{"id":12098,"date":"2024-06-26T16:40:39","date_gmt":"2024-06-26T08:40:39","guid":{"rendered":"http:\/\/192.168.10.115\/?p=12098"},"modified":"2024-06-26T16:40:39","modified_gmt":"2024-06-26T08:40:39","slug":"2024-06-26-%e9%87%8d%e5%a1%91%e8%b7%af%e4%be%a7bev%e6%84%9f%e7%9f%a5%ef%bc%81bevspread%ef%bc%9a%e5%85%a8%e6%96%b0%e4%bd%93%e7%b4%a0%e5%8c%96%e6%9a%b4%e5%8a%9b%e6%b6%a8%e7%82%b9%ef%bc%88%e6%b5%99","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2024\/06\/26\/12098\/","title":{"rendered":"2024-06-26 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class=\"wp-block-list\">\n<li>\u6211\u4eec\u6307\u51fa\uff0c\u5f53\u524d\u7684\u4f53\u7d20\u5316\u65b9\u6cd5\u5b58\u5728\u4f4d\u7f6e\u8fd1\u4f3c\u8bef\u5dee\uff0c\u4e25\u91cd\u5f71\u54cd\u4e86\u8def\u8fb9\u573a\u666f\u4e2d3D\u76ee\u6807\u68c0\u6d4b\u7684\u6027\u80fd\uff0c\u800c\u8fd9\u4e00\u95ee\u9898\u5728\u4ee5\u524d\u7684\u5de5\u4f5c\u4e2d\u88ab\u5ffd\u7565\u4e86\u3002<\/li>\n\n\n\n<li>\u6211\u4eec\u63d0\u51fa\u4e86\u4e00\u79cd\u65b0\u7684\u6269\u5c55\u4f53\u7d20\u5316\u65b9\u6cd5\uff0c\u5373BEVSpread\uff0c\u8be5\u65b9\u6cd5\u5728\u6269\u5c55\u8fc7\u7a0b\u4e2d\u8003\u8651\u4e86\u8ddd\u79bb\u548c\u6df1\u5ea6\u6548\u5e94\uff0c\u4ee5\u51cf\u5c11\u4f4d\u7f6e\u8fd1\u4f3c\u8bef\u5dee\uff0c\u540c\u65f6\u901a\u8fc7CUDA\u5e76\u884c\u52a0\u901f\u4fdd\u6301\u53ef\u6bd4\u8f83\u7684\u63a8\u7406\u65f6\u95f4\u3002<\/li>\n\n\n\n<li>\u5927\u91cf\u5b9e\u9a8c\u8868\u660e\uff0c\u4f5c\u4e3a\u4e00\u79cd\u63d2\u4ef6\uff0cBEVSpread\u5728\u8f66\u8f86\u3001\u884c\u4eba\u548c\u9a91\u81ea\u884c\u8f66\u7684\u7c7b\u522b\u4e2d\u5206\u522b\u4ee5\uff081.12\u30015.26\u30013.01\uff09AP\u7684\u5927\u5e45\u5ea6\u663e\u8457\u63d0\u9ad8\u4e86\u73b0\u6709\u57fa\u4e8e\u622a\u5934\u4f53\u7684BEV\u65b9\u6cd5\u7684\u6027\u80fd\u3002<\/li>\n<\/ul>\n\n\n\n<p><strong>\u76f8\u5173\u5de5\u4f5c\u56de\u987e<\/strong><\/p>\n\n\n\n<p>\u8fd1\u5e74\u6765\uff0c\u9e1f\u77b0\u56fe\uff08BEV\uff09\u4e3a\u591a\u4f20\u611f\u5668\u63d0\u4f9b\u4e86\u7edf\u4e00\u7684\u7279\u5f81\u7a7a\u95f4\uff0c\u6e05\u6670\u5730\u5448\u73b0\u4e86\u76ee\u6807\u7684\u4f4d\u7f6e\u548c\u5c3a\u5ea6\uff0c\u6210\u4e3a\u81ea\u52a8\u9a7e\u9a76\u4e2d3D\u76ee\u6807\u68c0\u6d4b\u7684\u4e3b\u6d41\u8303\u5f0f\u3002\u5728\u672c\u8282\u4e2d\uff0c\u6211\u4eec\u8be6\u7ec6\u4ecb\u7ecd\u4e86BEV\u611f\u77e5\u3001\u8def\u8fb9BEV\u611f\u77e5\u548c\u4f53\u7d20\u5316\u7b56\u7565\u3002<\/p>\n\n\n\n<p><strong>BEV\u611f\u77e5<\/strong>\u3002\u6839\u636e\u4f20\u611f\u5668\u7c7b\u578b\uff0cBEV\u65b9\u6cd5\u4e3b\u8981\u53ef\u5206\u4e3a\u4e09\u90e8\u5206\uff0c\u5305\u62ec\u57fa\u4e8e\u89c6\u89c9\u7684\u65b9\u6cd5\u3001\u57fa\u4e8e\u6fc0\u5149\u96f7\u8fbe\u7684\u65b9\u6cd5\u548c\u57fa\u4e8e\u878d\u5408\u7684\u65b9\u6cd5\u3002\u57fa\u4e8e\u89c6\u89c9\u7684BEV\u65b9\u6cd5\u7531\u4e8e\u5176\u4f4e\u90e8\u7f72\u6210\u672c\u800c\u6210\u4e3a\u4e00\u4e2a\u5177\u6709\u91cd\u8981\u610f\u4e49\u7684\u8bdd\u9898\uff0c\u5b83\u53c8\u5206\u4e3a\u57fa\u4e8eTransformer\u548c\u57fa\u4e8eFrustum\u7684\u65b9\u6848\u3002\u57fa\u4e8eTransformer\u7684\u65b