524d\u7684\u7aef\u5230\u7aef\u65b9\u6cd5 VAD \u9ad8\u51fa +8.6%\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"498\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-220-1024x498.png\" alt=\"\" class=\"wp-image-11841\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-220-1024x498.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-220-300x146.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-220-768x373.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-220.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p><strong>Prediction<\/strong>\uff1a\u5bf9\u4e8e\u8868 a \u4e2d\u7684\u8fd0\u52a8\u9884\u6d4b\uff0cSparseDrive \u4ee5 0.60m minADE\u30010.96m minFDE\u300113.2% MissRate \u548c 0.555 EPA \u5b9e\u73b0\u4e86\u6700\u4f73\u6027\u80fd\u3002\u4e0e UniAD \u76f8\u6bd4\uff0c SparseDrive \u5728 minADE \u548c minFDE \u4e0a\u5206\u522b\u5c06\u8bef\u5dee\u964d\u4f4e\u4e86 15.5% \u548c 5.9%\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"399\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-221-1024x399.png\" alt=\"\" class=\"wp-image-11842\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-221-1024x399.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-221-300x117.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-221-768x299.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-221.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p><strong>Planning<\/strong>\uff1a\u5bf9\u4e8e\u8868 b \u4e2d\u7684\u89c4\u5212\uff0c\u5728\u6240\u6709\u65b9\u6cd5\u4e2d\uff0cSparseDrive \u5b9e\u73b0\u4e86\u5353\u8d8a\u7684\u89c4\u5212\u6027\u80fd\uff0c\u6700\u4f4e\u7684 L2 \u8bef\u5dee\u4e3a 0.58m\uff0c\u78b0\u649e\u7387\u4e3a 0.06%\u3002\u4e0e\u4e4b\u524d\u7684 SOTA VAD \u76f8\u6bd4\uff0cSparseDrive \u5c06 L2 \u8bef\u5dee\u964d\u4f4e\u4e86 19.4%\uff0c\u78b0\u649e\u7387\u964d\u4f4e\u4e86 71.4%\uff0c\u8bc1\u660e\u4e86\u6211\u4eec\u65b9\u6cd5\u7684\u6709\u6548\u6027\u548c\u5b89\u5168\u6027\u3002<\/p>\n\n\n\n<p><strong>Efficiency<\/strong>\uff1a\u5982\u88683\u6240\u793a\uff0c\u9664\u4e86\u51fa\u8272\u7684\u6027\u80fd\u4e4b\u5916\uff0cSparseDrive \u5728\u8bad\u7ec3\u548c\u63a8\u7406\u65b9\u9762\u4e5f\u5b9e\u73b0\u4e86\u66f4\u9ad8\u7684\u6548\u7387\u3002\u4e0e UniAD \u76f8\u6bd4\uff0c\u5728\u76f8\u540c\u7684\u4e3b\u5e72\u7f51\u7edc\u4e0b\uff0c\u6211\u4eec\u7684\u57fa\u7840\u6a21\u578b\u5728\u8bad\u7ec3\u4e2d\u5b9e\u73b0\u4e86 4.8 \u500d\u7684\u901f\u5ea6\u63d0\u5347\uff0c\u5728\u63a8\u7406\u4e2d\u5b9e\u73b0\u4e86 4.1 \u500d\u7684\u901f\u5ea6\u63d0\u5347\u3002\u6211\u4eec\u7684\u8f7b\u91cf\u7ea7\u6a21\u578b\u5728\u8bad\u7ec3\u548c\u63a8\u7406\u65b9\u9762\u5206\u522b\u53ef\u4ee5\u5b9e\u73b0 7.2 \u500d\u548c 5.0 \u500d\u7684\u901f\u5ea6\u63d0\u5347\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"277\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-222-1024x277.png\" alt=\"\" class=\"wp-image-11843\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-222-1024x277.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-222-300x81.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-222-768x208.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-222.