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src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-296.png\" alt=\"\" class=\"wp-image-12076\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-296.png 983w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-296-300x42.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-296-768x107.png 768w\" sizes=\"(max-width: 983px) 100vw, 983px\" \/><\/figure>\n\n\n\n<p>\u6062\u590d\u7387\uff08RR\uff09\u3002\u5c06RR\u5b9a\u4e49\u4e3a\u76f8\u5bf9\u9c81\u68d2\u6027\u6307\u6807\uff0c\u7528\u4e8e\u8861\u91cf\u6a21\u578b\u5728\u635f\u574f\u96c6\u4e0a\u8bc4\u4f30\u65f6\u80fd\u591f\u4fdd\u7559\u591a\u5c11\u51c6\u786e\u6027\uff0c\u5176\u8ba1\u7b97\u65b9\u5f0f\u5982\u4e0b\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"847\" height=\"113\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-297.png\" alt=\"\" class=\"wp-image-12077\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-297.png 847w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-297-300x40.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-297-768x102.png 768w\" sizes=\"(max-width: 847px) 100vw, 847px\" \/><\/figure>\n\n\n\n<p><strong>\u5b9e\u9a8c\u5206\u6790<\/strong><\/p>\n\n\n\n<p>\u5019\u9009\u6a21\u578b\u3002MapBench\u603b\u5171\u5305\u542b\u4e8631\u4e2a\u9ad8\u7cbe\u5730\u56fe\u6784\u5efa\u5668\u53ca\u5176\u53d8\u4f53\uff0c\u5373HDMapNet \u3001VectorMapNet \u3001PivotNet \u3001BeMapNet \u3001MapTR \u3001MapTRv2 \u3001StreamMapNet \u548cHIMap \u3002\u5176\u4ed6\u4e00\u4e9b\u9ad8\u7cbe\u5730\u56fe\u65b9\u6cd5\u7684\u4ee3\u7801\u4e0d\u662f\u5f00\u6e90\u7684\uff0c\u56e0\u6b64\u5728\u672c\u5de5\u4f5c\u4e2d\u4e0d\u4f1a\u8003\u8651\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" 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\u7684mRR\u4ec5\u4e3a56.6%\u3002<\/p>\n\n\n\n<p><strong>2\uff09\u7eaf\u6fc0\u5149\u96f7\u8fbe\u57fa\u51c6\u6d4b\u8bd5\u7ed3\u679c<\/strong><\/p>\n\n\n\n<p>\u5728\u56fe3\uff08c\uff09-\uff08d\uff09\u548c\u56fe6\u4e2d\u62a5\u544a\u4e864\u4e2a\u4ec5\u4f7f\u7528\u6fc0\u5149\u96f7\u8fbe\u7684\u9ad8\u7cbe\u5730\u56fe\u6784\u5efa\u5668\u7684\u6fc0\u5149\u96f7\u8fbe\u4f20\u611f\u5668\u635f\u574f\u9c81\u68d2\u6027\u3002\u4e0e\u4ec5\u4f7f\u7528camera\u7684\u6a21\u578b\u89c2\u5bdf\u7ed3\u679c\u7c7b\u4f3c\uff0c\u5728\u201c\u5e72\u51c0\u201