9\u6cd5\u5f15\u5165\u4e863D\u76ee\u6807\u67e5\u8be2\u6216BEV\u7f51\u683c\u67e5\u8be2\u6765\u56de\u5f523D\u8fb9\u754c\u6846\u3002\u57fa\u4e8e\u622a\u5934\u4f53\u7684\u65b9\u6cd5\u9996\u5148\u901a\u8fc7\u4f30\u8ba1\u6df1\u5ea6\u6216\u9ad8\u5ea6\u5c06\u56fe\u50cf\u7279\u5f81\u6620\u5c04\u52303D\u622a\u5934\u4f53\uff0c\u7136\u540e\u901a\u8fc7\u4f53\u7d20\u5316\u751f\u6210BEV\u7279\u5f81\u3002\u8fd9\u9879\u5de5\u4f5c\u4fa7\u91cd\u4e8e\u57fa\u4e8e\u622a\u5934\u4f53\u7684\u65b9\u6cd5\u4e2d\u7684\u4f53\u7d20\u5316\u5316\u8fc7\u7a0b\uff0c\u8fd9\u4e00\u8fc7\u7a0b\u5f88\u5c11\u88ab\u63a2\u7d22\uff0c\u4f46\u81f3\u5173\u91cd\u8981\u3002<\/p>\n\n\n\n<p><strong>\u8def\u6d4bBEV\u611f\u77e5<\/strong>\u3002\u8def\u6d4bBEV\u611f\u77e5\u662f\u4e00\u4e2a\u65b0\u5174\u9886\u57df\uff0c\u4f46\u5c1a\u672a\u5f97\u5230\u5145\u5206\u7684\u63a2\u7d22\u3002BEVHeight\u9996\u5148\u5173\u6ce8\u8def\u8fb9\u611f\u77e5\uff0c\u5b83\u9884\u6d4b\u9ad8\u5ea6\u5206\u5e03\u4ee5\u53d6\u4ee3\u6df1\u5ea6\u5206\u5e03\u3002CBR\u4fa7\u91cd\u4e8e\u8bbe\u5907\u7684\u9c81\u68d2\u6027\uff0c\u5b83\u5728\u6ca1\u6709\u5916\u90e8\u6821\u51c6\u7684\u60c5\u51b5\u4e0b\u751f\u6210BEV\u7279\u5f81\uff0c\u800c\u7cbe\u5ea6\u6709\u9650\u3002CoBEV\u878d\u5408\u4e86\u4ee5\u51e0\u4f55\u4e3a\u4e2d\u5fc3\u7684\u6df1\u5ea6\u548c\u4ee5\u8bed\u4e49\u4e3a\u4e2d\u5fc3\u7684\u9ad8\u5ea6\u7ebf\u7d22\uff0c\u4ee5\u8fdb\u4e00\u6b65\u63d0\u9ad8\u6027\u80fd\u3002MonoGAE\u8003\u8651\u5730\u5e73\u9762\u7684\u5148\u9a8c\u77e5\u8bc6\u3002\u4e0e\u8fd9\u4e9b\u65b9\u6cd5\u4e0d\u540c\u7684\u662f\uff0c\u672c\u6587\u63d0\u51fa\u4e86\u4e00\u79cd\u63d2\u4ef6\u6765\u63d0\u9ad8\u73b0\u6709\u57fa\u4e8e\u622a\u5934\u4f53\u7684BEV\u65b9\u6cd5\u7684\u6027\u80fd\u3002<\/p>\n\n\n\n<p><strong>\u4f53\u7d20\u5316\u7b56\u7565<\/strong>\u3002LSS\u662f\u57fa\u4e8efrustum\u7684BEV\u65b9\u6cd5\u7684\u5f00\u521b\u6027\u5de5\u4f5c\uff0c\u5176\u4e2d\u9996\u6b21\u63d0\u51fa\u4e86\u4f53\u7d20\u5316\u3002\u5927\u91cf\u7684\u5de5\u4f5c\u9075\u5faa\u8fd9\u4e00\u8bbe\u7f6e\u3002SA-BEV\u63d0\u51fa\u4e86\u4e00\u79cd\u65b0\u7684\u4f53\u7d20\u5316\u7b56\u7565\uff0c\u5373SA-BEVPool\uff0c\u7528\u4e8e\u8fc7\u6ee4\u80cc\u666f\u4fe1\u606f\u3002\u800c\u672a\u8fc7\u6ee4\u51fa\u7684\u622a\u5934\u4f53\u70b9\u91c7\u7528\u4e0eLSS\u76f8\u540c\u7684\u4f53\u7d20\u5316\u5316\u65b9\u6cd5\u3002\u5728\u8fd9\u9879\u5de5\u4f5c\u4e2d\uff0c\u6211\u4eec\u91cd\u70b9\u6d88\u9664LSS\u4f53\u7d20\u5316\u5316\u8fc7\u7a0b\u4e2d\u7684\u4f4d\u7f6e\u8fd1\u4f3c\u8bef\u5dee\u3002<\/p>\n\n\n\n<p><strong>\u65b9\u6cd5\u8be6\u89e3<\/strong><\/p>\n\n\n\n<p>\u7f51\u7edc\u6574\u4f53\u6846\u67b6\u5982\u4e0b\u56fe\u6240\u793a\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"875\" height=\"509\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-308.png\" alt=\"\" class=\"wp-image-12100\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-308.png 875w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-308-300x175.png 300w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-308-768x447.png 768w\" sizes=\"(max-width: 875px) 100vw, 