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p><strong>\u6d88\u878d\u7814\u7a76<\/strong><\/p>\n\n\n\n<p>\u6211\u4eec\u8fdb\u884c\u4e86\u5e7f\u6cdb\u7684\u6d88\u878d\u7814\u7a76\uff0c\u4ee5\u8bc1\u660e\u6211\u4eec\u8bbe\u8ba1\u9009\u62e9\u7684\u6709\u6548\u6027\u3002\u6211\u4eec\u4f7f\u7528 SparseDrive-S \u4f5c\u4e3a\u6d88\u878d\u5b9e\u9a8c\u7684\u9ed8\u8ba4\u6a21\u578b\u3002<\/p>\n\n\n\n<p><strong>Effect of designs in Motion Planner<\/strong>\u3002\u4e3a\u4e86\u5f3a\u8c03\u8003\u8651\u9884\u6d4b\u548c\u89c4\u5212\u4e4b\u95f4\u76f8\u4f3c\u6027\u7684\u91cd\u8981\u6027\uff0c\u6211\u4eec\u8bbe\u8ba1\u4e86\u51e0\u4e2a\u7279\u5b9a\u7684\u5b9e\u9a8c\uff0c\u5982\u8868 4 \u6240\u793a\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"318\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-223-1024x318.png\" alt=\"\" class=\"wp-image-11844\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-223-1024x318.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-223-300x93.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-223-768x238.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-223.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>ID-2 \u901a\u8fc7\u5c06\u9884\u6d4b\u548c\u89c4\u5212\u7684\u5e76\u884c\u8bbe\u8ba1\u66f4\u6539\u4e3a\u987a\u5e8f\u987a\u5e8f\uff0c\u5ffd\u7565\u4e86\u81ea\u8f66\u5bf9\u5468\u56f4\u667a\u80fd\u4f53\u7684\u5f71\u54cd\uff0c\u5bfc\u81f4\u8fd0\u52a8\u9884\u6d4b\u548c\u78b0\u649e\u7387\u7684\u6027\u80fd\u4e0b\u964d\u3002ID-3 \u968f\u673a\u521d\u59cb\u5316\u81ea\u6211\u5b9e\u4f8b\u7279\u5f81\u5e76\u5c06\u81ea\u6211\u951a\u70b9\u7684\u6240\u6709\u53c2\u6570\u8bbe\u7f6e\u4e3a 0\u3002\u5220\u9664\u81ea\u6211\u5b9e\u4f8b\u7684\u8bed\u4e49\u548c\u51e0\u4f55\u4fe1\u606f\u4f1a\u5bfc\u81f4 L2 \u8bef\u5dee\u548c\u78b0\u649e\u7387\u7684\u6027\u80fd\u4e0b\u964d\u3002ID-4 \u5c06\u89c4\u5212\u89c6\u4e3a\u786e\u5b9a\u6027\u95ee\u9898\uff0c\u5e76\u4e14\u53ea\u8f93\u51fa\u4e00\u4e2a\u786e\u5b9a\u7684\u8f68\u8ff9\uff0c\u5bfc\u81f4\u6700\u9ad8\u7684\u78b0\u649e\u7387\u3002\u6b64\u5916\uff0cID-5 \u5220\u9664\u4e86\u5b9e\u4f8b\u7ea7\u667a\u80fd\u4f53\u65f6\u95f4\u4ea4\u53c9\u6ce8\u610f\u529b\uff0c\u5c06 L2 \u8bef\u5dee\u4e25\u91cd\u964d\u4f4e\u81f3 0.77m\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"312\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-224-1024x312.png\" alt=\"\" class=\"wp-image-11845\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-224-1024x312.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-224-300x91.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-224-768x234.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-224.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p><strong>Collision-Aware Rescore<\/strong>\u3002\u5728\u4e4b\u524d\u7684\u65b9\u6cd5\u4e2d\uff0c\u91c7\u7528\u4e86\u540e\u4f18\u5316\u7b56\u7565\u6765\u786e\u4fdd\u57fa\u4e8e\u611f\u77e5\u7ed3\u679c\u7684\u5b89\u5168\u6027\u3002\u7136\u800c\uff0c\u6211\u4eec\u8ba4\u4e3a\u8fd9\u79cd\u7b56\u7565\u6253\u7834\u4e86\u7aef\u5230\u7aef\u8303\u5f0f\uff0c\u5bfc\u81f4 L2 \u8bef\u5dee\u4e25\u91cd\u4e0b\u964d\uff0c\u5982\u8868 5 \u6240\u793a\u3002\u6b64\u5916\uff0c\u5728\u6211\u4eec\u91cd\u65b0\u5b9e\u65bd\u7684\u78b0\u649e\u7387\u6307\u6807\u4e0b\uff0c\u540e\u4f18\u5316\u5e76\u6ca1\u6709\u4f7f\u89c4\u5212\u66f4\u5b89\u5168\uff0c\u53cd\u800c\u66f4\u5371\u9669\u3002\u76f8\u6bd4\u4e4b\u4e0b\uff0c\u6211\u4eec\u7684\u78b0\u649e\u611f\u77e5\u91cd\u65b0\u8bc4\u5206\u6a21\u5757\u5c06\u78b0\u649e\u7387\u4ece 0.12% \u964d\u4f4e\u5230 0.08%\uff0cL2 \u8bef\u5dee\u51e0\u4e4e\u6ca1\u6709\u589e\u52a0\uff0c\u663e\u793a\u4e86\u6211\u4eec\u65b9\u6cd5\u7684\u4f18\u8d8a\u6027<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"348\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-225-1024x348.png\" alt=\"\" class=\"wp-image-11846\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-225-1024x348.png 1024w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-225-300x102.