d\u6570\u636e\u96c6\u4e0a\u51c6\u786e\u5ea6\u66f4\u9ad8\u7684\u4ec5\u4f7f\u7528\u6fc0\u5149\u96f7\u8fbe\u7684\u6a21\u578b\u901a\u5e38\u4e5f\u8868\u73b0\u51fa\u66f4\u597d\u7684\u635f\u574f\u9c81\u68d2\u6027\u3002\u5173\u952e\u8981\u70b9\u5982\u4e0b\uff1a<\/p>\n\n\n\n<p>1\uff09\u5728\u6240\u6709\u635f\u574f\u60c5\u51b5\u4e2d\uff0c\u96ea\u548c\u8de8\u4f20\u611f\u5668\u635f\u574f\u5bf9\u6027\u80fd\u7684\u5f71\u54cd\u6700\u5927\uff0c\u5bf9\u4ec5\u4f7f\u7528\u6fc0\u5149\u96f7\u8fbe\u7684\u65b9\u6cd5\u7684\u9c81\u68d2\u6027\u6784\u6210\u4e25\u91cd\u5a01\u80c1\u3002\u66f4\u5177\u4f53\u5730\u8bf4\uff0c\u96ea\u548c\u8de8\u4f20\u611f\u5668\u635f\u574f\u90fd\u5bfc\u81f4\u6240\u6709\u4ec5\u4f7f\u7528\u6fc0\u5149\u96f7\u8fbe\u7684\u65b9\u6cd5\u6027\u80fd\u4e0b\u964d\u8d85\u8fc780%\u3002\u4e3b\u8981\u539f\u56e0\u662f\u96ea\u4f1a\u5bfc\u81f4\u6fc0\u5149\u96f7\u8fbe\u6570\u636e\u4e2d\u7684\u6fc0\u5149\u8109\u51b2\u53cd\u5c04\u3002\u6b64\u5916\uff0c\u8de8\u4f20\u611f\u5668\u635f\u574f\u8868\u660e\uff0c\u7531\u4e0d\u540c\u6fc0\u5149\u96f7\u8fbe\u914d\u7f6e\/\u8bbe\u5907\u5f15\u8d77\u7684\u57df\u5dee\u5f02\u5927\u5927\u964d\u4f4e\u4e86\u6027\u80fd\u3002<\/p>\n\n\n\n<p>2\uff09\u5927\u591a\u6570\u6a21\u578b\u5728\u4e0d\u5b8c\u6574\u56de\u6ce2\u635f\u574f\u4e0b\u7684\u6027\u80fd\u4e0b\u964d\u53ef\u4ee5\u5ffd\u7565\u4e0d\u8ba1\u3002\u8fd9\u79cd\u635f\u574f\u7c7b\u578b\u4e3b\u8981\u5f71\u54cd\u6765\u81ea\u6df1\u8272\u8f66\u8f86\u6216\u7269\u4f53\u7684\u6570\u636e\uff0c\u800c\u9ad8\u7cbe\u5730\u56fe\u6784\u5efa\u4efb\u52a1\u66f4\u5173\u6ce8\u9759\u6001\u5730\u56fe\u5143\u7d20\u3002\u6b64\u5916\uff0c\u5c3d\u7ba1VectorMapNet \u5728mRR\u6307\u6807\u4e0a\u53d6\u5f97\u4e86\u6700\u4f73\u6027\u80fd\uff0c\u4f46\u4e0eHIMap \u76f8\u6bd4\uff0c\u5728mAP\u65b9\u9762\u5e76\u4e0d\u900a\u8272\u3002<\/p>\n\n\n\n<p><strong>3\uff09Camera-\u6fc0\u5149\u96f7\u8fbe\u878d\u5408\u57fa\u51c6\u6d4b\u8bd5\u7ed3\u679c<\/strong><\/p>\n\n\n\n<p>\u4e3a\u4e86\u7cfb\u7edf\u5730\u8bc4\u4f30\u57fa\u4e8ecamera-\u6fc0\u5149\u96f7\u8fbe\u878d\u5408\u65b9\u6cd5\u7684\u53ef\u9760\u6027\uff0c\u8bbe\u8ba1\u4e8613\u79cd\u591a\u4f20\u611f\u5668\u635f\u574f\u7c7b\u578b\uff0c\u8fd9\u4e9b\u635f\u574f\u7c7b\u578b\u5206\u522b\u6216\u540c\u65f6\u5e72\u6270camera\u548c\u6fc0\u5149\u96f7\u8fbe\u8f93\u5165\u3002\u7ed3\u679c\u5982\u56fe4\u6240\u793a\u3002\