875px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"660\" height=\"67\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/06\/62601.png\" alt=\"\" class=\"wp-image-12101\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/62601.png 660w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/62601-300x30.png 300w\" sizes=\"(max-width: 660px) 100vw, 660px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"281\" height=\"75\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-309.png\" alt=\"\" class=\"wp-image-12102\"\/><\/figure>\n\n\n\n<p>Spread Voxel Pooling\uff1a\u5728\u6269\u5c55\u4f53\u7d20\u6c60\u5316\u9636\u6bb5\uff0c\u6211\u4eec\u9996\u5148\u901a\u8fc7\u51cf\u5c0fZ\u8f74\u81ea\u7531\u5ea6\u6765\u8ba1\u7b973D\u51e0\u4f55\u4f53\u4e2d\u6bcf\u4e2a\u70b9\u5728BEV\u7a7a\u95f4\u4e2d\u7684\u5bf9\u5e94\u4f4d\u7f6ep\u3002\u6211\u4eec\u4e0d\u662f\u5c06\u5305\u542b\u7684\u4e0a\u4e0b\u6587\u7279\u5f81\u7d2f\u79ef\u5230\u76f8\u5e94\u7684\u5355\u4e2aBEV\u7f51\u683c\u4e2d\u5fc3\uff0c\u800c\u662f\u5c06\u5177\u6709\u7279\u5b9a\u6743\u91cd\u7684fC\u4f20\u64ad\u5230\u5176\u90bb\u5c45\u03a9\uff0c\u8fd9\u4e9b\u90bb\u5c45\u03a9\u662fp\u5468\u56f4\u7684n\u4e2a\u6700\u8fd1\u7684BEV\u7f51\u683c\u3002\u5177\u4f53\u800c\u8a00\uff0c\u6269\u5c55\u4f53\u7d20\u6c60\u5316\u7684\u8fc7\u7a0b\u53ef\u4ee5\u516c\u5f0f\u5316\u4e3a\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"290\" height=\"37\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-310.png\" alt=\"\" class=\"wp-image-12103\"\/><\/figure>\n\n\n\n<p>\u6743\u91cd\u51fd\u6570\u3002\u6211\u4eec\u53d1\u73b0\uff0c\u5728\u4f20\u64ad\u8fc7\u7a0b\u4e2d\uff0c\u6743\u91cd\u5e94\u8be5\u4e0e\u8ddd\u79bb\u548c\u6df1\u5ea6\u6709\u5173\u3002\uff08a\uff09 \u6743\u91cd\u968f\u8ddd\u79bb\u8870\u51cf\u53ef\u4ee5\u4fdd\u7559\u66f4\u591a\u7684\u4f4d\u7f6e\u4fe1\u606f\uff0c\u6709\u5229\u4e8e\u901a\u8fc7\u540e\u7eed\u7684\u7f51\u7edc\u5b66\u4e60\u6062\u590dp\u2208PBEV\u7684\u51c6\u786e\u4f4d\u7f6e\uff0c\u4ece\u800c\u6d88\u9664\u539f\u59cb\u4f53\u7d20\u6c60\u5316\u8fc7\u7a0b\u4e2d\u7684\u4f4d\u7f6e\u8fd1\u4f3c\u8bef\u5dee\u3002\u6b64\u5916\uff0c\u6211\u4eec\u8fd8\u8bbe\u8ba1\u4e86\u4e00\u4e2a\u76f4\u89c2\u7684\u5b9e\u9a8c\u6765\u8bc1\u660e\u8fd9\u4e00\u70b9\u3002\uff08b\uff09 \u5982\u56fe3\u6240\u793a\uff0c\u5177\u6709\u8f83\u6df1\u6df1\u5ea6\u7684\u76f8\u540c\u5927\u5c0f\u7684\u56fe\u50cf\u5757\u8868\u793a\u8f83\u59273D\u5c3a\u5ea6\u7684\u76ee\u6807\uff0c\u5bfc\u81f4\u8f83\u8fdc\u7684\u76ee\u6807\u5305\u542b\u5f88\u5c11\u7684\u56fe\u50cf\u7279\u5f81\u3002\u56e0\u6b64\uff0c\u4e3a\u8fdc\u5904\u76ee\u6807\u7684\u5468\u56f4BEV\u7f51\u683c\u5206\u914d\u66f4\u5927\u7684\u6743\u91cd\u662f\u5408\u7406\u7684\uff0c\u8fd9\u8868\u660e\u6743\u91cd\u968f\u7740\u8ddd\u79bb\u7684\u63a8\u79fb\u8870\u51cf\u5f97\u66f4\u6162\uff0c\u5982\u56fe2\u6240\u793a\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"330\" height=\"217\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-311.png\" alt=\"\" class=\"wp-image-12104\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-311.png 