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-225-768x261.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-225.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p><strong>Multi-modal planning<\/strong>\u3002\u6211\u4eec\u5bf9\u89c4\u5212\u6a21\u5f0f\u7684\u6570\u91cf\u8fdb\u884c\u4e86\u5b9e\u9a8c\u3002\u5982\u8868 6 \u6240\u793a\uff0c\u968f\u7740\u89c4\u5212\u6a21\u5f0f\u6570\u91cf\u7684\u589e\u52a0\uff0c\u89c4\u5212\u6027\u80fd\u4e0d\u65ad\u63d0\u9ad8\uff0c\u76f4\u5230 6 \u79cd\u6a21\u5f0f\u9971\u548c\uff0c\u518d\u6b21\u8bc1\u660e\u4e86\u591a\u6a21\u6001\u89c4\u5212\u7684\u91cd\u8981\u6027\u3002<\/p>\n\n\n\n<p><strong>\u4e4b\u540e\u8fd8\u80fd\u505a\u4ec0\u4e48\uff1f<\/strong><\/p>\n\n\n\n<p>\u7ed3\u8bba\u3002\u5728\u8fd9\u9879\u5de5\u4f5c\u4e2d\uff0c\u6211\u4eec\u63a2\u7d22\u4e86\u7a00\u758f\u573a\u666f\u8868\u793a\u5e76\u56de\u987e\u4e86\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76\u9886\u57df\u7684\u4efb\u52a1\u8bbe\u8ba1\u3002\u7531\u6b64\u4ea7\u751f\u7684\u7aef\u5230\u7aef\u8303\u4f8b SparseDrive \u5b9e\u73b0\u4e86\u5353\u8d8a\u7684\u6027\u80fd\u548c\u9ad8\u6548\u7387\u3002\u6211\u4eec\u5e0c\u671b SparseDrive \u7684\u51fa\u8272\u8868\u73b0\u80fd\u591f\u6fc0\u52b1\u793e\u533a\u91cd\u65b0\u601d\u8003\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76\u7684\u4efb\u52a1\u8bbe\u8ba1\uff0c\u5e76\u4fc3\u8fdb\u8be5\u9886\u57df\u7684\u6280\u672f\u8fdb\u6b65\u3002<\/p>\n\n\n\n<p>\u672a\u6765\u5de5\u4f5c\u3002\u6211\u4eec\u7684\u5de5\u4f5c\u4ecd\u7136\u5b58\u5728\u4e00\u4e9b\u5c40\u9650\u6027\u3002\u9996\u5148\uff0c\u6211\u4eec\u7684\u7aef\u5230\u7aef\u6a21\u578b\u7684\u6027\u80fd\u4ecd\u7136\u843d\u540e\u4e8e\u5355\u4efb\u52a1\u65b9\u6cd5\uff0c\u4f8b\u5982\u5728\u7ebf\u5efa\u56fe\u4efb\u52a1\u3002\u5176\u6b21\uff0c\u6570\u636e\u96c6\u7684\u89c4\u6a21\u4e0d\u8db3\u4ee5\u5145\u5206\u53d1\u6325\u7aef\u5230\u7aef\u81ea\u52a8\u9a7e\u9a76\u7684\u6f5c\u529b\uff0c\u5f00\u73af\u8bc4\u4f30\u4e0d\u80fd\u5168\u9762\u4ee3\u8868\u6a21\u578b\u6027\u80fd\u3002<\/p>\n\n\n\n<p><strong>\u53c2\u8003<\/strong><\/p>\n\n\n\n<p>[1] SparseDrive: End-to-End Autonomous Driving via Sparse Scene Representation<\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u8bba\u6587\u94fe\u63a5\uff1ahttps:\/\/arxiv.org\/ [&hellip;]<\/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-11830","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\/11830"}],"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=11830"}],"version-history":[{"count":1,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/11830\/revisions"}],"predecessor-version":[{"id":11847,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/11830\/revisions\/11847"}],"wp:attachment":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/media?parent=11830"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/categories?post=11830"},{"taxonomy":"post_tag","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/tags?post=11830"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}