u53d1\u73b0\u8868\u660e\uff0ccamera-\u6fc0\u5149\u96f7\u8fbe\u878d\u5408\u6a21\u578b\u5728\u4e0d\u540c\u635f\u574f\u7ec4\u5408\u4e0b\u8868\u73b0\u51fa\u4e0d\u540c\u7a0b\u5ea6\u7684\u6027\u80fd\u4e0b\u964d\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"823\" height=\"250\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-301.png\" alt=\"\" class=\"wp-image-12081\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-301.png 823w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-301-300x91.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-301-768x233.png 768w\" sizes=\"(max-width: 823px) 100vw, 823px\" \/><\/figure>\n\n\n\n<p>\u5b9e\u9a8c\u7ed3\u679c\u63ed\u793a\u4e86\u51e0\u4e2a\u6709\u8da3\u7684\u53d1\u73b0\uff0c\u6211\u4eec\u63d0\u4f9b\u5982\u4e0b\u8be6\u7ec6\u5206\u6790\uff1a<\/p>\n\n\n\n<p>1\uff09\u5728camera\u6570\u636e\u7f3a\u5931\u7684\u573a\u666f\u4e2d\uff0cMapTR &nbsp;\u548c HIMap &nbsp;\u7684mAP\u5206\u522b\u4e0b\u964d\u4e8640.0%\u548c68.9%\uff0c\u5bf9\u5b89\u5168\u611f\u77e5\u6784\u6210\u4e86\u4e25\u91cd\u5a01\u80c1\u3002\u6b64\u5916\uff0c\u5e27\u4e22\u5931\u5bf9\u57fa\u4e8e\u4f20\u611f\u5668\u878d\u5408\u65b9\u6cd5\u7684\u6027\u80fd\u9020\u6210\u7684\u5f71\u54cd\u6bd4camera\u5d29\u6e83\u66f4\u4e3a\u4e25\u91cd\u3002\u8fd9\u4e9b\u89c2\u5bdf\u7ed3\u679c\u9a8c\u8bc1\u4e86camera\u4f20\u611f\u5668\u6545\u969c\u5bf9\u9ad8\u7cbe\u5730\u56fe\u878d\u5408\u6a21\u578b\u6784\u6210\u4e86\u91cd\u5927\u5a01\u80c1\u3002<\/p>\n\n\n\n<p>2\uff09\u5728\u6fc0\u5149\u96f7\u8fbe\u6570\u636e\u7f3a\u5931\u7684\u573a\u666f\u4e2d\uff0cMapTR &nbsp;\u548c HIMap &nbsp;\u7684mAP\u5206\u522b\u4e0b\u964d\u4e8642.1%\u548c41.5%\uff0c\u8fd9\u663e\u793a\u4e86\u6fc0\u5149\u96f7\u8fbe\u4f20\u611f\u5668\u7684\u91cd\u8981\u6027\u3002\u6b64\u5916\uff0c\u6fc0\u5149\u96f7\u8fbe\u7684\u4e32\u6270\uff08Crosstalk\uff09\u548c\u8de8\u4f20\u611f\u5668\u635f\u574f\uff08Cross-Sensor corruptions\uff09\u5bf9camera-\u6fc0\u5149\u96f7\u8fbe\u878d\u5408\u7684\u6027\u80fd\u5f71\u54cd\u6700\u5927\u3002\u76f8\u6bd4\u4e4b\u4e0b\uff0c\u6fc0\u5149\u96f7\u8fbe\u7684\u4e0d\u5b8c\u6574\u56de\u6ce2\u635f\u574f\uff08Incomplete Echo