330w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-311-300x197.png 300w\" sizes=\"(max-width: 330px) 100vw, 330px\" \/><\/figure>\n\n\n\n<p>\u4e3a\u6b64\uff0c\u6211\u4eec\u8bbe\u8ba1\u4e86\u4e00\u4e2a\u7279\u5b9a\u7684\u6743\u91cd\u51fd\u6570\uff0c\u5de7\u5999\u5730\u4f7f\u7528\u9ad8\u65af\u51fd\u6570\u6765\u6574\u5408\u8ddd\u79bb\u548c\u6df1\u5ea6\u4fe1\u606f\u3002\u51fd\u6570\u5b9a\u4e49\u4e3a\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"235\" height=\"71\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-312.png\" alt=\"\" class=\"wp-image-12105\"\/><\/figure>\n\n\n\n<p>\u603b\u4e4b\uff0c\u6269\u5c55\u4f53\u7d20\u6c60\u7b56\u7565\u7684\u4f2a\u4ee3\u7801\u5982\u7b97\u6cd51\u6240\u793a\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"335\" height=\"267\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-313.png\" alt=\"\" class=\"wp-image-12106\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-313.png 335w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-313-300x239.png 300w\" sizes=\"(max-width: 335px) 100vw, 335px\" \/><\/figure>\n\n\n\n<p><strong>\u5b9e\u9a8c<\/strong><\/p>\n\n\n\n<p>\u672c\u6587\u5728DAIR-V2X-I\u548cRope3D\u4e0a\u5c55\u5f00\u5b9e\u9a8c\u3002<\/p>\n\n\n\n<p><strong>Comparison with state-of-the-art<\/strong><\/p>\n\n\n\n<p>\u4e3a\u4e86\u8fdb\u884c\u5168\u9762\u8bc4\u4f30\uff0c\u6211\u4eec\u5c06\u6240\u63d0\u51fa\u7684BEVSpread\u4e0eDAIR-V2X-I\u548cRope3D\u4e0a\u6700\u5148\u8fdb\u7684BEV\u63a2\u6d4b\u5668\u8fdb\u884c\u4e86\u6bd4\u8f83\u3002\u7531\u4e8e\u6240\u63d0\u51fa\u7684\u6269\u5c55\u4f53\u7d20\u6c60\u7b56\u7565\u662f\u4e00\u4e2a\u63d2\u4ef6\uff0c\u6211\u4eec\u5c06\u5176\u90e8\u7f72\u5230BEVHeight\uff0c\u79f0\u4e3aBEVSpread\u3002\u7ed3\u679c\u63cf\u8ff0\u5982\u4e0b\u3002<\/p>\n\n\n\n<p>DAIR-V2X-I\u7684\u7ed3\u679c\u3002\u88681\u8bf4\u660e\u4e86DAIR-V2X-I\u7684\u6027\u80fd\u6bd4\u8f83\u3002\u6211\u4eec\u5c06\u6211\u4eec\u7684BEVSpread\u4e0e\u6700\u5148\u8fdb\u7684\u57fa\u4e8e\u89c6\u89c9\u7684\u65b9\u6cd5\u8fdb\u884c\u4e86\u6bd4\u8f83\uff0c\u5305\u62ecImVoxelNet\u3001BEVFormer\u3001BEVDepth\u548cBEVHeight\uff0c\u4ee5\u53ca\u4f20\u7edf\u7684\u57fa\u4e8e\u6fc0\u5149\u96f7\u8fbe\u7684\u65b9\u6cd5\uff0c\u5305\u62ecPointPillars\u3001SECOND\u548cMVXNet\u3002\u7ed3\u679c\u8868\u660e\uff0cBEVSpread\u5728\u8f66\u8f86\u3001\u884c\u4eba\u548c\u9a91\u81ea\u884c\u8f66\u7684\u7c7b\u522b\u4e2d\u5206\u522b\u4ee5\uff081.12\u30015.26\u548c3.01\uff09AP\u7684\u663e\u8457\u4f18\u52bf\u4f18\u4e8e\u6700\u5148\u8fdb\u7684\u65b9\u6cd5\u3002\u6211\u4eec\u6ce8\u610f\u5230\uff0c\u4ee5\u524d\u7684\u65b9\u6cd5\u4ec5\u57280-100m\u4e2d\u8fdb\u884c\u8bad\u7ec3\uff0c\u800cDAIR-V2X-I\u5305\u542b0-200m\u7684\u6807\u7b7e\u3002\u4e3a\u6b64\uff0c\u6211\u4eec\u6db5\u76d6\u4e86\u66f4\u957f\u8303\u56f4\u76843D\u76ee\u6807\u68c0\u6d4b\uff0c\u5c06\u76ee\u6807\u5b9a\u4f4d\u57280-200m\u5185\uff0c\u5728\u88681\u4e2d\u8868\u793a\u4e3aDAIR-V2X-I*\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"677\" height=\"349\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-314.png\" alt=\"\" class=\"wp-image-12107\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-314.png 677w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-314-300x155.png 300w\" sizes=\"(max-width: 677px) 100vw, 677px\" \/><\/figure>\n\n\n\n<p>Rope3D\u4e0a\u7684\u7ed3\u679c\u3002\u6211\u4eec\u5c06BEVSpread\u4e0e\u6700\u5148\u8fdb\u7684\u4ee5\u89c6\u89c9\u4e3a\u4e2d\u5fc3\u7684\u65b9\u6cd5\u8fdb\u884c\u4e86\u6bd4\u8f83\uff0c\u5305\u62ec\u5728\u540c\u6e90\u8bbe\u7f6e\u4e2d\u7684Rope3D\u9a8c\u8bc1\u96c6\u4e0a\u7684BEVDepth\u548cBEVHeight\u3002\u5982\u88681\u6240\u793a\uff0cBEVSpread\u5168\u9762\u4f18\u4e8e\u6240\u6709\u5176\u4ed6\u65b9\u6cd5\uff0c\u5728\u8f66\u8f86\u3001\u884c\u4eba\u548c\u9a91\u81ea\u884c\u8f66\u7684\u60c5\u51b5\u4e0b\u5206\u522b\u663e\u8457\u63d0\u9ad8\u4e86\uff082.59\u30013.44\u548c2.14\uff09AP\u3002<\/p>\n\n\n\n<p>\u53ef\u89c6\u5316\u7ed3\u679c\u3002\u5982\u56fe4\u6240\u793a\uff0c\u6211\u4eec\u5728\u56fe\u50cf\u548cBEV\u89c6\u56fe\u4e2d\u663e\u793a\u4e86BEVHeight\u548cBEVSpread\u7684\u53ef\u89c6\u5316\u7ed3\u679c\u3002\u5728\u4e0a\u534a\u90e8\u5206\u53ef\u4ee5\u89c2\u5bdf\u5230\uff0cBEVSpread\u5728\u591a\u4e2a\u573a\u666f\u4e2d\u68c0\u6d4b\u5230BEVHeight\u672a\u547d\u4e2d\u7684\u76ee\u6807\u3002\u4e3b\u8981\u539f\u56e0\u663e\u793a\u5728\u4e0b\u534a\u90e8\u5206\u3002\u56fe\u50cf\u7279\u5f81\u8868\u660e\uff0cBEVSpread\u5c06\u66f4\u591a\u7684\u6ce8\u610f\u529b\u96c6\u4e2d\u5728\u524d\u666f\u533a\u57df\u3002\u5e76\u4e14BEVSpread\u751f\u6210\u7684BEV\u7279\u5f81\u6bd4BEVHeight\u751f\u6210\u7684\u7279\u5f81\u66f4\u5e73\u6ed1\u3002BEVHeight\u9519\u8fc7\u4e86\u884c\u4eba\uff0c\u56e0\u4e3a\u6ca1\u6709\u76f8\u5e94\u7684\u56fe\u50cf\u7279\u5f81\u88ab\u6295\u5f71\u5230\u6b63\u786e\u7684BEV\u7f51\u683c\u4e0a\u3002\u800cBEV\u5c06\u56fe\u50cf\u7279\u5f81\u6269\u5c55\u5230\u5468\u56f4\u7684BEV\u7f51\u683c\uff0c\u5e76\u51c6\u786e\u5730\u8986\u76d6\u6b63\u786e\u7684BEV\u6805\u683c\uff0c\u4ece\u800c\u6210\u529f\u5730\u68c0\u6d4b\u5230\u76ee\u6807\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"674\" height=\"397\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-315.png\" alt=\"\" class=\"wp-image-12108\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-315.png 674w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-315-300x177.png 300w\" sizes=\"(max-width: 674px) 100vw, 674px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"325\" height=\"151\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-316.png\" alt=\"\" class=\"wp-image-12109\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-316.png 325w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-316-300x139.png 300w\" sizes=\"(max-width: 325px) 100vw, 325px\" \/><\/figure>\n\n\n\n<p><strong>Proof Experiment for Position