corruption\uff09\u5bf9\u6a21\u578b\u6027\u80fd\u7684\u5f71\u54cd\u4e0d\u5927\uff0c\u8fd9\u4e0e\u4ec5\u4f7f\u7528\u6fc0\u5149\u96f7\u8fbe\u914d\u7f6e\u4e0b\u7684\u89c2\u5bdf\u7ed3\u679c\u4e00\u81f4\u3002<\/p>\n\n\n\n<p>3\uff09camera-\u6fc0\u5149\u96f7\u8fbe\u7ec4\u5408\u635f\u574f\u5bfc\u81f4\u7684\u6027\u80fd\u4e0b\u964d\u6bd4\u5176\u5355\u6a21\u6001\u5bf9\u5e94\u9879\u66f4\u7cdf\uff0c\u8fd9\u51f8\u663e\u4e86camera\u548c\u6fc0\u5149\u96f7\u8fbe\u4f20\u611f\u5668\u6545\u969c\u5bf9\u9ad8\u7cbe\u5730\u56fe\u6784\u5efa\u4efb\u52a1\u7684\u4e25\u91cd\u5a01\u80c1\u3002\u6b64\u5916\uff0c\u65e0\u8bba\u4e0e\u54ea\u79cd\u7c7b\u578b\u7684\u6fc0\u5149\u96f7\u8fbe\u635f\u574f\u76f8\u7ed3\u5408\uff0c\u5e27\u4e22\u5931\uff08Frame Lost\uff09\u5bf9\u878d\u5408\u6a21\u578b\u6027\u80fd\u7684\u5f71\u54cd\u90fd\u6bd4camera\u5d29\u6e83\uff08Camera Crash\uff09\u66f4\u4e3a\u663e\u8457\uff0c\u8fd9\u5f3a\u8c03\u4e86camera\u4f20\u611f\u5668\u591a\u89c6\u89d2\u8f93\u5165\u7684\u91cd\u8981\u6027\u3002\u5728\u4e09\u79cd\u6fc0\u5149\u96f7\u8fbe\u635f\u574f\u7c7b\u578b\u4e2d\uff0c\u8de8\u4f20\u611f\u5668\u635f\u574f\u5bf9\u878d\u5408\u6a21\u578b\u6027\u80fd\u7684\u5f71\u54cd\u6700\u5927\u3002\u5373\u4f7f\u4e0e\u5404\u79cd\u7c7b\u578b\u7684camera\u635f\u574f\u76f8\u7ed3\u5408\uff0c\u8fd9\u79cd\u6a21\u5f0f\u4ecd\u7136\u4fdd\u6301\u4e00\u81f4\uff0c\u8bf4\u660e\u4e86\u8de8\u914d\u7f6e\u6216\u8de8\u8bbe\u5907\u6fc0\u5149\u96f7\u8fbe\u6570\u636e\u8f93\u5165\u6784\u6210\u7684\u4e25\u91cd\u5a01\u80c1\u3002\u5728\u56fe5\u4e2d\u63d0\u4f9b\u4e86\u4e00\u4e9b\u5728\u5404\u79cdcamera-\u6fc0\u5149\u96f7\u8fbe\u635f\u574f\u7ec4\u5408\u4e0b\u9ad8\u7cbe\u5730\u56fe\u6784\u5efa\u7684\u5b9a\u6027\u793a\u4f8b\uff0c\u8fd9\u4e9b\u793a\u4f8b\u5c55\u793a\u4e86\u5728\u5404\u79cd\u635f\u574f\u4e0b\u7684\u6027\u80fd\u4e0b\u964d\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"881\" height=\"582\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-302.png\" alt=\"\" class=\"wp-image-12082\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-302.png 881w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-302-300x198.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-302-768x507.png 768w\" sizes=\"(max-width: 881px) 100vw, 881px\" \/><\/figure>\n\n\n\n<p>\u503c\u5f97\u6ce8\u610f\u7684\u662f\uff0c\u5c3d\u7ba1HIMap \u5728\u201c\u5e72\u51c0\u201d\u6761\u4ef6\u4e0b\u7684\u6027\u80fd\u4f18\u4e8eMapTR \uff0c\u4f46\u5728\u635f\u574f\u60c5\u51b5\u4e0b\uff0c\u5176\u9c81\u68d2\u6027\u76f8\u5bf9\u8f83\u5dee\u3002\u8fd9\u4e9b\u89c2\u5bdf\u7ed3\u679c\u4fc3\u4f7f\u6211\u4eec\u8fdb\u4e00\u6b65\u4e13\u6ce8\u4e8e\u589e\u5f3acamera-\u6fc0\u5149\u96f7\u8fbe\u878d\u5408\u65b9\u6cd5\u7684\u9c81\u68d2\u6027\uff0c\u5c24\u5176\u662f\u5728\u4e00\u79cd\u4f20\u611f\u5668\u6a21\u6001\u7f3a\u5931\u6216camera\u548c\u6fc0\u5149\u96f7\u8fbe\u90fd\u53d7\u635f\u7684\u60c5\u51b5\u4e0b\u3002<\/p>\n\n\n\n<p><strong>\u89c2\u5bdf\u4e0e\u8ba8\u8bba<\/strong><\/p>\n\n\n\n<p><strong>\u4e3b\u5e72\u7f51\u7edc<\/strong>\u3002\u9996\u5148\u5168\u9762\u7814\u7a76\u4e86\u9aa8\u5e72\u7f51\u7edc\u7684\u5f71\u54cd\uff0c\u7ed3\u679c\u5982\u88684\u6240\u793a\u3002\u5206\u522b\u5728PivotNet \u548cBeMapNet \u4e2d\u4f7f\u7528\u4e86\u4e09\u79cd\u4e0d\u540c\u7684\u9aa8\u5e72\u7f51\u7edc\u3002\u7ed3\u679c\u663e\u793a\uff0cSwin Transformer 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\/><\/figure>\n\n\n\n<p><strong>\u4e0d\u540c\u7684BEV\u7f16\u7801\u5668<\/strong>\u3002\u7814\u7a76\u4e86\u51e0\u79cd\u6d41\u884c\u76842D\u5230BEV\u8f6c\u6362\u65b9\u6cd5\uff0c\u5e76\u5728\u88682\u4e2d\u5c55\u793a\u4e86\u7ed3\u679c\u3002\u5177\u4f53\u6765\u8bf4\uff0c\u4e3a\u4ec5\u57fa\u4e8ecamera\u7684MapTR \u6a21\u578b\u91c7\u7528\u4e86BEVFormer \u3001BEVPool \u548cGKT \u3002\u7ed3\u679c\u663e\u793a\uff0cMapTR \u4e0e\u5404\u79cd2D\u5230BEV\u65b9\u6cd5\u517c\u5bb9\uff0c\u5e76\u5b9e\u73b0\u4e86\u7a33\u5b9a\u7684\u9c81\u68d2\u6027\u6027\u80fd\u3002\u6b64\u5916\uff0cBEVPool \u7684mRR\u7ed3\u679c\u4e0d\u5982BEVFormer \u548cGKT \uff0c\u9a8c\u8bc1\u4e86\u57fa\u4e8eTransformer\u7684BEV\u7f16\u7801\u5668\u5728\u63d0\u9ad8\u9ad8\u7cbe\u5730\u56fe\u6a21\u578b\u9c81\u68d2\u6027\u65b9\u9762\u7684\u6709\u6548\u6027\u3002GKT 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http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-305-300x66.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-305-768x169.png 768w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-305.png 1080w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p><strong>\u53c2\u8003<\/strong><\/p>\n\n\n\n<p>[1] Is Your HD Map Constructor Reliable under Sensor Corruptions?<\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u9a7e\u9a76\u7cfb\u7edf\u901a\u5e38\u4f9d\u8d56\u9ad8\u7cbe\uff08HD\uff09\u5730\u56fe\u6765\u83b7\u53d6\u7cbe\u786e\u7684\u73af 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