Recovery<\/strong><\/p>\n\n\n\n<p>\u6211\u4eec\u8bbe\u8ba1\u4e86\u4e00\u4e2a\u76f4\u89c2\u7684\u5b9e\u9a8c\u6765\u8bc1\u660e\u6240\u63d0\u51fa\u7684\u6269\u5c55\u4f53\u7d20\u6c60\u7b56\u7565\u53ef\u4ee5\u5728BEV\u7a7a\u95f4\u4e2d\u5b9e\u73b0\u7cbe\u786e\u7684\u4f4d\u7f6e\u6062\u590d\u3002\u6700\u521d\uff0c\u968f\u673a\u751f\u6210\u8868\u793a\u56fe\u50cf\u7279\u5f81\u768410\u4e2aC\u7ef4\u968f\u673a\u77e2\u91cf\u3002\u7136\u540e\uff0c\u6211\u4eec\u968f\u673a\u751f\u62103D\u70b9\uff0c\u5e76\u4e3a\u8fd910\u4e2a\u7279\u5f81\u8fdb\u884c\u5206\u914d\u3002\u57fa\u4e8e\u539f\u59cb\u4f53\u7d20\u6c60\u548c\u6269\u5c55\u4f53\u7d20\u6c60\uff0c\u5c063D\u70b9\u6295\u5f71\u523016\u00d716\u8fb9\u754c\u5143\u7f51\u683c\u4e0a\uff0c\u4ee5\u83b7\u5f97\u8fb9\u754c\u5143\u7279\u5f81\u3002U-Net\u7f16\u7801\u5668\u7f51\u7edc\u7528\u4e8e\u56de\u5f52\u7b2c\u4e00\u56fe\u50cf\u7279\u5f81\u5728BEV\u7a7a\u95f4\u4e2d\u7684\u51c6\u786e\u4f4d\u7f6e\uff0c\u5e76\u4f7f\u7528MSE\u635f\u5931\u3002\u8bf7\u6ce8\u610f\uff0c\u8bad\u7ec3\u8fc7\u7a0b\u5305\u542b5000\u6b21\u8fed\u4ee3\uff0c\u5e76\u4e14\u6bcf\u6b21\u8fed\u4ee3\u7684\u6279\u91cf\u5927\u5c0f\u8bbe\u7f6e\u4e3a128\u3002\u6bcf\u6b21\u8fed\u4ee3\u7684\u8f93\u5165\u90fd\u662f\u968f\u673a\u7684\u3002\u5b9e\u9a8c\u8fc7\u7a0b\u5982\u56fe1\u6240\u793a\u3002\u5982\u56fe5\u6240\u793a\uff0c\u5f53\u90bb\u5c45\u6570\u91cf\u22653\u65f6\uff0c\u6211\u4eec\u7684\u6269\u5c55\u4f53\u7d20\u6c60\u6062\u590d\u4e86\u5177\u67090.003 MSE\u635f\u5931\u7684\u968f\u673a\u70b9\u4f4d\u7f6e\uff0c\u800c\u539f\u59cb\u4f53\u7d20\u6c60\u83b7\u5f970.095 MSE\u635f\u5931\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"332\" height=\"221\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-317.png\" alt=\"\" class=\"wp-image-12110\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-317.png 332w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-317-300x200.png 300w\" sizes=\"(max-width: 332px) 100vw, 332px\" \/><\/figure>\n\n\n\n<p><strong>\u6d88\u878d\u5b9e\u9a8c<\/strong><\/p>\n\n\n\n<p>\u4f5c\u4e3a\u63d2\u4ef6\u7684\u6027\u80fd\u3002\u6240\u63d0\u51fa\u7684\u6269\u5c55\u4f53\u7d20\u6c60\u7b56\u7565\u4f5c\u4e3a\u4e00\u79cd\u63d2\u4ef6\uff0c\u53ef\u4ee5\u663e\u8457\u63d0\u9ad8\u73b0\u6709\u57fa\u4e8e\u622a\u5934\u4f53\u7684BEV\u65b9\u6cd5\u7684\u6027\u80fd\u3002\u5982\u88683\u6240\u793a\uff0c\u90e8\u7f72\u5230BEVDepth[16]\u540e\uff0c\u6027\u80fd\u5728\u4e09\u4e2a\u7c7b\u522b\u4e2d\u663e\u8457\u63d0\u9ad8\u4e86\uff084.17\u30018.93\u548c8.2\uff09AP\u3002\u5728\u90e8\u7f72\u5230BEVHeight[44]\u540e\uff0c\u6027\u80fd\u5728\u4e09\u4e2a\u7c7b\u522b\u4e2d\u63d0\u9ad8\u4e86\uff081.55\u30015.58\u548c7.56\uff09AP\u3002\u503c\u5f97\u6ce8\u610f\u7684\u662f\uff0c\u513f\u79d1\u533b\u751f\u548c\u81ea\u884c\u8f66\u624b\u7684\u8bc6\u522b\u80fd\u529b\u6709\u4e86\u5f88\u5927\u63d0\u9ad8\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"683\" height=\"182\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-318.png\" alt=\"\" class=\"wp-image-12111\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-318.png 683w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-318-300x80.png 300w\" sizes=\"(max-width: 683px) 100vw, 683px\" \/><\/figure>\n\n\n\n<p>\u90bb\u5c45\u9009\u62e9\u5206\u6790\u3002\u56fe6\u663e\u793a\u4e86\u4e09\u4e2a\u7c7b\u522b\u7684mAP\u5982\u4f55\u968f\u7740\u90bb\u5c45\u6570\u91cfk\u800c\u53d8\u5316\u3002\u5bf9\u4e8e\u6bcf\u4e2a\u8d85\u53c2\u6570\u9009\u62e9\uff0c\u6211\u4eec\u91cd\u590d3\u6b21\uff0c\u6d45\u84dd\u8272\u533a\u57df\u8868\u793a\u8bef\u5dee\u8303\u56f4\u3002\u53ef\u4ee5\u89c2\u5bdf\u5230\uff0ck\u22652\u7684\u6027\u80fd\u660e\u663e\u4f18\u4e8ek B11\uff08\u57fa\u7ebf\uff09\u3002\u968f\u7740k\u7684\u589e\u52a0\uff0c\u6027\u80fd\u9010\u6e10\u63d0\u9ad8\u5e76\u53d8\u5f97\u7a33\u5b9a\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"328\" height=\"234\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-319.png\" alt=\"\" class=\"wp-image-12112\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-319.png 328w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-319-300x214.png 300w\" sizes=\"(max-width: 328px) 100vw, 328px\" \/><\/figure>\n\n\n\n<p>\u6743\u91cd\u51fd\u6570\u5206\u6790\u3002\u6211\u4eec\u5728\u88684\u4e2d\u9a8c\u8bc1\u4e86\u6743\u91cd\u51fd\u6570\u7684\u6df1\u5ea6\u548c\u53ef\u5b66\u4e60\u53c2\u6570\u03b1\u7684\u6709\u6548\u6027\u3002\u5728\u4e09\u4e2a\u4e3b\u8981\u7c7b\u522b\u4e2d\u7684\u6539\u8fdb\u8bc1\u660e\u4e86\u6df1\u5ea6\u548c\u53ef\u5b66\u4e60\u53c2\u6570\u03b1\u7684\u5e94\u7528\u5141\u8bb8\u66f4\u597d\u7684\u6269\u5c55\u6027\u80fd\u3002\u4e24\u8005\u517c\u800c\u6709\u4e4b\u65f6\uff0c\u4e2d\u7b49\u96be\u5ea6\u7684\u4e09\u4e2a\u7c7b\u522b\u7684\u7efc\u5408\u8868\u73b0\u5206\u522b\u4e3a65.80%\u300131.00%\u548c56.34%\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"678\" height=\"170\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-320.png\" alt=\"\" class=\"wp-image-12113\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-320.png 678w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-320-300x75.png 300w\" sizes=\"(max-width: 678px) 100vw, 678px\" \/><\/figure>\n\n\n\n<p>\u5bf9\u4e0d\u540c\u9aa8\u5e72\u7684\u5206\u6790\u3002\u6211\u4eec\u4f7f\u7528\u4e0d\u540c\u7684\u4e3b\u94fe\u8fdb\u4e00\u6b65\u6bd4\u8f83\u4e86BEVSpread\u548cBEVHeight\u3002ResuNet-50\/101\u7684\u7ed3\u679c\u5217\u4e8e\u88681\u548c\u88683\uff0cConvNeXt-B\u7684\u5b9e\u9a8c\u5217\u4e8e\u88685\u3002\u7ed3\u679c\u8868\u660e\uff0c\u66f4\u5f3a\u7684\u4e3b\u5e72\u4f1a\u5e26\u6765\u66f4\u9ad8\u7684\u6027\u80fd\uff0c\u6211\u4eec\u7684\u65b9\u6cd5\u53ef\u4ee5\u8fdb\u4e00\u6b65\u63d0\u9ad8\u5b83\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"679\" height=\"127\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-321.png\" alt=\"\" class=\"wp-image-12114\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-321.png 679w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-321-300x56.png 300w\" sizes=\"(max-width: 679px) 100vw, 679px\" \/><\/figure>\n\n\n\n<p><strong>Limitations and Analysis<\/strong><\/p>\n\n\n\n<p>\u6240\u63d0\u51fa\u7684\u6269\u5c55\u4f53\u7d20\u6c60\u5e26\u6765\u4e86\u4e00\u5b9a\u7684\u8ba1\u7b97\u91cf\uff0c\u5bfc\u81f4\u5ef6\u8fdf\u589e\u52a0\u3002\u867d\u7136\u6211\u4eec\u7684\u65b9\u6cd5\u53ef\u4ee5\u7075\u6d3b\u5730\u901a\u8fc7\u8c03\u6574\u6269\u5c55\u8303\u56f4\u6765\u5e73\u8861\u7cbe\u5ea6\u548c\u901f\u5ea6\uff0c\u6269\u5c55\u8303\u56f4\u8868\u793a\u4e3a\u76f8\u90bb\u5927\u5c0fk\u3002\u5982\u88686\u6240\u793a\uff0c\u5f53k=2\u65f6\uff0cBEVSpread\u4ecd\u7136\u5728\u6ca1\u6709\u5ef6\u8fdf\u589e\u52a0\u7684\u60c5\u51b5\u4e0b\u5b9e\u73b0\u4e86Avg AP\u7684\u663e\u8457\u6539\u8fdb\uff0c\u8fd9\u5f97\u76ca\u4e8e\u6211\u4eec\u7684CUDA\u4f18\u5316\u3002\u6b64\u5916\uff0c\u8fd9\u4e9b\u6269\u6563\u70b9\u7684\u5750\u6807\u5728\u672c\u7248\u672c\u4e2d\u662f\u5728\u7ebf\u8ba1\u7b97\u7684\u3002\u5728\u5b9e\u9645\u90e8\u7f72\u9636\u6bb5\uff0cBEVSpread\u53ef\u4ee5\u4f7f\u7528\u7c7b\u4f3c\u4e8eBEVPoolv2\u7684\u9884\u5904\u7406\u67e5\u627e\u8868\u6765\u589e\u5f3a\u52a0\u901f\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"481\" height=\"194\" src=\"http:\/\/192.168.10.115\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-322.png\" alt=\"\" class=\"wp-image-12115\" srcset=\"http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-322.png 481w, http:\/\/222.128.65.89:18086\/wp-content\/uploads\/2024\/06\/\u56fe\u7247-322-300x121.png 300w\" sizes=\"(max-width: 481px) 100vw, 481px\" \/><\/figure>\n\n\n\n<p><strong>\u7ed3\u8bba<\/strong><\/p>\n\n\n\n<p>\u5728\u672c\u6587\u4e2d\uff0c\u6211\u4eec\u6307\u51fa\u4e86\u5f53\u524d\u4f53\u7d20\u6c60\u5316\u65b9\u6cd5\u4e2d\u7684\u4e00\u4e2a\u8fd1\u4f3c\u8bef\u5dee\u3002\u6211\u4eec\u63d0\u51fa\u4e86\u4e00\u79cd\u79f0\u4e3aBEVSpread\u7684\u65b0\u7684\u4f53\u7d20\u6c60\u7b56\u7565\u6765\u51cf\u5c11\u8fd9\u79cd\u8bef\u5dee\u3002BEVSpread\u5c06\u6bcf\u4e2a\u622a\u5934\u4f53\u70b9\u89c6\u4e3a\u4e00\u4e2a\u6e90\uff0c\u5e76\u4f7f\u7528\u81ea\u9002\u5e94\u6743\u91cd\u5c06\u56fe\u50cf\u7279\u5f81\u6269\u5c55\u5230\u5468\u56f4\u7684BEV\u7f51\u683c\u3002\u6b64\u5916\uff0c\u8fd8\u8bbe\u8ba1\u4e86\u4e00\u4e2a\u7279\u5b9a\u7684\u6743\u91cd\u51fd\u6570\uff0c\u7528\u4e8e\u6839\u636e\u8ddd\u79bb\u548c\u6df1\u5ea6\u52a8\u6001\u63a7\u5236\u8870\u51cf\u901f\u5ea6\u3002\u5728DAIR-V2X-I\u548cRope3D\u4e2d\u7684\u5b9e\u9a8c\u8868\u660e\uff0cBEVSpread\u663e\u8457\u63d0\u9ad8\u4e86\u73b0\u6709\u57fa\u4e8e\u622a\u5934\u4f53\u7684BEV\u65b9\u6cd5\u7684\u6027\u80fd\u3002<\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u57fa\u4e8e\u89c6\u89c9\u7684\u8def\u4fa73D\u76ee\u6807\u68c0\u6d4b\u5728\u81ea\u52a8\u9a7e\u9a76\u9886\u57df\u5f15\u8d77\u4e86 [&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-12098","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\/12098"}],"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=12098"}],"version-history":[{"count":1,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/12098\/revisions"}],"predecessor-version":[{"id":12117,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/12098\/revisions\/12117"}],"wp:attachment":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/media?parent=12098"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/categories?post=12098"},{"taxonomy":"post_tag","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/tags?post=12098"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}